jianboliang
d19355a27e
basic reserse dir
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4 years ago | |
|---|---|---|
| .. | ||
| FootRight8_CalInertialAndMag.csv | 4 years ago | |
| LoggedData1_CalInertialAndMag.csv | 4 years ago | |
| LoggedData2_CalInertialAndMag.csv | 4 years ago | |
| LoggedData3.csv | 4 years ago | |
| LoggedData_CalInertialAndMag.csv | 4 years ago | |
| README.md | 4 years ago | |
| SixDofAnimation.m | 4 years ago | |
| compVq.m | 4 years ago | |
| main.m | 4 years ago | |
| new_scipt.m | 4 years ago | |
| orien.m | 4 years ago | |
| plot_result.m | 4 years ago | |
| result.txt | 4 years ago | |
| test.m | 4 years ago | |
| zupt.m | 4 years ago | |
README.md
ImuFusion
EKF IMU Fusion Algorithms
- orien.m uses Kalman filter for fusing the gyroscope's and accelerometer's readings to get the IMU's attitude(quaternion).
- zupt.m implenments the so called 'zero-velocity-update' algorithm for pedestrian tracking(gait tracking), it's also a ekf filter.
- Video: http://v.youku.com/v_show/id_XMTg2NjI4NTI4NA==.html
Usage
Example data already included.
Simply run the orien.m or zupt.m. For zupt, set 'CreateVideo' as true if you'd like to save the results as a video.
Note that the datasets and the code for visualizing the results were from:
https://github.com/xioTechnologies/Gait-Tracking-With-x-IMU
References:
[1] S. Madgwick. An efficient orientation filter for inertial and inertial/magnetic sensor arrays.
[2] Fischer C, et. Implementing a Pedestrian Tracker Using inertial Sensors.
[3] Isaac Skog, et. Zero-Velocity Detection — An Algorithm Evaluation.