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IMU/INS sensor fusion with Cartesian coordinates

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I'm just starting with the Sensor Fusion and Tracking Toolbox and have been stuck trying to figure out how to implement something.
Is there any way the fusion functions in the toolbox can be modified to work with a custom coordinate reference system?
What I essentially want to do is the same as these two examples (IMU and GPS Fusion for Inertial Navigation and Estimate Position and Orientation of a Ground Vehicle) but replace the GPS with an [UWB] indoor trilateration algorithm. The trilateration algorithm outputs Cartesian coordinates (x,y,z) that I want to fuse with the IMU readings. This allows the positions to be expressed in relation to a floor plan or map.
I've checked the functions and objects in the examples and can see that 'ReferenceLocation' is represented as (deg, deg, meters), Which is an LLA geodetic coordinate. I'm hoping that 'ecef2lla' wouldn't have to be used for this.
Felix Bertoli
Felix Bertoli on 3 Dec 2021
Hi, I know this is already a year ago, but did you manage to solve this project? I'm attempting to do the same thing and having quite a hard time to figure out how to fuse my UBW positions and gyroscope data. Would you mind sharing the code of how exactly you did it?
I hope you read this somehow.
Nandini Mittal
Nandini Mittal on 6 May 2024
@Felix Bertoli I am trying to implement the same. if you could share some insights from your progress, it would really helpful.

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Accepted Answer

Pranav Murali
Pranav Murali on 25 Mar 2020
Edited: Pranav Murali on 26 Mar 2020
Currently, the Intertial Sensor Fusion functions only support geodectic coordinates as ReferenceLocation. So, the cartesian environment coordinates have to be converted to geodectic using ecef2lla.
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Joseph on 26 Mar 2020
Edited: Joseph on 5 Apr 2020
Hi Pranav, Thank you for answering.
In that case then I'll probably use imufilter with trackingKF. Have you ever come across any related examples that might help?

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