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Prior factor for IMU bias


The factorIMUBiasPrior object is a factor that has prior information for an IMU bias for a factorGraph object.




F = factorIMUBiasPrior(nodeID) creates a factorIMUBiasPrior object, F, with the node identification numbers property, NodeID, set to nodeID

F = factorIMUBiasPrior(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorIMUBiasPrior(1,Measurement=[1,2,3,1,2,3]) sets the Measurement property of the factorIMUBiasPrior object to [1,2,3,1,2,3].


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This property is read-only.

Node ID number of the factor in the factor graph, specified as a nonnegative integer.

You must specify this property at object creation.

Measured prior IMU bias, specified as a six-element row vector in the form [GyroBias, AccelBias], where GyroBias and AccelBias are three-element row vectors of the gyro bias and acceleration bias in radians per second and meters per second respectively.

Information matrix associated with the measurement, specified as a 6-by-6 matrix.

Object Functions

nodeTypeGet node type of node in factor graph


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Create an IMU bias prior factor with a node ID of 1.

f = factorIMUBiasPrior(1);

Create a default factor graph and add the factor to the graph using the addFactor function.

g = factorGraph;

Version History

Introduced in R2022a