Sensor Models

Calibration and simulation for IMU, GPS, and range sensors

Perform sensor modeling and simulation for accelerometers, magnetometers, gyroscopes, altimeters, GPS, IMU, and range sensors. Analyze sensor readings, sensor noise, environmental conditions and other configuration parameters. Generate trajectories to emulate these sensors traveling through a world and calibrate the performance of your sensors.


allanvarAllan variance
magcalMagnetometer calibration coefficients
accelparamsAccelerometer sensor parameters
gyroparamsGyroscope sensor parameters
magparamsMagnetometer sensor parameters


altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model
imuSensorIMU simulation model
rangeSensorSimulate range-bearing sensor readings
kinematicTrajectoryRate-driven trajectory generator
waypointTrajectoryWaypoint trajectory generator


Model IMU, GPS, and INS/GPS

Model combinations of inertial sensors and GPS

Remove Bias from Angular Velocity Measurement

This example shows how to remove gyroscope bias from an IMU using imufilter.

Featured Examples