Simulates an IMU noise model for a stationary IMU and generates AD curves for comparison. This repository is tested to work with MATLAB 2019 b or greater
To get the theoretical AD curves, run the following on your matlab command line
theoretical_AD_curves
To get the Allan deviation curve from the matlab and IMU models, run the following scripts on matlab command line
sensor_models
This takes a while to run and stores the results in simulation_results folder as a .mat file.
Then run on matlab command line
Compare_models
to generate plots showing comparison between white and brown noise.
The function script corrupt_with_sensor_noise.m is the IMU model that we coded up.
The function script simulate_motion.m generates acceleration and gyroscope samples either from the matlab IMU object or our model in corrupt_with_sensor_noise.m
The config files in IMU_params/test_imu_params stores parameters for different IMU models with noise model parameters.