Struct Imu 

pub struct Imu {
    pub accel_bias: Vector3<f32>,
    pub gyro_bias: Vector3<f32>,
    pub accel_noise_std: f32,
    pub gyro_noise_std: f32,
    pub accel_bias_std: f32,
    pub gyro_bias_std: f32,
    /* private fields */
}

Represents an Inertial Measurement Unit (IMU) with bias and noise characteristics

Example

use nalgebra::Vector3;
use peng_quad::Imu;
let accel_noise_std = 0.0003;
let gyro_noise_std = 0.02;
let accel_bias_std = 0.0001;
let gyro_bias_std = 0.001;
let imu = Imu::new(accel_noise_std, gyro_noise_std, accel_bias_std, gyro_bias_std);

Fields

accel_bias: Vector3<f32>

Accelerometer bias

gyro_bias: Vector3<f32>

Gyroscope bias

accel_noise_std: f32

Standard deviation of accelerometer noise

gyro_noise_std: f32

Standard deviation of gyroscope noise

accel_bias_std: f32

Standard deviation of accelerometer bias drift

gyro_bias_std: f32

Standard deviation of gyroscope bias drift

Implementations

impl Imu

Implements the IMU

pub fn new( accel_noise_std: f32, gyro_noise_std: f32, accel_bias_std: f32, gyro_bias_std: f32, ) -> Result<Self, SimulationError>

Creates a new IMU with default parameters

Arguments

• accel_noise_std - Standard deviation of accelerometer noise
• gyro_noise_std - Standard deviation of gyroscope noise
• accel_bias_std - Standard deviation of accelerometer bias drift
• gyro_bias_std - Standard deviation of gyroscope bias drift

Returns

• A new Imu instance

Example

use peng_quad::Imu;

let imu = Imu::new(0.01, 0.01, 0.01, 0.01);

pub fn update(&mut self, dt: f32) -> Result<(), SimulationError>

Updates the IMU biases over time

Arguments

• dt - Time step for the update

Errors

• Returns a SimulationError if the bias drift cannot be calculated

Example

use peng_quad::Imu;

let mut imu = Imu::new(0.01, 0.01, 0.01, 0.01).unwrap();
imu.update(0.01).unwrap();

pub fn read( &mut self, true_acceleration: Vector3<f32>, true_angular_velocity: Vector3<f32>, ) -> Result<(Vector3<f32>, Vector3<f32>), SimulationError>

Simulates IMU readings with added bias and noise

The added bias and noise are based on normal distributions

Arguments

• true_acceleration - The true acceleration vector
• true_angular_velocity - The true angular velocity vector

Returns

• A tuple containing the measured acceleration and angular velocity

Errors

• Returns a SimulationError if the IMU readings cannot be calculated

Example

use nalgebra::Vector3;
use peng_quad::Imu;

let mut imu = Imu::new(0.01, 0.01, 0.01, 0.01).unwrap();
let true_acceleration = Vector3::new(0.0, 0.0, 9.81);
let true_angular_velocity = Vector3::new(0.0, 0.0, 0.0);
let (measured_acceleration, measured_ang_velocity) = imu.read(true_acceleration, true_angular_velocity).unwrap();