Perform sensor modeling and simulation for accelerometers, magnetometers, gyroscopes, altimeters, GPS, IMU, and range sensors. Analyze sensor readings, sensor noise, environmental conditions and other configuration parameters. Generate trajectories to emulate these sensors traveling through a world and calibrate the performance of your sensors.
To fuse multiple sensors or use other localization algorithms, see Localization and Pose Estimation.
|Satellite locations at specified time|
|Satellite look angles from receiver and satellite positions|
|Pseudoranges between GNSS receiver and satellites|
|Estimate GNSS receiver position and velocity|
|Plot satellite azimuth and elevation data|
|Verify and extract NMEA sentence data into string array|
|Read data from RINEX file|
|Get information about RINEX file|
|Read data from SEM almanac file|
|Read data from YUMA almanac file|
|Simulate GNSS to generate position and velocity readings|
|Simulate GNSS measurements for scenarios|
|Altimeter simulation model|
|GPS receiver simulation model|
|IMU simulation model|
|Inertial navigation system and GNSS/GPS simulation model|
|Simulate range-bearing sensor readings|
|Simulate wheel encoder sensor readings for unicycle vehicle|
|Simulate wheel encoder sensor readings for bicycle vehicle|
|Simulate wheel encoder sensor readings for differential drive vehicle|
|Simulate wheel encoder sensor readings for Ackermann vehicle|
|Rate-driven trajectory generator|
|Display time-domain signals|
|Waypoint trajectory generator|
|Parse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices|
|Connect to a GPS receiver connected to host computer|
- Model IMU, GPS, and INS/GPS
Model combinations of inertial sensors and GPS
- Inertial Sensor Noise Analysis Using Allan Variance
This example shows how to use the Allan variance to determine noise parameters of a MEMS gyroscope.
- Wheel Encoder Error Sources
Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate.
- Remove Bias from Angular Velocity Measurement
This example shows how to remove gyroscope bias from an IMU using
- Configure Time Scope MATLAB Object
timescopeproperties and use measurement tools.
- Simulate Inertial Sensor Readings from a Driving Scenario
Generate synthetic sensor data from IMU, GPS, and wheel encoders using driving scenario generation tools from Automated Driving Toolbox™.
- Analyze GPS Satellite Visibility
This example shows how to simulate and analyze GPS satellite visibility at specified receiver positions and times using a GPS ephemeris or almanac file.
- Simulate GPS Sensor Noise
This example shows how to use the GPS block to add GPS sensor noise to position and velocity inputs in Simulink®.
- Simulate INS Block
In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.