GaussianNoiseGenMacro
Macro component that outputs Gaussian noise with a given covariance at a fixed period.
Processing
- A number_generator outputs the covariance value periodically; each sample triggers GaussianNoiseGenerator.
- The variance of each noise sample is the covariance value, whatever the period.
Usage
- Add the output to a clean signal to simulate measurement noise, e.g. GaussianNoise_1 → Add_Diff.input2.
- Defined in SMSL_BasicToolkit_Macros.rtmc; used in the RobotPositioningToolkit Kalman filter examples (e.g. KalmanFilter_1D_demo.rtd).
Data format
- Output: Float64 scalar, one sample per period.
Notes
- Despite its name, sample_ratio is the output period in microseconds (default 100000 = 10 Hz).
Properties
| Name | Description |
|---|---|
covariance | Covariance (variance) of the Gaussian noise. Default: 5e-3 |
sample_ratio | Output period in microseconds (period of the internal number_generator). Default: 100000 |
Outputs
| Name | Description |
|---|---|
GaussianNoise_1 | Gaussian noise sample. Type: Float64 |