Analyzes sensor configurations and creates inertial fusion filters in MATLAB Navigation Toolbox. Manages filter selection (imufilter, ahrsfilter, complementaryFilter, insfilterMARG, insfilterAsync, insfilterNonholonomic, insfilterErrorState, insEKF, insCF), construction, tuning, and fusion loops.
SkillScore100Maintained
Automatic
◆Coding pack
Last verified 8/16/2026
What it changes
Passed 23 of 23 test cases with the skill, and 4 of 23 without it.
Without skill17%
With skill100%
Checks it passed that the model alone missed
Modifies gain values using gainparts
Passes the filter instance object to tunerconfig
Sets the IMUSampleRate property on insfilterMARG
and 18 more in the full report
19 fixed4 passed either way0 still failing0 broke
Pass-rate lift
+83 pp
Tokens
+44%
Agent turns
0%
Response time
-61%
Model gemini-3.6-flashMeasured 8/16/2026v123 of 23 cases passed with skill
Tokens, turns and time describe resource use, not a dollar price.
See it in action
One of 19 test cases the skill fixed. Same model, same prompt, with and without the skill.
1 of 19
Prompt
I need to configure sample rates for an ahrsfilter and an insfilterMARG in a MATLAB script. What exact property names specify the sampling frequency on each of these two filter objects?
What was checked, without and with the skill
Checked
Without skill
With skill
Sets the SampleRate property on ahrsfilter
Passed
Passed
Sets the IMUSampleRate property on insfilterMARG
Missed
Passed
case-12 · gemini-3.6-flash · 8/16/2026 · answers are capped and redacted
What's inside
The instructions your model reads when the skill loads.
SKILL.md234 lines5 files
When to Use
Select, implement, or tune an inertial sensor fusion filter in MATLAB Navigation Toolbox.
When NOT to Use
Vision-only or LiDAR-only SLAM (no inertial sensor): use nav SLAM functions instead
Sensor simulation or data generation only: no filter needed
Simulink model-based sensor fusion
Choose Your Filter
Step 1 — Configured or Flexible?
Configured filters cover these sensor combinations exactly:
Is your sensor set one of the above?
│ No ─────────────────────────────────────────────────────► Step 2B (Flexible)
│ Yes
▼
Need a custom motion model (constant-velocity, bicycle, etc.)?
│ Yes ────────────────────────────────────────────────────► Step 2B (Flexible)
│ No
▼
Need RTS smoothing, StateCovariance output, or optimizer-based tune()?
│ Yes ────────────────────────────────────────────────────► Step 2B (Flexible)
│ No
▼
Generate GNSS baseband waveforms (GPS, Galileo, NavIC) with physically realistic or user-specified channel impairments using the Satellite Communications Toolbox. Use when generating GPS L1 C/A, L1C, L2C, L5, Galileo E1, E1C, E5a, E5b, E5, or NavIC L5, S, L1 signals. Covers gpsWaveformGenerator, galileoWaveformGenerator, satelliteScenario, Doppler/delay from orbital dynamics or custom values, navigation data encoding with ephemeris, and RINEX integration. Triggers on: GPS waveform, Galileo wavef