model

SLAM.Examples.InertialOnly

Inertial navigation with filtered airframe IMU measurements

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`accelTimeConstant`	`Real`	`(unit="s", min=1e-6) = 0.03`	Accelerometer filter time constant
parameter	`gyroTimeConstant`	`Real`	`(unit="s", min=1e-6) = 0.02`	Gyroscope filter time constant
input	`accel`	`Real`	`[3](each unit="m/s2", start={0, 0, 9.81})`	Specific force in body FLU coordinates
input	`gyro`	`Real`	`[3](each unit="rad/s", each start=0)`	Angular velocity in body FLU coordinates
output	`position`	`Real`	`[3](each unit="m")`	Position in world ENU coordinates
output	`velocity`	`Real`	`[3](each unit="m/s")`	Velocity in world ENU coordinates
output	`quaternion`	`Real`	`[4]`	Unit quaternion {w,x,y,z}, body to world
output	`filteredAccel`	`Real`	`[3](each unit="m/s2")`	Filtered specific force
output	`filteredGyro`	`Real`	`[3](each unit="rad/s")`	Filtered angular velocity

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model InertialOnly "Inertial navigation with filtered airframe IMU measurements"
  import ModelicaInertial = SLAM.Inertial.ModelicaInertial;

  parameter Real accelTimeConstant(unit="s", min=1e-6) = 0.03
    "Accelerometer filter time constant";
  parameter Real gyroTimeConstant(unit="s", min=1e-6) = 0.02
    "Gyroscope filter time constant";

  input Real accel[3](each unit="m/s2", start={0, 0, 9.81})
    "Specific force in body FLU coordinates";
  input Real gyro[3](each unit="rad/s", each start=0)
    "Angular velocity in body FLU coordinates";

  output Real position[3](each unit="m") "Position in world ENU coordinates";
  output Real velocity[3](each unit="m/s") "Velocity in world ENU coordinates";
  output Real quaternion[4] "Unit quaternion {w,x,y,z}, body to world";
  output Real filteredAccel[3](each unit="m/s2") "Filtered specific force";
  output Real filteredGyro[3](each unit="rad/s") "Filtered angular velocity";

  ModelicaInertial estimator(
    accel_tau=accelTimeConstant,
    gyro_tau=gyroTimeConstant,
    accel=accel,
    gyro=gyro);
equation
  position = estimator.position;
  velocity = estimator.velocity;
  quaternion = estimator.quaternion;
  filteredAccel = estimator.filteredAccel;
  filteredGyro = estimator.filteredGyro;

  annotation (experiment(StopTime=10, Interval=0.01, Tolerance=1e-8));
end InertialOnly;