2014-01-29 01:19:25 +08:00
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function [ acc_omega ] = calculateIMUMeasurement(omega1Body, omega2Body, velocity1Body, velocity2Body, deltaT, imuFrame)
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%CALCULATEIMUMEASUREMENT Calculate measured body frame acceleration in
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%frame 1 and measured angular rates in frame 1.
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import gtsam.*;
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% Calculate gyro measured rotation rate by transforming body rotation rate
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% into the IMU frame.
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2020-08-18 02:37:12 +08:00
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measuredOmega = imuFrame.rotation.unrotate(Point3(omega1Body));
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2014-01-29 01:19:25 +08:00
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% Transform both velocities into IMU frame, accounting for the velocity
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% induced by rigid body rotation on a lever arm (Coriolis effect).
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velocity1inertial = imuFrame.rotation.unrotate( ...
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2020-08-18 02:37:12 +08:00
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Point3(velocity1Body + cross(omega1Body, imuFrame.translation)));
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2014-01-29 01:19:25 +08:00
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imu2in1 = Rot3.Expmap(measuredOmega * deltaT);
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velocity2inertial = imu2in1.rotate(imuFrame.rotation.unrotate( ...
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2020-08-18 02:37:12 +08:00
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Point3(velocity2Body + cross(omega2Body, imuFrame.translation))));
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2014-01-29 01:19:25 +08:00
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% Acceleration in IMU frame
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measuredAcc = (velocity2inertial - velocity1inertial) / deltaT;
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acc_omega = [ measuredAcc; measuredOmega ];
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end
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