Stochastic IMU error model based on Forster et al. (2016). More...
#include <ImuNoiseModel.h>
Classes | |
| struct | ChannelParams |
| Parameters for a single 3-axis IMU channel. More... | |
Public Member Functions | |
| void | reset () |
| Reset the internal bias states to zero. | |
| mrpt::math::TVector3D | applyGyroscope (const mrpt::math::TVector3D &trueVal, double dt) |
| Corrupt a true gyroscope reading with noise. More... | |
| mrpt::math::TVector3D | applyAccelerometer (const mrpt::math::TVector3D &trueVal, double dt) |
| Corrupt a true accelerometer reading with noise. More... | |
| const mrpt::math::TVector3D & | gyroBias () const |
| const mrpt::math::TVector3D & | accelBias () const |
Public Attributes | |
| ChannelParams | gyroscope |
| ChannelParams | accelerometer |
Detailed Description
Stochastic IMU error model based on Forster et al. (2016).
Implements the standard continuous-time IMU noise model with two components per axis for both gyroscope and accelerometer channels:
- White noise (measurement noise / angle/velocity random walk): Additive zero-mean Gaussian noise applied to each sample.
- Bias random walk (in-run stability / drift): A slowly-varying bias modelled as the integral of white noise, i.e. a Wiener process.
Discrete-time update equations (timestep \(\Delta t\)):
\[ \mathbf{b}_{k} = \mathbf{b}_{k-1} + \mathcal{N}\!\bigl(\mathbf{0},\,\sigma_{rw}^{2}\,\Delta t\, \mathbf{I}\bigr) \]
\[ \tilde{\mathbf{m}}_{k} = \mathbf{m}_{k} + \mathbf{b}_{k} + \mathcal{N}\!\bigl(\mathbf{0},\,\sigma_{w}^{2}\,\mathbf{I}\bigr) \]
where \(\sigma_{w}\) is the white-noise standard deviation and \(\sigma_{rw}\) is the random-walk standard deviation.
- Reference
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry", IEEE Transactions on Robotics, vol. 33, no. 1, pp. 1-21, 2016.
Member Function Documentation
◆ accelBias()
|
inline |
Read-only access to current accelerometer bias (for diagnostics).
◆ applyAccelerometer()
| mrpt::math::TVector3D mvsim::ImuNoiseModel::applyAccelerometer | ( | const mrpt::math::TVector3D & | trueVal, |
| double | dt | ||
| ) |
Corrupt a true accelerometer reading with noise.
- Parameters
-
[in] trueVal True linear acceleration (m/s²). [in] dt Simulation timestep (s).
- Returns
- Noisy linear acceleration (m/s²).
◆ applyGyroscope()
| mrpt::math::TVector3D mvsim::ImuNoiseModel::applyGyroscope | ( | const mrpt::math::TVector3D & | trueVal, |
| double | dt | ||
| ) |
Corrupt a true gyroscope reading with noise.
- Parameters
-
[in] trueVal True angular velocity (rad/s). [in] dt Simulation timestep (s).
- Returns
- Noisy angular velocity (rad/s).
◆ gyroBias()
|
inline |
Read-only access to current gyroscope bias (for diagnostics).
Member Data Documentation
◆ accelerometer
| ChannelParams mvsim::ImuNoiseModel::accelerometer |
Accelerometer noise parameters [m/s²].
◆ gyroscope
| ChannelParams mvsim::ImuNoiseModel::gyroscope |
Gyroscope noise parameters [rad/s].
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/Sensors/ImuNoiseModel.h
