How to input my own IMU data into insfilterErrorState

If I defined the RF of insfilterErrorState as 'ENU', how can I transform my own IMU data from real world?

I noticed that, if RF is 'NED', it is needed to format the IMU data as 'x-front, y-right, z-down', and accerlerometer z data should be also inversed because the different g definition in MATLAB.

If RF is 'ENU', how should I processing my IMU input? Thanks a lot. Because I adjust the input, the DR result of insfilterErrorState seems really bad. I think there might be some proplem in my data input.

Answer 1

[Brian Fanous]

This example may help in understanding how to do this:

https://www.mathworks.com/help/nav/ug/logged-sensor-data-alignment-for-orientation-estimation.html

You may need to swap and/or invert axes, but, essentially, you want to map your recorded IMU data to the same convention as imuSensor outputs in the imuSensor('ReferneceFrame', 'ENU') setup.

[zipeng li]

Thanks a lot for your reply. I wonder how can I do data alignment for position estimation for insfilter.

I would like to ask, is the coordiante direction the same between accelerometer and gyroscope defined in MATLAB? My imu data is x-right, y-front, z-up. I need to swap data of x y axis in accelerometer and gyroscope. However , I found I need to inverse the measurements of accelerometer (except z direction), but I don't need to inverse the measurements of gyroscope.I am wondering why.

[Brian Fanous]

The combinations of what flips and inversions you'll need will be specific to your IMU. It may be that the accelerometer and gyroscope need different handling.