MathWorks. MatLAB & Simulink Sensor Fusion and Tracking Toolbox. Reference. R2021b

MathWorks, Inc., 2021. — 2130 p.IMU Sensor Fusion with Simulink
This example shows how to generate and fuse IMU sensor data using Simulink. You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation.Inertial Measurement Unit
An inertial measurement unit (IMU) is a group of sensors consisting of an accelerometer measuring acceleration and a gyroscope measuring angular velocity. Frequently, a magnetometer is also included to measure the Earth's magnetic field. Each of these three sensors produces a 3-axis measurement, and these three measurements constitute a 9-axis measurement.Attitude Heading and Reference System
An Attitude Heading and Reference System (AHRS) takes the 9-axis sensor readings and computes the orientation of the device. This orientation is given relative to the NED frame, where N is the Magnetic North direction. The AHRS block in Simulink accomplishes this using an indirect Kalman filter structure.Simulink System
Open the Simulink model that fuses IMU sensor dataFunctions
Classes
System Objects
Blocks
Apps