# Brian Fanous

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**Content Feed**

How to input my own IMU data into insfilterErrorState

This example may help in understanding how to do this: https://www.mathworks.com/help/nav/ug/logged-sensor-data-alignment-for-o...

2 months ago | 0

How should I modify my real-time IMU data for usage in insfilterAsync/insfilterMARG object(s)?

This example may help in understanding how to do this: https://www.mathworks.com/help/nav/ug/logged-sensor-data-alignment-for-o...

2 months ago | 0

i am using insfilterNonholonomic filter and i wanted to ask how to conver my gps speed to velocity in local NED coordinates

Assuming your device is traveling on the ground (no Z direction velocity, Z position == 0) and we are working in NED.... Your s...

3 months ago | 0

How to use MATLAB's inertial navigation extended Kalman filter (insEKF) for pose estimation with accel and gyro data as inputs?

Generally speaking, if you have only typical MEMs gyroscope and accelerometer you will not be able to get a high quality positio...

5 months ago | 0

wheel encoders + mpu605 differential drive mobile robot Odometry

You can read data from an mpu650 using an Arduino as described here: https://www.mathworks.com/help/supportpkg/arduinoio/ref/mp...

5 months ago | 1

Creation of Imu geometric model in Matlab In order to generate Synthetic data(Accelerometer and Gyroscope) 6DOF

You can use waypointTrajectory and imuSensor to accomplish this in MATLAB. There is an equivalent Simulink block for imuSensor b...

5 months ago | 0

Generation of artificial IMU data from simple waypoint trajectory

The last line of your code: [accelReadings, gyroReadings] = imu(acceleration, angularVelocity, orientation'); has a sublte but...

6 months ago | 0

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Definition of orientation of insfilterErrorState function with ENU reference frame?

The filter estimates orientation as a quaternion. The orientation is the identity quaternion (i.e. quaternion(1,0,0,0) ) when th...

6 months ago | 0

Generation of artificial IMU data from simple waypoint trajectory

Can you explain your setup a bit more? Are the plots shown in your post the outputs of the imuSensor or the outputs of the waypo...

6 months ago | 0

Slerp gives wrong values when fed an euler matrix [0,90,0]

What you are seeing is known as gimbal lock. You have set your a variable to a Euler angle singularity. Specifically in this cas...

7 months ago | 1

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Why do the eul2quat and quaternion functions differ on the calculated results?

Quick takeaways : Both eul2quat and the quaternion class use intrinsic rotations. eul2quat([a b c], 'XYZ') is equivalent to qu...

8 months ago | 2

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insfilterMARG parameter tuning - Kalman filter

It's hard to tell what's going on with only these code snippets. Can you post more? Note that the tune() function will not fin...

1 year ago | 0

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insfilterasync for smartphone pose estimation without GPS

I'd like to be sure I understand what you are trying to do. Do you want to estimate pose (orientation and position) based only o...

1 year ago | 0

State prediction for insfilterMARG

The documentation is a bit incorrect or not detailed enough. Here’s what is going on: The gyroscope signal is integrated to cre...

1 year ago | 0

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Question regarding quaternion conventions; particularly with respect to point vs frame rotations

The quaternion class does follow the Hamilton convention – the scalar part is first. Point rotations are active rotations and c...

2 years ago | 0

Is there a mistake on The Help document?

See the diagram above the equations you’ve cited. The linear acceleration is decayed from one iteration to the next by the dec...

2 years ago | 0

Which are the state and measurement functions employed in insfilterAsync?

The documentation describes the state vector and the state transition function. The insfilterAsync uses a continuous time motion...

2 years ago | 0

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How to simulate IMU data and obtain variation of drift errors in the path?

For imuSensor, the input acceleration is the linear or translational acceleration in the global frame. The output acceleration i...

2 years ago | 0

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ahrsfilter tune sensor fusion

The ahrsfilter should give relatively good results without much tuning, but adjusting the parameters always helps. If you are st...

2 years ago | 0

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Problem with calculating relative orientation using quaternions

As I understand it you have two quaternions and and a third rotation that you are looking for which denotes the difference in ...

2 years ago | 0

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Problem with calculating relative orientation using quaternions

AM, Can you explain your setup a little more? What are you trying to achieve and why are you multiplying the two quaternions? ...

2 years ago | 0

Why don't the Sensor Fusion Toolbox IMU filters consistently provide the same results?

Hi Jaime The fusion filters are generally objects which retain state from one call to the next. In your example code, the first...

2 years ago | 0

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why the yaw angle from the IMU+AHRS block have cnstant error with the true yaw angle?

There are tools in Aerospace Toolbox and Aerospace Blockset to calculate the magnetic declination at any location. You can use t...

2 years ago | 0

why the yaw angle from the IMU+AHRS block have cnstant error with the true yaw angle?

It's tough to say what is going on without more information. Is this recorded or synthetic data and where/how was this recording...

2 years ago | 0

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Setup constant gravity vector for imusensor object of Sensor Fusion and Tracking Toolbox

Hi Jan The syntax you are using on the final line assumes the IMU always has its (body) coordinate system aligned with the g...

2 years ago | 1

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waypointTrajectory orientation is not matching

Hi Ravindra In the first example you are not specifying the Orienation so the waypointTrajectory infers that the vehicle is poi...

2 years ago | 0

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Position estimation using inertial sensor (dead reckoning)

Hi Swapril What your are trying to do is called “dead reckoning” and is not generally recommended with just an accelerometer a...

2 years ago | 0

whats difference beetween angvel and rotvec?

angvel gives you the angular velocity – essentially, change in orientation over time. rotvec is simply an alternate expression ...

2 years ago | 0

IMU and GPS Fusion for Inertial Navigation

Roman You can use either the insfilterMARG or the insfilterAsync without the Magnetometer. You will get drift in your orientati...

3 years ago | 0

Why ,the quaternion values from sensor fusion toolbox are switched ?

Hensham There are a few issues that might be going on. First, if you are using the NED convention of the imufilter, then you ha...

3 years ago | 0