INS
Libraries:
Navigation Toolbox /
Multisensor Positioning /
Sensor Models
Automated Driving Toolbox /
Driving Scenario and Sensor Modeling
Sensor Fusion and Tracking Toolbox /
Multisensor Positioning /
Sensor Models
UAV Toolbox /
UAV Scenario and Sensor Modeling
Description
The block simulates an INS sensor, which outputs noise-corrupted position, velocity, and orientation based on the corresponding inputs. The block can also optionally output acceleration and angular velocity based on the corresponding inputs. To change the level of noise present in the output, you can vary the roll, pitch, yaw, position, velocity, acceleration, and angular velocity accuracies. The accuracy is defined as the standard deviation of the noise.
Examples
Simulate INS Block
Simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.
Generate INS Measurements from a Driving Scenario in Simulink
Generate measurements from an INS sensor that is mounted to a vehicle in a driving scenario. Visualize the position, velocity and acceleration profile of the vehicle using those sensor measurements in comparison with the ground truth values from the scenario.
Ports
Input
Position — Position of INS sensor
N-by-3 real-valued matrix
Position of the INS sensor relative to the navigation frame, in meters, specified as an N-by-3 real-valued matrix. N is the number of samples.
Data Types: single
| double
Velocity — Velocity of INS sensor
N-by-3 real-valued matrix of scalar
Velocity of the INS sensor relative to the navigation frame, in meters per second, specified as an N-by-3 real-valued matrix. N is the number of samples.
Data Types: single
| double
Orientation — Orientation of INS sensor
3-by-3-by-N real-valued array | N-by-4 real-valued matrix | N-by-3 matrix of Euler angles
Orientation of the INS sensor relative to the navigation frame, specified as one of these formats:
A 3-by-3-by-N real-valued array, where each page of the array (3-by-3 matrix) is a rotation matrix.
An N-by-4 real-valued matrix, where each row of the matrix is the four elements of a quaternion.
An N-by-3 matrix of Euler angles, where each row of the matrix is the three Euler angles corresponding to the z-y-x rotation convention.
N is the number of samples.
Data Types: single
| double
Acceleration — Acceleration of INS sensor
N-by-3 real-valued matrix
Acceleration of the INS sensor relative to the navigation frame, in meters per second squared, specified as an N-by-3 real-valued matrix. N is the number of samples.
Dependencies
To enable this input port, select Use acceleration and angular velocity.
Data Types: single
| double
AngularVelocity — Angular velocity of INS sensor
N-by-3 real-valued matrix
Angular velocity of the INS sensor relative to the navigation frame, in degrees per second, specified as an N-by-3 real-valued matrix. N is the number of samples.
Dependencies
To enable this input port, select Use acceleration and angular velocity.
Data Types: single
| double
HasGNSSFix — Enable GNSS fix
N-by-1 logical vector
Enable GNNS fix, specified as an N-by-1 logical vector.
N is the number of samples. Specify this input as
false
to simulate the loss of a GNSS receiver fix. When a GNSS
receiver fix is lost, position measurements drift at a rate specified by the
Position error factor parameter.
Dependencies
To enable this input port, select Enable HasGNSSFix port.
Data Types: single
| double
Output
Position — Position of INS sensor
N-by-3 real-valued matrix
Position of the INS sensor relative to the navigation frame, in meters, returned as an N-by-3 real-valued matrix. N is the number of samples in the input.
Data Types: single
| double
Velocity — Velocity of INS sensor
N-by-3 real-valued matrix
Velocity of the INS sensor relative to the navigation frame, in meters per second, returned as an N-by-3 real-valued matrix. N is the number of samples in the input.
Data Types: single
| double
Orientation — Orientation of INS sensor
3-by-3-by-N real-valued array | N-by-4 real-valued matrix
Orientation of the INS sensor relative to the navigation frame, returned as one of the formats:
A 3-by-3-by-N real-valued array, where each page of the array (3-by-3 matrix) is a rotation matrix.
An N-by-4 real-valued matrix, where each row of the matrix is the four elements of a quaternion.
An N-by-3 matrix of Euler angles, where each row of the matrix is the three Euler angles corresponding to the z-y-x rotation convention.
N is the number of samples in the input.
Data Types: single
| double
Acceleration — Acceleration of INS sensor
N-by-3 real-valued matrix
Acceleration of the INS sensor relative to the navigation frame, in meters per second squared, returned as an N-by-3 real-valued matrix. N is the number of samples.
Dependencies
To enable this output port, select Use acceleration and angular velocity.
Data Types: single
| double
AngularVelocity — Angular velocity of INS sensor
N-by-3 real-valued matrix
Angular velocity of the INS sensor relative to the navigation frame, in degrees per second, returned as an N-by-3 real-valued matrix. N is the number of samples.
Dependencies
To enable this output port, select Use acceleration and angular velocity.
Data Types: single
| double
Parameters
Mounting location (m) — Location of sensor on platform (m)
[0 0 0]
(default) | three-element real-valued vector of form [x
y
z]
Location of the sensor on the platform, in meters, specified as a three-element real-valued vector of the form [x y z]. The vector defines the offset of the sensor origin from the origin of the platform.
Data Types: single
| double
Roll (X-axis) accuracy (deg) — Accuracy of roll measurement (deg)
0.2
(default) | nonnegative real scalar
Accuracy of the roll measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Roll is defined as rotation around the x-axis of the sensor body. Roll noise is modeled as white process noise with standard deviation equal to the specified Roll accuracy in degrees.
Data Types: single
| double
Pitch (Y-axis) accuracy (deg) — Accuracy of pitch measurement (deg)
0.2
(default) | nonnegative real scalar
Accuracy of the pitch measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Pitch is defined as rotation around the y-axis of the sensor body. Pitch noise is modeled as white process noise with standard deviation equal to the specified Pitch accuracy in degrees.
Data Types: single
| double
Yaw (Z-axis) accuracy (deg) — Accuracy of yaw measurement (deg)
1
(default) | nonnegative real scalar
Accuracy of the yaw measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Yaw is defined as rotation around the z-axis of the sensor body. Yaw noise is modeled as white process noise with standard deviation equal to the specified Yaw accuracy in degrees.
Data Types: single
| double
Position accuracy (m) — Accuracy of position measurement (m)
1
(default) | nonnegative real scalar | 1-by-3 vector of nonnegative values
Accuracy of the position measurement of the sensor body in meters, specified as a nonnegative real scalar or a 1-by-3 vector of nonnegative values. If you specify the parameter as a scalar value, then the block sets the accuracy of all three position components to this value.
Position noise is modeled as white process noise with a standard deviation equal to the specified Position accuracy in meters.
Data Types: single
| double
Velocity accuracy (m/s) — Accuracy of velocity measurement (m/s)
0.05
(default) | nonnegative real scalar
Accuracy of the velocity measurement of the sensor body in meters per second, specified as a nonnegative real scalar.
Velocity noise is modeled as white process noise with a standard deviation equal to the specified Velocity accuracy in meters per second.
Data Types: single
| double
Use acceleration and angular velocity — Use acceleration and angular velocity
off (default) | on
Select this check box to enable the block inputs of acceleration and angular velocity through the Acceleration and AngularVelocity input ports, respectively. Meanwhile, the block outputs the acceleration and angular velocity measurements through the Acceleration and AngularVelocity output ports, respectively. Additionally, selecting this parameter enables you to specify the Acceleration accuracy and Angular velocity accuracy parameters.
Acceleration accuracy (m/s2) — Accuracy of acceleration measurement (m/s2)
0
(default) | nonnegative real scalar
Accuracy of the acceleration measurement of the sensor body in meters, specified as a nonnegative real scalar.
Acceleration noise is modeled as white process noise with a standard deviation equal to the specified Acceleration accuracy in meters per second squared.
Dependencies
To enable this parameter, select Use acceleration and angular velocity.
Data Types: single
| double
Angular velocity accuracy (deg/s) — Accuracy of angular velocity measurement (deg/s)
0
(default) | nonnegative real scalar
Accuracy of the angular velocity measurement of the sensor body in meters, specified as a nonnegative real scalar.
Angular velocity noise is modeled as white process noise with a standard deviation equal to the specified Angular velocity accuracy in degrees per second.
Dependencies
To enable this parameter, select Use acceleration and angular velocity.
Data Types: single
| double
Enable HasGNSSFix port — Enable HasGNSSFix
input port
off (default) | on
Select this check box to enable the HasGNSSFix input port. When
the HasGNSSFix input is specified as false
,
position measurements drift at a rate specified by the Position error
factor parameter.
Position error factor — Position error factor (m)
[0 0 0]
(default) | nonnegative scalar | 1-by-3 real-valued vector
Position error factor without GNSS fix, specified as a scalar or a 1-by-3 real-valued vector. If you specify the parameter as a scalar value, then the block sets the position error factors of all three position components to this value.
When the HasGNSSFix input is specified as
false
, the position error grows at a quadratic rate due to constant
bias in the accelerometer. The position error for a position component
E(t) can be expressed as
E(t) =
1/2αt2, where
α is the position error factor for the corresponding component and
t is the time since the GNSS fix is lost. The computed
E(t) values for the x,
y, and z components are added to the
corresponding position components of the Position output.
Dependencies
To enable this parameter, select Enable HasGNSSFix port.
Data Types: double
Seed — Initial seed for randomization
67
(default) | nonnegative integer
Initial seed of a random number generator algorithm, specified as a nonnegative integer.
Data Types: single
| double
Simulate using — Type of simulation to run
Code Generation
(default) | Interpreted Execution
Interpreted execution
— Simulate the model using the MATLAB® interpreter. This option shortens startup time. InInterpreted execution
mode, you can debug the source code of the block.Code generation
— Simulate the model using generated C code. The first time that you run a simulation, Simulink® generates C code for the block. The C code is reused for subsequent simulations if the model does not change. This option requires additional startup time.
Tips
Ensure that the mounting location of the INS sensor is at the origin of the vehicle coordinates to avoid offset errors in measurements. If you are using the Driving Scenario Designer app, then the origin of the vehicle coordinates corresponds to the Rear Window mounting position.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2021b
See Also
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)