libdddvision/IMUModel.m at master · dddvision/libdddvision · GitHub

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function IMU = IMUModel(model)
% DESCRIPTION
%   Implements a lookup table for inertial sensor noise parameters.
%   Each model is defined by the STANDARD DEVIATION of its component errors.
%
% ARGUMENT
%   model = IMU type or model number ('Ideal','MMIMU','LN200','LN100','ADXL103')
%
% RETURN
%   IMU = structure containing model parameters
%
% Public Domain
switch model

  case 'Ideal'
    Gyro.Bias.TurnOn=0; %radian/sec
    Gyro.Bias.InRun=0; %radian/sec
    Gyro.Bias.Tau=Inf; %sec
    Gyro.Scale.TurnOn=0; %parts
    Gyro.Scale.InRun=0; %part
    Gyro.Scale.Tau=Inf; %sec
    Gyro.RandomWalk=0; %radians/sqrt(sec)

    Accel.Bias.TurnOn=0; %meters/sec^2
    Accel.Bias.InRun=0; %meters/sec^2
    Accel.Bias.Tau=Inf; %sec
    Accel.Scale.TurnOn=0; %parts
    Accel.Scale.InRun=0; %parts
    Accel.Scale.Tau=Inf; %sec
    Accel.RandomWalk=0; %meters/sec/sqrt(sec)

  case 'RandomWalkOnly'
    Gyro.Bias.TurnOn=0; %radian/sec
    Gyro.Bias.InRun=0; %radian/sec
    Gyro.Bias.Tau=Inf; %sec
    Gyro.Scale.TurnOn=0; %parts
    Gyro.Scale.InRun=0; %part
    Gyro.Scale.Tau=Inf; %sec
    Gyro.RandomWalk=1E-3; %radians/sqrt(sec)

    Accel.Bias.TurnOn=0; %meters/sec^2
    Accel.Bias.InRun=0; %meters/sec^2
    Accel.Bias.Tau=Inf; %sec
    Accel.Scale.TurnOn=0; %parts
    Accel.Scale.InRun=0; %parts
    Accel.Scale.Tau=Inf; %sec
    Accel.RandomWalk=1E-2; %meters/sec/sqrt(sec)

  case 'MMIMU'
    Gyro.Bias.TurnOn=(pi/180/3600)*3; %radian/sec
    Gyro.Bias.InRun=(pi/180/3600)*5; %radian/sec
    Gyro.Bias.Tau=100; %sec
    Gyro.Scale.TurnOn=(1E-6)*70; %parts
    Gyro.Scale.InRun=(1E-6)*100; %parts
    Gyro.Scale.Tau=100; %sec
    Gyro.RandomWalk=(pi/180/sqrt(3600))*0.05; %radians/sqrt(sec)

    Accel.Bias.TurnOn=(9.8E-3)*2; %meters/sec^2
    Accel.Bias.InRun=(9.8E-3)*1; %meters/sec^2
    Accel.Bias.Tau=60; %sec
    Accel.Scale.TurnOn=(1E-6)*125; %parts
    Accel.Scale.InRun=(1E-6)*600; %parts
    Accel.Scale.Tau=60; %sec
    Accel.RandomWalk=(1/sqrt(3600))*0.02; %meters/sec/sqrt(sec)

  case 'LN200'
    Gyro.Bias.TurnOn=(pi/180/3600)*1; %radian/sec
    Gyro.Bias.InRun=(pi/180/3600)*0.35; %radian/sec
    Gyro.Bias.Tau=100; %sec
    Gyro.Scale.TurnOn=(1E-6)*100; %parts
    Gyro.Scale.InRun=0; %parts
    Gyro.Scale.Tau=Inf; %sec
    Gyro.RandomWalk=(pi/180/sqrt(3600))*0.07; %radians/sqrt(sec)

    Accel.Bias.TurnOn=(9.8E-3)*0.2; %meters/sec^2
    Accel.Bias.InRun=(9.8E-3)*0.05; %meters/sec^2
    Accel.Bias.Tau=60; %sec
    Accel.Scale.TurnOn=(1E-6)*300; %parts
    Accel.Scale.InRun=0; %parts
    Accel.Scale.Tau=Inf; %sec
    Accel.RandomWalk=(1/sqrt(3600))*0.03; %meters/sec/sqrt(sec)

  case 'LN200real'
    warning('LN200real has been replaced by LN200');
    IMU=IMUModel('LN200');
    return

  case 'LN100'
    Gyro.Bias.TurnOn=(pi/180/3600)*0.003; %radian/sec
    Gyro.Bias.InRun=(pi/180/3600)*0.003; %radian/sec
    Gyro.Bias.Tau=100; %sec
    Gyro.Scale.TurnOn=(1E-6)*5; %parts
    Gyro.Scale.InRun=0; %parts
    Gyro.Scale.Tau=Inf; %sec
    Gyro.RandomWalk=(pi/180/sqrt(3600))*0.001; %radians/sqrt(sec)

    Accel.Bias.TurnOn=(9.8E-3)*0.025; %meters/sec^2
    Accel.Bias.InRun=(9.8E-3)*0.01; %meters/sec^2
    Accel.Bias.Tau=60; %sec
    Accel.Scale.TurnOn=(1E-6)*5; %parts
    Accel.Scale.InRun=0; %parts
    Accel.Scale.Tau=Inf; %sec
    Accel.RandomWalk=(1/sqrt(3600))*0.003; %meters/sec/sqrt(sec)

  case 'ADXL103'
    Gyro.Bias.TurnOn=(pi/180/3600)*200; %radian/sec
    Gyro.Bias.InRun=(pi/180/3600)*200; %radian/sec
    Gyro.Bias.Tau=100; %sec
    Gyro.Scale.TurnOn=(1E-6)*1000; %parts
    Gyro.Scale.InRun=(1E-6)*1000; %parts
    Gyro.Scale.Tau=100; %sec
    Gyro.RandomWalk=(pi/180/sqrt(3600))*3; %radians/sqrt(sec)

    Accel.Bias.TurnOn=(9.8E-3)*25; %meters/sec^2
    Accel.Bias.InRun=(9.8E-3)*3.3; %meters/sec^2
    Accel.Bias.Tau=60; %sec
    Accel.Scale.TurnOn=(1E-6)*3000; %parts
    Accel.Scale.InRun=(1E-6)*3000; %parts
    Accel.Scale.Tau=60; %sec
    Accel.RandomWalk=(1/sqrt(3600))*0.09; %meters/sec/sqrt(sec)

  otherwise
    error('invalid IMU model name');
end

%store component statistics in the IMU structure
IMU.Gyro=Gyro;
IMU.Accel=Accel;

return