pyins.sim.Turntable.generate_imu

Turntable.generate_imu(dt, sensor_type='rate')

Generate trajectory and IMU data.

Parameters:

dtfloat

Sampling period for trajectory and IMU data.

sensor_type: ‘rate’ or ‘increment’, optional

Type of sensor to generate. If ‘rate’ (default), then instantaneous rate values are generated (in rad/s and m/s^2). If ‘increment’, then integrals over sampling intervals are generated (in rad and m/s).

Returns:

trajectoryTrajectory

Trajectory dataframe.

imuImu

IMU dataframe. When sensor_type is ‘increment’ the first sample is duplicated for more convenient future processing.

labelsndarray

Text labels for each trajectory and IMU sample.