Create Sensor Noise

This section introduces how to generate and use Sensor Noise (GPS, Lidar, IMU).

GPS Noise

• Gaussian Noise can be applied to GPS sensor.

  • By switching ON the toggle of the Gaussian Noise option, you can generate noise.

  • The noise level can be adjusted by entering values for Mean (m) and Standard Deviation (%).

    

      

LiDAR Noise

• Gaussian Noise can be applied to LiDAR sensor.

  • By switching ON the toggle of the Gaussian Noise option, you can generate noise.

  • The noise level can be adjusted by entering values for Mean (m) and Standard Deviation (%).

    

LiDAR Gaussian Noise optimization applied.

• Performance improvement for LiDAR Sensor Gaussian Noise.

  • If Gaussian Noise activated (LiDAR CH128)

    • Before : ~5-10 fps

    • Changed : ~60+ fps

IMU Noise Filter

Bias-instability, Random Walk(Rate Random Walk), and White Noise(Velocity(Angle) Random Walk) can be applied to IMU sensor.

• You can ON/OFF the each Noise toggle located next to the each Noise Model.

• The parameters and units for each Noise are as follows.

  • Bias-instability Noise

    • Bias-instability Standard deviation(sigma)

      • Acceleration : m/s²

      • 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