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    Matlab sensor fusion parameters.

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    Occasional Visitor

    Matlab sensor fusion parameters.

    Hello,

     

    We are looking to use the extended Kalman filter within the Matlab sensor fusion toolbox.

     

    There are some accel/gyro noise parameters required by the imufilter() function within that collection of functions. They don't appear to be commonly included within IMU data sheets in this form. We are looking to use your BMI088 device.

     

    The required parameters are:

     

    • Variance of accelerometer signal noise in (m/s^2)^2.
    • Variance of gyroscope signal noise in (rad/s^)^2,
    • Variance of gyroscope offset drift in (rad/s)^2,
    • Variance of linear acceleration noise in (m/s^2)^2,

     

    I've not seen anything resembling these descriptions or units on any accelerometer or gyro datasheets.

     

    While there are default values applied by Matlab, and it seems to work, we'd rather have something real. I don't see any way of arriving at these parameters for myself.

     

    What would these parameters be for BMI088?

     

    Regards,

     

    Michael Kearsey

    1 REPLY 1
    Community Moderator

    Re: Matlab sensor fusion parameters.

    Hi Michael ,

    In the datasheet, only typical sensor noise value and sensor offset are provided.

    In the customer algorithm, the required parameters need to be tested or calculated case by case.

    They are also part of the algorithm or system model.

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