inertialMeasurementSim Class Reference

Inertial measurement unit (IMU) simulator class. More...

#include <inertialMeasurementSim.hpp>

Public Member Functions
void	getMeasurement (Eigen::Vector3d &accOutput, Eigen::Vector3d &gyroOutput, const Eigen::Vector3d specificForce, const Eigen::Vector3d angularVelocity)
	Get IMU measurement. More...
	inertialMeasurementSim (double accMeasNoiseVariance, double gyroMeasNoiseVariance, double accBiasProcessNoiseAutoCorrelation, double gyroBiasProcessNoiseAutoCorrelation)
	Construct a new IMU Sim object. More...
void	proceedBiasDynamics (double dt_secs)
	Proceed accelerometer and gyroscope bias dynamics. More...
void	setBias (const Eigen::Vector3d &accBias, const Eigen::Vector3d &gyroBias, double accBiasProcessNoiseAutoCorrelation, double gyroBiasProcessNoiseAutoCorrelation)
	Set bias properties. More...
void	setBias (double accBiasVariance, double gyroBiasVariance)
	Set bias. More...
void	setBias (double accBiasVariance, double gyroBiasVariance, double accBiasProcessNoiseAutoCorrelation, double gyroBiasProcessNoiseAutoCorrelation)
	Set bias properties. More...
void	setNoiseVariance (double accMeasNoiseVariance, double gyroMeasNoiseVariance)
	Set additive noise variances. More...
void	setOrientation (const Eigen::Quaterniond &imuOrient)
	Set IMU orientation with regard to body-frame. More...

Private Attributes
Std normal RNG
std::default_random_engine	randomNumberGenerator_
std::normal_distribution< double >	standardNormalDistribution_ = std::normal_distribution<double>(0.0,1.0)
Measurement noise variance
double	accMeasNoiseVariance_ = 0.
double	gyroMeasNoiseVariance_ = 0.
Bias dynamics process noise auto correlation
double	accBiasProcessNoiseAutoCorrelation_ = 0.
double	gyroBiasProcessNoiseAutoCorrelation_ = 0.
Bias states
Eigen::Vector3d	accBias_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	gyroBias_ = Eigen::Vector3d::Zero()
Orientation of IMU wrt body-fixed frame
Eigen::Quaterniond	imuOrient_ = Eigen::Quaterniond::Identity()

Detailed Description

Inertial measurement unit (IMU) simulator class.

Definition at line 19 of file inertialMeasurementSim.hpp.

Constructor & Destructor Documentation

inertialMeasurementSim()

inertialMeasurementSim::inertialMeasurementSim	(	double	accMeasNoiseVariance,
		double	gyroMeasNoiseVariance,
		double	accBiasProcessNoiseAutoCorrelation,
		double	gyroBiasProcessNoiseAutoCorrelation
	)

Construct a new IMU Sim object.

Parameters

accMeasNoiseVariance	Accelerometer additive noise variance
gyroMeasNoiseVariance	Gyroscope additive noise variance
accBiasProcessNoiseAutoCorrelation	Accelerometer bias process noise auto correlation
gyroBiasProcessNoiseAutoCorrelation	Gyroscope bias process noise auto correlation

Definition at line 18 of file inertialMeasurementSim.cpp.

Member Function Documentation

getMeasurement()

void inertialMeasurementSim::getMeasurement	(	Eigen::Vector3d &	accOutput,
		Eigen::Vector3d &	gyroOutput,
		const Eigen::Vector3d	specificForce,
		const Eigen::Vector3d	angularVelocity
	)

Get IMU measurement.

Parameters

accOutput	Accelerometer output in IMU frame
gyroOutput	Gyroscope output in IMU frame
specificForce	Specific force in body-frame
angularVelocity	Angular velocity in body-frame

Definition at line 116 of file inertialMeasurementSim.cpp.

proceedBiasDynamics()

void inertialMeasurementSim::proceedBiasDynamics

(

double

dt_secs

)

Proceed accelerometer and gyroscope bias dynamics.

Parameters

dt_secs

Time step

Definition at line 140 of file inertialMeasurementSim.cpp.

setBias() [1/3]

void inertialMeasurementSim::setBias	(	const Eigen::Vector3d &	accBias,
		const Eigen::Vector3d &	gyroBias,
		double	accBiasProcessNoiseAutoCorrelation,
		double	gyroBiasProcessNoiseAutoCorrelation
	)

Set bias properties.

Parameters

accBias	Accelerometer bias value
gyroBias	Gyroscope bias value
accBiasProcessNoiseAutoCorrelation	Accelerometer bias process noise auto correlation
gyroBiasProcessNoiseAutoCorrelation	Gyroscope bias process noise auto correlation

Definition at line 38 of file inertialMeasurementSim.cpp.

setBias() [2/3]

void inertialMeasurementSim::setBias	(	double	accBiasVariance,
		double	gyroBiasVariance
	)

Set bias.

Parameters

accBias	Accelerometer bias variance
gyroBias	Gyroscope bias variance

Definition at line 77 of file inertialMeasurementSim.cpp.

setBias() [3/3]

void inertialMeasurementSim::setBias	(	double	accBiasVariance,
		double	gyroBiasVariance,
		double	accBiasProcessNoiseAutoCorrelation,
		double	gyroBiasProcessNoiseAutoCorrelation
	)

Set bias properties.

Parameters

accBias	Accelerometer bias variance
gyroBias	Gyroscope bias variance
accBiasProcessNoiseAutoCorrelation	Accelerometer bias process noise auto correlation
gyroBiasProcessNoiseAutoCorrelation	Gyroscope bias process noise auto correlation

Definition at line 55 of file inertialMeasurementSim.cpp.

setNoiseVariance()

void inertialMeasurementSim::setNoiseVariance	(	double	accMeasNoiseVariance,
		double	gyroMeasNoiseVariance
	)

Set additive noise variances.

Parameters

accMeasNoiseVariance	Accelerometer additive noise variance
gyroMeasNoiseVariance	Gyroscope additive noise variance

Definition at line 94 of file inertialMeasurementSim.cpp.

setOrientation()

void inertialMeasurementSim::setOrientation

(

const Eigen::Quaterniond &

imuOrient

)

Set IMU orientation with regard to body-frame.

Parameters

imuOrient

IMU orientation with regard to body-frame

Definition at line 104 of file inertialMeasurementSim.cpp.

Member Data Documentation

accBias_

Eigen::Vector3d inertialMeasurementSim::accBias_ = Eigen::Vector3d::Zero()

private

Definition at line 64 of file inertialMeasurementSim.hpp.

accBiasProcessNoiseAutoCorrelation_

double inertialMeasurementSim::accBiasProcessNoiseAutoCorrelation_ = 0.

private

Definition at line 58 of file inertialMeasurementSim.hpp.

accMeasNoiseVariance_

double inertialMeasurementSim::accMeasNoiseVariance_ = 0.

private

Definition at line 52 of file inertialMeasurementSim.hpp.

gyroBias_

Eigen::Vector3d inertialMeasurementSim::gyroBias_ = Eigen::Vector3d::Zero()

private

Definition at line 65 of file inertialMeasurementSim.hpp.

gyroBiasProcessNoiseAutoCorrelation_

double inertialMeasurementSim::gyroBiasProcessNoiseAutoCorrelation_ = 0.

private

Definition at line 59 of file inertialMeasurementSim.hpp.

gyroMeasNoiseVariance_

double inertialMeasurementSim::gyroMeasNoiseVariance_ = 0.

private

Definition at line 53 of file inertialMeasurementSim.hpp.

imuOrient_

Eigen::Quaterniond inertialMeasurementSim::imuOrient_ = Eigen::Quaterniond::Identity()

private

Definition at line 70 of file inertialMeasurementSim.hpp.

randomNumberGenerator_

std::default_random_engine inertialMeasurementSim::randomNumberGenerator_

private

Definition at line 46 of file inertialMeasurementSim.hpp.

standardNormalDistribution_

std::normal_distribution<double> inertialMeasurementSim::standardNormalDistribution_ = std::normal_distribution<double>(0.0,1.0)

private

Definition at line 47 of file inertialMeasurementSim.hpp.

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The documentation for this class was generated from the following files:

• inertialMeasurementSim.hpp
• inertialMeasurementSim.cpp