MATLAB: IMU/INS sensor fusion with Cartesian coordinates

Question

Hi,

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.

Answer 1

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.