This class generates random bias and noise for modeling a 9-DoF IMU. More...

Collaboration diagram for IMUNoiseSimulator:

Public Member Functions
Vector< 3, fltp08 >	accelBias () const
	Returns the current accelerometer bias per axis in ug.
void	addAccelerometerNoise (Vector< 3, fltp08 > &gravity_vector, const Time &current_time)
	Adds noise to gravity_vector and updates bias to simulate a real-world accel using model: vector = vector + noise + bias.
void	addGyroNoise (Vector< 3, fltp08 > &angular_rate, const Time &current_time)
	Adds noise to angular_rate and updates bias to simulate a real-world gyro using model: angular_rate = angular_rate + noise + bias.
void	addMagnetometerNoise (Vector< 3, fltp08 > &magnetic_vector, const Time &current_time)
	Adds noise to gravity_vector to simulate a real-world magnetometer using model: vector = vector + noise + bias.
void	addVector (GenericOptionGroup &group, const Vector< 3, fltp08 > &vector, const StringView name)
	Adds a 3D vector as three separate axis options to an option group.
Vector< 3, fltp08 >	currentGyroBias () const
	Returns the current gyroscope bias per axis in deg/hr.
Buffer< GenericOptionGroup >	groups ()
	Builds and returns the gyroscope and accelerometer option groups for configuration.
void	initializeAccelBiasesMemsense ()
	Initializes accelerometer noise parameters based on Memsense datasheet values.
void	initializeGyroBiasesMemsense ()
	Initializes gyroscope noise parameters based on Memsense datasheet values.
void	initializeMagBiasesMemsense ()
	Initializes magnetometer noise parameters based on Memsense datasheet values.
void	loadAccelerometerSettings (File file)
	Loads accelerometer noise parameters from an INI file.
void	loadGyroSettings (File file)
	Loads gyroscope noise parameters from an INI file.
void	reset ()
	Resets the internal state, invalidating all last-update timestamps.
void	saveAccelerometerSettings (File file)
	Saves accelerometer noise parameters to an INI file.
void	saveGyroSettings (File file)
	Saves gyroscope noise parameters to an INI file.
void	setAccelBias (const Vector< 3, fltp08 > &bias)
	Sets the current accelerometer bias.
void	setAccelerometerOptions (const GenericOptionGroup &accel)
	Applies accelerometer noise parameters from an option group.
void	setGyroBias (const Vector< 3, fltp08 > &bias)
	Sets the current gyroscope bias.
void	setGyroOptions (const GenericOptionGroup &gyro)
	Applies gyroscope noise parameters from an option group.
void	setTemperature (fltp08 temperature)
	Sets the simulated temperature in Celsius, affecting temperature-dependent noise parameters.
void	setVector (const GenericOptionGroup &group, Vector< 3, fltp08 > &vector, const StringView name)
	Reads a 3D vector from three axis options in an option group.

Public Attributes
Vector< 3, fltp08 >	acc_non_linearity_mean_ppm = Vector<3, fltp08>(0.0)
	Accel non-linearity mean in ppm.
Vector< 3, fltp08 >	acc_non_linearity_std_ppm = Vector<3, fltp08>(0.0)
	Accel non-linearity std dev in ppm.
Vector< 3, fltp08 >	acc_scale_error_max_ppm = Vector<3, fltp08>(0.0)
	Accel scale factor error maximum in ppm.
Vector< 3, fltp08 >	acc_scale_error_mean_ppm = Vector<3, fltp08>(0.0)
	Accel scale factor error mean in ppm.
Vector< 3, fltp08 >	acc_scale_error_std_ppm = Vector<3, fltp08>(0.0)
	Accel scale factor error std dev in ppm.
Vector< 3, fltp08 >	acc_scale_temperature_error_mean_ppm = Vector<3, fltp08>(0.0)
	Accel scale temperature error mean in ppm.
Vector< 3, fltp08 >	acc_scale_temperature_error_std_ppm = Vector<3, fltp08>(0.0)
	Accel scale temperature error std dev in ppm.
Vector< 3, fltp08 >	accel_bias_instability_mean_ug = Vector<3, fltp08>(0.0)
	Accel bias instability average in ug.
Vector< 3, fltp08 >	accel_bias_instability_std_ug = Vector<3, fltp08>(0.0)
	Accel bias instability std dev in ug.
Vector< 3, fltp08 >	accel_bias_offset_max_ug = Vector<3, fltp08>(0.0)
	Accel turn-on bias maximum in ug.
Vector< 3, fltp08 >	accel_bias_offset_mean_ug = Vector<3, fltp08>(0.0)
	Accel turn-on bias average in ug.
Vector< 3, fltp08 >	accel_bias_offset_std_ug = Vector<3, fltp08>(0.0)
	Accel turn-on bias std dev in ug.
Vector< 3, fltp08 >	accel_bias_temperature_mean_error = Vector<3, fltp08>(0.0)
	Accel bias temperature sensitivity mean in ug/sqrt(Hz).
Vector< 3, fltp08 >	accel_bias_temperature_std_error = Vector<3, fltp08>(0.0)
	Accel bias temperature sensitivity std dev in ug/sqrt(Hz).
fltp08	accel_dynamic_range = 4.0
	Accelerometer dynamic range in g.
Vector< 3, fltp08 >	accel_noise_density_max_ug_rt_hz = Vector<3, fltp08>(0.0)
	Accel noise density maximum in ug/sqrt(Hz).
Vector< 3, fltp08 >	accel_noise_density_mean_ug_rt_hz = Vector<3, fltp08>(0.0)
	Accel noise density average in ug/sqrt(Hz).
Vector< 3, fltp08 >	accel_noise_density_std_ug_rt_hz = Vector<3, fltp08>(0.0)
	Accel noise density std dev in ug/sqrt(Hz).
Vector< 3, fltp08 >	accel_velocity_walk_mean = Vector<3, fltp08>(0.0)
	Accel velocity random walk mean.
Vector< 3, fltp08 >	accel_velocity_walk_std = Vector<3, fltp08>(0.0)
	Accel velocity random walk std dev.
Vector< 3, fltp08 >	gyro_bias_instability_mean_dph = Vector<3, fltp08>(0.0)
	Gyro bias instability average in deg/hr.
Vector< 3, fltp08 >	gyro_bias_instability_std_dph = Vector<3, fltp08>(0.0)
	Gyro bias instability std dev in deg/hr.
Vector< 3, fltp08 >	gyro_bias_offset_max_dph = Vector<3, fltp08>(0.0)
	Gyro turn-on bias maximum in deg/hr.
Vector< 3, fltp08 >	gyro_bias_offset_mean_dph = Vector<3, fltp08>(0.0)
	Gyro turn-on bias average in deg/hr.
Vector< 3, fltp08 >	gyro_bias_offset_std_dph = Vector<3, fltp08>(0.0)
	Gyro turn-on bias std dev in deg/hr.
fltp08	gyro_bias_temperature_mean_error = 0.0
	Gyro bias temperature sensitivity mean error.
fltp08	gyro_bias_temperature_std_error = 0.0
	Gyro bias temperature sensitivity std dev error.
fltp08	gyro_g_sensitivity = 0.0
	Gyro g-sensitivity coefficient.
fltp08	gyro_input_range = 480.0
	Gyroscope input range in degrees per second.
Vector< 3, fltp08 >	gyro_noise_density_max_dps_rt_hz = Vector<3, fltp08>(0.0)
	Gyro noise density maximum in deg/s/sqrt(Hz).
Vector< 3, fltp08 >	gyro_noise_density_mean_dps_rt_hz = Vector<3, fltp08>(0.0)
	Gyro noise density average in deg/s/sqrt(Hz).
Vector< 3, fltp08 >	gyro_noise_density_std_dps_rt_hz = Vector<3, fltp08>(0.0)
	Gyro noise density std dev in deg/s/sqrt(Hz).
Vector< 3, fltp08 >	gyro_non_linearity_max_ppm = Vector<3, fltp08>(0.0)
	Gyro non-linearity maximum in ppm.
Vector< 3, fltp08 >	gyro_non_linearity_mean_ppm = Vector<3, fltp08>(0.0)
	Gyro non-linearity mean in ppm.
Vector< 3, fltp08 >	gyro_non_linearity_std_ppm = Vector<3, fltp08>(0.0)
	Gyro non-linearity std dev in ppm.
Vector< 3, fltp08 >	gyro_random_walk_mean = Vector<3, fltp08>(0.0)
	Gyro angular random walk mean.
Vector< 3, fltp08 >	gyro_random_walk_std = Vector<3, fltp08>(0.0)
	Gyro angular random walk std dev.
Vector< 3, fltp08 >	gyro_scale_error_max_ppm = Vector<3, fltp08>(0.0)
	Gyro scale factor error maximum in ppm.
Vector< 3, fltp08 >	gyro_scale_error_mean_ppm = Vector<3, fltp08>(0.0)
	Gyro scale factor error mean in ppm.
Vector< 3, fltp08 >	gyro_scale_error_std_ppm = Vector<3, fltp08>(0.0)
	Gyro scale factor error std dev in ppm.
Vector< 3, fltp08 >	gyro_scale_temperature_error_mean_ppm = Vector<3, fltp08>(0.0)
	Gyro scale temperature error mean in ppm.
Vector< 3, fltp08 >	gyro_scale_temperature_error_std_ppm = Vector<3, fltp08>(0.0)
	Gyro scale temperature error std dev in ppm.
fltp08	gyro_vibration_noise_coef_mean = 0.0
	Gyro vibration noise coefficient mean.
fltp08	gyro_vibration_noise_coef_std = 0.0
	Gyro vibration noise coefficient std dev.
fltp08	gyro_vibration_rectification_mean = 0.0
	Gyro vibration rectification error mean.
fltp08	gyro_vibration_rectification_std = 0.0
	Gyro vibration rectification error std dev.
Vector< 3, fltp08 >	mag_bias_gauss = Vector<3, fltp08>(0.0)
	Current magnetometer bias per axis in gauss.
fltp08	mag_bias_offset_mean_ugauss = 0.0016
	Magnetometer turn-on bias offset mean in ugauss.
fltp08	mag_bias_offset_std_ugauss = 0.0016
	Magnetometer turn-on bias offset std dev in ugauss.
fltp08	mag_noise_density_mean_ugauss_rt_hz = 80
	Magnetometer noise density mean in ugauss/sqrt(Hz). Best guess from incomplete datasheet.
fltp08	mag_noise_density_std_ugauss_rt_hz = 80
	Magnetometer noise density std dev in ugauss/sqrt(Hz).
Vector< 3, fltp08 >	max_accel_bias_ug = Vector<3, fltp08>(3000.0)
	Maximum accel bias offset from OEM datasheet in ug.
Vector< 3, fltp08 >	max_accel_noise_density_ug_rt_hz = Vector<3, fltp08>(0.0)
	Maximum accel noise density from OEM datasheet in ug/sqrt(Hz).
fltp08	max_mag_bias_offset_gauss = 0.0085
	Maximum magnetometer bias offset in gauss.

Detailed Description

This class generates random bias and noise for modeling a 9-DoF IMU.

Parameters can be derived from spec sheets or allan variance analysis. Each axis of the IMU is treated independently. Once initialized, temperature or other variables can be modified.

Definition at line 18 of file IMUNoiseSimulator.h.

Member Function Documentation

◆ addAccelerometerNoise()

void IMUNoiseSimulator::addAccelerometerNoise	(	Vector< 3, fltp08 > &	gravity_vector,
		const Time &	current_time )

inline

Adds noise to gravity_vector and updates bias to simulate a real-world accel using model: vector = vector + noise + bias.

Parameters

gravity_vector	the gravity vector in G's
current_time	the current time of the simulation

Definition at line 476 of file IMUNoiseSimulator.h.

References acc_scale_error_max_ppm, acc_scale_error_std_ppm, acc_scale_temperature_error_mean_ppm, accel_bias_instability_mean_ug, accel_bias_instability_std_ug, accel_bias_offset_mean_ug, accel_bias_offset_std_ug, accel_noise_density_mean_ug_rt_hz, accel_noise_density_std_ug_rt_hz, clip(), IsInvalid(), max_accel_bias_ug, and sqrt().

◆ addGyroNoise()

void IMUNoiseSimulator::addGyroNoise	(	Vector< 3, fltp08 > &	angular_rate,
		const Time &	current_time )

inline

Adds noise to angular_rate and updates bias to simulate a real-world gyro using model: angular_rate = angular_rate + noise + bias.

Parameters

angular_rate	the vector for each axis of the gyro in Angle/sec
current_time	the current time of the simulation

Definition at line 424 of file IMUNoiseSimulator.h.

References clip(), gyro_bias_instability_mean_dph, gyro_bias_offset_mean_dph, gyro_bias_temperature_mean_error, gyro_bias_temperature_std_error, gyro_noise_density_mean_dps_rt_hz, gyro_noise_density_std_dps_rt_hz, gyro_scale_error_max_ppm, gyro_scale_error_mean_ppm, gyro_scale_error_std_ppm, IsInvalid(), and sqrt().

◆ addMagnetometerNoise()

void IMUNoiseSimulator::addMagnetometerNoise	(	Vector< 3, fltp08 > &	magnetic_vector,
		const Time &	current_time )

inline

Adds noise to gravity_vector to simulate a real-world magnetometer using model: vector = vector + noise + bias.

(bias is assumed static for magnetometer)

Parameters

magnetic_vector	the normalized magnetic field vector.
current_time	the current time of the simulation

Definition at line 524 of file IMUNoiseSimulator.h.

References clip(), IsInvalid(), mag_bias_gauss, mag_bias_offset_mean_ugauss, mag_bias_offset_std_ugauss, mag_noise_density_mean_ugauss_rt_hz, mag_noise_density_std_ugauss_rt_hz, max_mag_bias_offset_gauss, and sqrt().

◆ addVector()

void IMUNoiseSimulator::addVector	(	GenericOptionGroup &	group,
		const Vector< 3, fltp08 > &	vector,
		const StringView	name )

inline

Adds a 3D vector as three separate axis options to an option group.

Parameters

[in]	group	The option group to add to.
[in]	vector	The 3D vector values.
[in]	name	The base name for the options.

Definition at line 97 of file IMUNoiseSimulator.h.

References GenericOptionGroup::addOption(), String::append(), cast(), TranslatedString::DirectString(), name, String::toLower(), and String::toTitleString().

Referenced by groups().

◆ groups()

Buffer< GenericOptionGroup > IMUNoiseSimulator::groups ( )

inline

Builds and returns the gyroscope and accelerometer option groups for configuration.

Returns: A buffer containing the gyro and accelerometer GenericOptionGroups.

Definition at line 151 of file IMUNoiseSimulator.h.

References acc_non_linearity_mean_ppm, acc_non_linearity_std_ppm, acc_scale_error_mean_ppm, acc_scale_error_std_ppm, acc_scale_temperature_error_mean_ppm, acc_scale_temperature_error_std_ppm, accel_bias_instability_mean_ug, accel_bias_instability_std_ug, accel_bias_offset_max_ug, accel_bias_offset_mean_ug, accel_bias_offset_std_ug, accel_bias_temperature_mean_error, accel_bias_temperature_std_error, accel_dynamic_range, accel_noise_density_max_ug_rt_hz, accel_noise_density_mean_ug_rt_hz, accel_noise_density_std_ug_rt_hz, accel_velocity_walk_mean, accel_velocity_walk_std, Buffer< t_type, t_memory_manager >::add(), GenericOptionGroup::addOption(), addVector(), gyro_bias_instability_mean_dph, gyro_bias_instability_std_dph, gyro_bias_offset_max_dph, gyro_bias_offset_mean_dph, gyro_bias_offset_std_dph, gyro_bias_temperature_mean_error, gyro_bias_temperature_std_error, gyro_g_sensitivity, gyro_input_range, gyro_noise_density_max_dps_rt_hz, gyro_noise_density_mean_dps_rt_hz, gyro_noise_density_std_dps_rt_hz, gyro_non_linearity_max_ppm, gyro_non_linearity_mean_ppm, gyro_non_linearity_std_ppm, gyro_random_walk_mean, gyro_random_walk_std, gyro_scale_error_max_ppm, gyro_scale_error_mean_ppm, gyro_scale_error_std_ppm, gyro_scale_temperature_error_mean_ppm, gyro_scale_temperature_error_std_ppm, gyro_vibration_noise_coef_mean, gyro_vibration_noise_coef_std, gyro_vibration_rectification_mean, and gyro_vibration_rectification_std.

Referenced by loadAccelerometerSettings(), loadGyroSettings(), saveAccelerometerSettings(), and saveGyroSettings().

◆ loadAccelerometerSettings()

void IMUNoiseSimulator::loadAccelerometerSettings ( File file )

inline

Loads accelerometer noise parameters from an INI file.

Parameters

[in] file The file to read from.

Definition at line 315 of file IMUNoiseSimulator.h.

References file, groups(), INIFactory::readAsciiFile(), setAccelerometerOptions(), and INIFactory::setPreserveOrder().

◆ loadGyroSettings()

void IMUNoiseSimulator::loadGyroSettings ( File file )

inline

Loads gyroscope noise parameters from an INI file.

Parameters

[in] file The file to read from.

Definition at line 304 of file IMUNoiseSimulator.h.

References file, groups(), INIFactory::readAsciiFile(), setGyroOptions(), and INIFactory::setPreserveOrder().

◆ saveAccelerometerSettings()

void IMUNoiseSimulator::saveAccelerometerSettings ( File file )

inline

Saves accelerometer noise parameters to an INI file.

Parameters

[in] file The file to write to.

Definition at line 294 of file IMUNoiseSimulator.h.

References file, groups(), INIFactory::setPreserveOrder(), and INIFactory::writeToAsciiFile().

◆ saveGyroSettings()

void IMUNoiseSimulator::saveGyroSettings ( File file )

inline

Saves gyroscope noise parameters to an INI file.

Parameters

[in] file The file to write to.

Definition at line 284 of file IMUNoiseSimulator.h.

References file, groups(), INIFactory::setPreserveOrder(), and INIFactory::writeToAsciiFile().

◆ setAccelBias()

void IMUNoiseSimulator::setAccelBias ( const Vector< 3, fltp08 > & bias )

inline

Sets the current accelerometer bias.

Parameters

[in] bias The bias vector per axis in ug.

Definition at line 134 of file IMUNoiseSimulator.h.

◆ setAccelerometerOptions()

void IMUNoiseSimulator::setAccelerometerOptions ( const GenericOptionGroup & accel )

inline

Applies accelerometer noise parameters from an option group.

Parameters

[in] accel The option group containing accelerometer parameters.

Definition at line 258 of file IMUNoiseSimulator.h.

References acc_non_linearity_mean_ppm, acc_non_linearity_std_ppm, acc_scale_error_mean_ppm, acc_scale_error_std_ppm, acc_scale_temperature_error_mean_ppm, acc_scale_temperature_error_std_ppm, accel_bias_instability_mean_ug, accel_bias_instability_std_ug, accel_bias_offset_max_ug, accel_bias_offset_mean_ug, accel_bias_offset_std_ug, accel_bias_temperature_mean_error, accel_bias_temperature_std_error, accel_dynamic_range, accel_noise_density_max_ug_rt_hz, accel_noise_density_mean_ug_rt_hz, accel_noise_density_std_ug_rt_hz, accel_velocity_walk_mean, accel_velocity_walk_std, GenericOptionGroup::getValue(), and setVector().

Referenced by loadAccelerometerSettings().

◆ setGyroBias()

void IMUNoiseSimulator::setGyroBias ( const Vector< 3, fltp08 > & bias )

inline

Sets the current gyroscope bias.

Parameters

[in] bias The bias vector per axis in deg/hr.

Definition at line 145 of file IMUNoiseSimulator.h.

◆ setGyroOptions()

void IMUNoiseSimulator::setGyroOptions ( const GenericOptionGroup & gyro )

inline

Applies gyroscope noise parameters from an option group.

Parameters

[in] gyro The option group containing gyro parameters.

Definition at line 225 of file IMUNoiseSimulator.h.

References GenericOptionGroup::getValue(), gyro_bias_instability_mean_dph, gyro_bias_instability_std_dph, gyro_bias_offset_max_dph, gyro_bias_offset_mean_dph, gyro_bias_offset_std_dph, gyro_bias_temperature_mean_error, gyro_bias_temperature_std_error, gyro_g_sensitivity, gyro_input_range, gyro_noise_density_max_dps_rt_hz, gyro_noise_density_mean_dps_rt_hz, gyro_noise_density_std_dps_rt_hz, gyro_non_linearity_max_ppm, gyro_non_linearity_mean_ppm, gyro_non_linearity_std_ppm, gyro_random_walk_mean, gyro_random_walk_std, gyro_scale_error_max_ppm, gyro_scale_error_mean_ppm, gyro_scale_error_std_ppm, gyro_scale_temperature_error_mean_ppm, gyro_scale_temperature_error_std_ppm, gyro_vibration_noise_coef_mean, gyro_vibration_noise_coef_std, gyro_vibration_rectification_mean, gyro_vibration_rectification_std, and setVector().

Referenced by loadGyroSettings().

◆ setTemperature()

void IMUNoiseSimulator::setTemperature ( fltp08 temperature )

inline

Sets the simulated temperature in Celsius, affecting temperature-dependent noise parameters.

Parameters

[in] temperature The temperature in Celsius.

Definition at line 333 of file IMUNoiseSimulator.h.

◆ setVector()

void IMUNoiseSimulator::setVector	(	const GenericOptionGroup &	group,
		Vector< 3, fltp08 > &	vector,
		const StringView	name )

inline

Reads a 3D vector from three axis options in an option group.

Parameters

[in]	group	The option group to read from.
[in]	vector	The 3D vector to populate.
[in]	name	The base name for the options.

Definition at line 115 of file IMUNoiseSimulator.h.

References String::append(), cast(), GenericOptionGroup::getValue(), name, and String::toLower().

Referenced by setAccelerometerOptions(), and setGyroOptions().

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

Hardware/Headers/IMUNoiseSimulator.h

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ addAccelerometerNoise()

◆ addGyroNoise()

◆ addMagnetometerNoise()

◆ addVector()

◆ groups()

◆ loadAccelerometerSettings()

◆ loadGyroSettings()

◆ saveAccelerometerSettings()

◆ saveGyroSettings()

◆ setAccelBias()

◆ setAccelerometerOptions()

◆ setGyroBias()

◆ setGyroOptions()

◆ setTemperature()

◆ setVector()