Simulation framework for PVA and IMU signals

docs/reference/index.rst

@@ -29,3 +29,8 @@ API reference
    noise.gauss_markov
    noise.random_walk
    noise.white_noise
+   simulate.BeatDOF
+   simulate.ChirpDOF
+   simulate.ConstantDOF
+   simulate.IMUSimulator
+   simulate.SineDOF

docs/user_guide/quickstart.rst

@@ -26,17 +26,28 @@ data from an IMU sensor, and ideally position and heading data from other aiding
 sensors. If you do not have access to such data, you can generate synthetic
 measurements using the code provided here.
 
-Using the ``benchmark`` module, you can generate synthetic 3D motion data with ``smsfusion``.
-For example, you can generate beating signals representing position, velocity and
-attitude (PVA) degrees of freedom using :func:`~smsfusion.benchmark.benchmark_full_pva_beat_202311A`:
+Using the :class:`~smsfusion.simulate.IMUSimulator` class in the ``simulate`` module,
+you can generate synthetic 3D motion data and corresponding IMU accelerometer and
+gyroscope measurements. For example, you can simulate beating motion:
+
 
 .. code-block:: python
 
-    from smsfusion.benchmark import benchmark_full_pva_beat_202311A
+    from smsfusion.simulate import BeatDOF, IMUSimulator
+
 
+    sim = IMUSimulator(
+        pos_x=BeatDOF(0.5, phase=0.0, phase_degrees=True),
+        pos_y=BeatDOF(0.5, phase=45.0, phase_degrees=True),
+        pos_z=BeatDOF(0.5, phase=90.0, phase_degrees=True),
+        alpha=BeatDOF(0.1, phase=135.0, phase_degrees=True),
+        beta=BeatDOF(0.1, phase=180.0, phase_degrees=True),
+        gamma=BeatDOF(0.1, phase=225.0, phase_degrees=True),
+        degrees=False,
+    )
 
     fs = 10.24  # sampling rate in Hz
-    t, pos, vel, euler, acc, gyro = benchmark_full_pva_beat_202311A(fs)
+    t, pos, vel, euler, acc, gyro = sim(fs, 10_000, degrees=False)
     head = euler[:, 2]
 
 Note that the generated position signals are in meters (m), velocity signals are in meters

src/smsfusion/__init__.py

@@ -1,4 +1,4 @@
-from . import benchmark, calibrate, constants, noise
+from . import benchmark, calibrate, constants, noise, simulate
 from ._ins import AHRS, VRU, AidedINS, FixedNED, StrapdownINS, gravity
 from ._smoothing import FixedIntervalSmoother
 from ._transforms import quaternion_from_euler
@@ -16,4 +16,5 @@
     "StrapdownINS",
     "VRU",
     "quaternion_from_euler",
+    "simulate",
 ]

src/smsfusion/benchmark/__init__.py

@@ -1,15 +1,13 @@
 from ._benchmark import (
     BeatSignal,
     ChirpSignal,
-    _benchmark_helper,
     benchmark_full_pva_beat_202311A,
     benchmark_full_pva_chirp_202311A,
     benchmark_pure_attitude_beat_202311A,
     benchmark_pure_attitude_chirp_202311A,
 )
 
 __all__ = [
-    "_benchmark_helper",
     "BeatSignal",
     "benchmark_full_pva_beat_202311A",
     "benchmark_full_pva_chirp_202311A",