FlightGoggles : Inertial Measurement Model

FlightGoggles makes use of the multicopterDynamicsSim library for simulation of inertial measurements. The library is released as part of FlightGoggles, but can be used independently. An overview of the measurement model is given here.

Acceleration and angular rate measurements are obtained from a simulated IMU according to the following measurement equations:

where and are the accelerometer and gyroscope measurement biases, respectively; andand the corresponding thermo-mechanical measurement noises. Brownian motion is used to model the bias dynamics, as follows:

with and continuous white noise processes with auto-correlation and , respectively, and sampled similar to the Multicopter Dynamics noise.