Sensor Models

R2026b

Simulation and calibration for IMU, GPS, and range sensors

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 Algorithms.

For more information about GNSS localization and positioning, see GNSS Positioning.

Functions

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IMU

`imuSensor`	IMU simulation model
`installimuparts`	Install IMU hardware part datasets (Since R2026b)
`loadimupart`	Load parameterized IMU hardware part (Since R2026b)
`accelparams`	Accelerometer sensor parameters
`accelcal`	Calibration parameters for accelerometer (Since R2023b)
`linaccel`	Linear acceleration from accelerometer reading (Since R2023b)
`magparams`	Magnetometer sensor parameters
`magcal`	Magnetometer calibration coefficients
`gyroparams`	Gyroscope sensor parameters
`allanvar`	Allan variance
`fractalcoef`	Filter coefficients for fractal noise generation (Since R2023b)
`gravitydir`	Gravity direction vector for given orientation (Since R2023b)
`tilt`	Tilt angle (Since R2023b)
`compassAngle`	Navigational heading relative to north (Since R2023b)

Altimeter

altimeterSensor Altimeter simulation model

Barometer

barometerSensor Barometer sensor model with noise (Since R2026a)

GPS

`gpsSensor`	GPS receiver simulation model
`nmeaParser`	Parse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices
`gpsdev`	Connect to a GPS receiver connected to host computer

INS

insSensor Inertial navigation system and GNSS/GPS simulation model

Range

rangeSensor Simulate range-bearing sensor readings

GNSS

`gnssSensor`	Simulate GNSS to generate position and velocity readings
`gnssMeasurementGenerator`	Simulate GNSS measurements for scenarios (Since R2023a)

Wheel Encoders

`wheelEncoderUnicycle`	Simulate wheel encoder sensor readings for unicycle vehicle
`wheelEncoderBicycle`	Simulate wheel encoder sensor readings for bicycle vehicle
`wheelEncoderDifferentialDrive`	Simulate wheel encoder sensor readings for differential drive vehicle
`wheelEncoderAckermann`	Simulate wheel encoder sensor readings for Ackermann vehicle

Multi-Sensor Parameters

multiSensorParameters Store multiple sensor mounting poses and intrinsic parameters (Since R2026b)

Trajectory Generators

`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator

Time Scope

timescope Display time-domain signals

Blocks

	IMU	IMU simulation model
	INS	Simulate INS sensor
	GPS	Simulate GPS sensor readings with noise

Topics

Introduction to Simulating IMU Measurements
This example shows how to simulate inertial measurement unit (IMU) measurements using the imuSensor System object™.
Generate IMU Readings on a Double Pendulum
This example shows how to generate inertial measurement unit (IMU) readings from two IMU sensors mounted on the links of a double pendulum.
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 imufilter.
Configure Time Scope MATLAB Object
Customize timescope properties 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™.
Simulate INS Block
In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.

Featured Examples

Magnetometer Calibration

Magnetometers detect magnetic field strength along a sensor's X,Y and Z axes. Accurate magnetic field measurements are essential for sensor fusion and the determination of heading and orientation.

Open Script

Generate Off-Centered IMU Readings

Generate inertial measurement unit (IMU) readings from a sensor that is mounted on a ground vehicle. Depending on the location of the sensor, the IMU accelerations are different.

Open Live Script

Gesture Recognition Using Inertial Measurement Units

Recognize gestures based on a handheld inertial measurement unit (IMU). Gesture recognition is a subfield of the general Human Activity Recognition (HAR) field. In this example, you use quaternion dynamic time warping and clustering to build a template matching algorithm to classify five gestures.

Open Live Script

IMU Sensor Fusion with Simulink

Generate and fuse IMU sensor data using Simulink®. You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation.

Open Script