Hi,

I am trying to use Matlab to have a model of the IMU sensor that I use.

I found a standard block of Matlab: http://www.mathworks.it/it/help/aeroblks/threeaxisinertialmeasurementunit.html

I want to set the noise of the accelerometer. The block has two noise parameter:

**Noise seeds**

The scalar seeds for the Gaussian noise generator for each axis of the accelerometer and gyroscope.

**Noise power**

The height of the PSD of the white noise for each axis of the accelerometer and gyroscope.

In the IMU that I use (ADIS16375) there is the "Noise Density" parameter, that is in [mg/rad(Hz)] and the "Output Noise", in [mg rms].

Someone could please explain me which value I have to put in the two Matlab parameters, and the unity of measure?

Thank you in advice,

Alessandro

**UPDATE**: I have found something:

"Noise Seed" is the number from which start the sequence of noise (if you put the same number, it generate the same random sequence)

"Noise Power" I haven't understood completely, but I think it accept the mg/rad(Hz)

You are certainly welcome. To be honest, I am not sure what units are used in this field for the Matlab IMU model. If you find that they prefer to have this in m/sec^2, you would want to translate the noise into those units, before you calculate the power. For example, on the ADIS16375, we would do the following:

ARD = 0.06mg/sqrt(Hz) x 1g/1000mg x 9.81 m/sec^2/g = 5.886 x 10^-4 m/sec^2= 0.0005886m/sec^2

PSD = ARD x ARD = 3.43 x 10^-7 m^2/sec^4

If the units are not clearly identify within the model documentation (g or m/sec^2?), I would probably want to contact Mathworks and ask them about this.

I hope that helps.

Best,

NevadaMark