def test_dmu380_sim():
'''
test Sim with DMU380 algorithm.
'''
print("This demo only runs on Ubuntu x64.")
#### choose a built-in IMU model, typical for IMU380
imu_err = 'mid-accuracy'
# do not generate GPS and magnetometer data
imu = imu_model.IMU(accuracy=imu_err, axis=9, gps=False)
#### Algorithm
# DMU380 algorithm
from demo_algorithms import dmu380_sim
cfg_file = os.path.abspath(
'.//demo_algorithms//dmu380_sim_lib//ekfSim_tilt.cfg')
algo = dmu380_sim.DMU380Sim(cfg_file)
#### start simulation
sim = imu_sim.Sim([fs, 0.0, fs],
imu,
motion_def_path + "//motion_def-Komatsu_loaded_-5_0.csv",
ref_frame=1,
mode=None,
env=None,
algorithm=algo)
sim.run(10)
# generate simulation results, summary, and save data to files
sim.results() # do not save data
# plot data
sim.plot(['att_euler'])
def test_dmu380_sim():
'''
test Sim with DMU380 algorithm.
'''
print("This demo only runs on Ubuntu x64.")
#### choose a built-in IMU model, typical for IMU380
imu_err = {
'gyro_b': np.array([1.0, -1.0, 0.5]) * 1.0,
'gyro_arw': np.array([0.25, 0.25, 0.25]) * 1.0,
'gyro_b_stability': np.array([3.5, 3.5, 3.5]) * 1.0,
'gyro_b_corr': np.array([100.0, 100.0, 100.0]),
'accel_b': np.array([50.0e-3, 50.0e-3, 50.0e-3]),
'accel_vrw': np.array([0.03119, 0.03009, 0.04779]) * 1.0,
'accel_b_stability': np.array([4.29e-5, 5.72e-5, 8.02e-5]) * 1.0,
'accel_b_corr': np.array([200.0, 200.0, 200.0]),
'mag_std': np.array([0.2, 0.2, 0.2]) * 1.0
}
# do not generate GPS and magnetometer data
imu = imu_model.IMU(accuracy=imu_err, axis=9, gps=False)
#### Algorithm
# DMU380 algorithm
from demo_algorithms import dmu380_sim
cfg_file = os.path.abspath(
'.//demo_algorithms//dmu380_sim_lib//ekfSim_tilt.cfg')
algo = dmu380_sim.DMU380Sim(cfg_file)
#### start simulation
sim = ins_sim.Sim(
[fs, 0.0, fs],
# motion_def_path+"//motion_def-static.csv",
"//mnt//share//jd_figure8.csv",
ref_frame=1,
imu=imu,
mode=None,
env=None, #'[0.1 0.01 0.11]g-random',
algorithm=algo)
sim.run(1)
# generate simulation results, summary, and save data to files
sim.results('aa') # do not save data
# plot data
sim.plot(['att_euler', 'ref_pos'], opt={'ref_pos': 'projection'})