IMU noise

This modifier allows to simulate Gaussian noise for accelerometer and gyroscope sensors of an IMU. No bias is modeled so far.

Files

  • Python: $MORSE_ROOT/src/morse/modifiers/imu_noise.py

Modified data

It modifies so the following variables :

  • angular_velocity: adds Gaussian noise with std dev gyro_std (default: 0.05)
  • linear_acceleration: adds Gaussian noise with std dev accel_std (default: 0.5)

Available methods

  • noisify: Simulate noise for accelerometer and gyroscope.

By passing a dictionary with gyro_std and/or accel_std the applied noise can be configured.

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