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.