ecompass

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Calculation of orientation based on accelerometer and magnetometer readings.

blockType: ecompass

Path in the library:

/Navigation/Multisensor Positioning/Navigation filters/ecompass

Description

Block ecompass calculates orientation using accelerometer and magnetometer readings. The calculated orientation can be used to rotate the values from the global coordinate system to the coordinate system of the sensor housing.

Ports

Input

# Accel — accelerometer readings
the matrix

Details

Accelerometer readings in the coordinate system of the sensor housing in m/s ^2 ^, given as a real matrix of size on . The columns of the matrix correspond to the axes , and sensor housings. The rows of the matrix correspond to individual samples.

Data types	`Float32`, `Float64`
Complex numbers support	I don’t

# Mag — magnetometer readings
the matrix

Details

Magnetometer readings in the coordinate system of the sensor housing in mkTl, specified as a real matrix of size on . The columns of the matrix correspond to the axes , and sensor housings. The rows of the matrix correspond to individual samples.

Data types	`Float32`, `Float64`
Complex numbers support	I don’t

Output

# Orientation — the orientation that rotates the values from the global coordinate system to the coordinate system of the sensor housing
the matrix (by default) | array

Details

An orientation that can rotate values from the global coordinate system to the coordinate system of the sensor housing, returned as a quaternion matrix of size on or an array of rotation matrices of size on on . denotes the number of samples. Orientations are rotations that translate a value from the local navigation coordinate system to the body coordinate system.

If for the parameter Orientation format the value is set quaternion, the block returns the orientation as a matrix of quaternions of size on .
If for the parameter Orientation format the value is set Rotation matrix, the block returns the orientation as an array of rotation matrices of size on on .

Data types	`Float32`, `Float64`
Complex numbers support	I don’t

Parameters

# Reference frame — navigation reference system
NED | ENU

Details

The navigation reference system, defined as:

NED — for a coordinate system with axes pointing North, East, and down along the local vertical;
ENU — for a coordinate system with axes pointing East, North, and up along the local vertical.

Values	`NED` \| `ENU`
Default value	`NED`
Program usage name	`ReferenceFrame`
Tunable	No
Evaluatable	No

# Orientation format — the format used to describe the orientation
quaternion | Rotation matrix

Details

The format used to describe the orientation is set as:

quaternion — the block returns the orientation in the form of a matrix of quaternions of the size on ;
Rotation matrix — the block returns the orientation as an array of rotation matrices of the size on on .

Values	`quaternion` \| `Rotation matrix`
Default value	`quaternion`
Program usage name	`OrientationFormat`
Tunable	No
Evaluatable	No