1 % estimate_geomagnetic_rv
3 % Copyright (c) 2015 Samsung Electronics Co., Ltd.
5 % Licensed under the Apache License, Version 2.0 (the "License");
6 % you may not use this file except in compliance with the License.
7 % You may obtain a copy of the License at
9 % http://www.apache.org/licenses/LICENSE-2.0
11 % Unless required by applicable law or agreed to in writing, software
12 % distributed under the License is distributed on an "AS IS" BASIS,
13 % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 % See the License for the specific language governing permissions and
15 % limitations under the License.
17 % Geomagnetic Rotation Vector Estimation function
19 % - Input orientation using only Accel and Geomagnetic sensors
20 % - Orientation Estimation using estimate_orientation function
21 % - Output aiding system quaternion as geomagnetic rotation vector
23 function [Quat_aid] = estimate_geomagnetic_rv(Accel_data, Mag_data)
25 BUFFER_SIZE = size(Accel_data,2);
27 Gyro_data = zeros(4,BUFFER_SIZE);
29 Quat_driv = zeros(4,BUFFER_SIZE);
30 Quat_aid = zeros(4,BUFFER_SIZE);
31 Quat_err = zeros(4,BUFFER_SIZE);
33 % estimate orientation
34 [Quat_driv, Quat_aid, Quat_err] = estimate_orientation(Accel_data, Gyro_data, Mag_data);