pyins.sim.generate_imu

pyins.sim.generate_imu(time, lla, rph, velocity_n=None, sensor_type='rate')

Generate IMU readings from the trajectory.

Attitude angles (rph) must be always given and there are 3 options for position and velocity:

• Both position and velocity are given

• Only position is given

• Initial position and velocity are given

Parameters:

timearray_like, shape (n,)

Time points for which the trajectory is provided.

llaarray_like, shape (n, 3) or (3,)

Either time series of latitude, longitude and altitude or initial values of those.

rpharray_like, shape (n, 3)

Time series of roll, pitch and heading angles.

velocity_narray_like with shape (n, 3) or None

Time series of velocity expressed in NED frame.

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 with n rows.

imuImu

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