How to use Sensor Noise generation feature

GPS Noise

  • GPS can apply Gaussian Noise.

    • Noise can be generated by checking the check box next to Gaussian Noise.

    • The degree of noise can be adjusted by entering values in Mean(m) and Stdev(%) below.

Lidar Noise

  • Lidar can apply Gaussian Noise.

    • Noise can be generated by checking the check box next to Gaussian Noise.

    • The degree of noise can be adjusted by entering values in Mean(m) and Stdev(%) below.

IMU Noise Filter

IMU can apply Bias-instability, Random Walk(Rate Random Walk), White Noise(Velocity(Angle) Random Walk).

  • Each Noise could be on/off by selecting or deselecting the checkbox on the left side of each noise model.

  • The parameters and units of each noise are as followings and are set based on the characteristics of IMU used.

    • Bias-instability Noise

      • Bias-instability Standard deviation(sigma)
        - Acceleration : m/s^2
        - Gyroscope - rad/s

      • Correlation Time (s)

      • Random Walk Noise (Rate Random Walk)

        • Random Walk Standard deviation(sigma)
          - Acceleration - m/s/h^(3/2)
          - Gyroscope - rad/h^(3/2)

      • White Noise (Velocity(Angle) Random Walk)

        • White Noise standard deviation(sigma)
          - Acceleration - m/s/√h
          - Gyroscope - rad/√h