Inertial Sensor Fusion
Inertial navigation with IMU and GPS, sensor fusion, custom filter tuning
Fuse IMU Data
|Orientation from accelerometer, gyroscope, and magnetometer readings|
|Height and orientation from MARG and altimeter readings (Since R2019a)|
|Estimate orientation using complementary filter (Since R2019b)|
|Orientation from magnetometer and accelerometer readings|
|Orientation from accelerometer and gyroscope readings|
Fuse IMU with GPS Data
|Estimate pose from MARG and GPS data|
|Estimate pose from asynchronous MARG and GPS data (Since R2019a)|
|Estimate pose from IMU, GPS, and monocular visual odometry (MVO) data (Since R2019a)|
|Estimate pose with nonholonomic constraints|
|Create inertial navigation filter|
Flexible Inertial Sensor Fusion Filter
|Inertial Navigation Using Extended Kalman Filter (Since R2022a)|
|Options for configuration of |
|Model accelerometer readings for sensor fusion (Since R2022a)|
|Model GPS readings for sensor fusion (Since R2022a)|
|Model gyroscope readings for sensor fusion (Since R2022a)|
|Model magnetometer readings for sensor fusion (Since R2022a)|
|Motion model for 3-D orientation estimation (Since R2022a)|
|Model for 3-D motion estimation (Since R2022a)|
|Create template file for motion model (Since R2022b)|
|Create template file for sensor model (Since R2022b)|
|Base class for defining motion models used with
|Base class for defining sensor models used with
- Choose Inertial Sensor Fusion Filters
Applicability and limitations of various inertial sensor fusion filters.
- Estimate Orientation Through Inertial Sensor Fusion
This example shows how to use 6-axis and 9-axis fusion algorithms to compute orientation.
- Estimate Orientation with a Complementary Filter and IMU Data
This example shows how to stream IMU data from an Arduino and estimate orientation using a complementary filter.
- Logged Sensor Data Alignment for Orientation Estimation
This example shows how to align and preprocess logged sensor data.
- Lowpass Filter Orientation Using Quaternion SLERP
This example shows how to use spherical linear interpolation (SLERP) to create sequences of quaternions and lowpass filter noisy trajectories.
- Pose Estimation From Asynchronous Sensors
This example shows how you might fuse sensors at different rates to estimate pose.
- Custom Tuning of Fusion Filters
tunefunction to optimize the noise parameters of several fusion filters, including the
- Fuse Inertial Sensor Data Using insEKF-Based Flexible Fusion Framework
insEKFfilter object provides a flexible framework that you can use to fuse inertial sensor data.
- Autonomous Underwater Vehicle Pose Estimation Using Inertial Sensors and Doppler Velocity Log
This example shows how to fuse data from a GPS, Doppler Velocity Log (DVL), and inertial measurement unit (IMU) sensors to estimate the pose of an autonomous underwater vehicle (AUV) shown in this image.
- Binaural Audio Rendering Using Head Tracking
Track head orientation by fusing data received from an IMU, and then control the direction of arrival of a sound source by applying head-related transfer functions (HRTF).
- Estimating Orientation Using Inertial Sensor Fusion and MPU-9250
This example shows how to get data from an InvenSense MPU-9250 IMU sensor, and to use the 6-axis and 9-axis fusion algorithms in the sensor data to compute orientation of the device.
- Wireless Data Streaming and Sensor Fusion Using BNO055
This example shows how to get data from a Bosch BNO055 IMU sensor through an HC-05 Bluetooth® module, and to use the 9-axis AHRS fusion algorithm on the sensor data to compute orientation of the device.