--- /dev/null
+Copyright (c) 2000 - 2011 Samsung Electronics Co., Ltd. All rights reserved.
+
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--- /dev/null
+function euler = Quat2Euler(q)\r
+% Quat2Euler\r
+%\r
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.\r
+%\r
+% Licensed under the Apache License, Version 2.0 (the "License");\r
+% you may not use this file except in compliance with the License.\r
+% You may obtain a copy of the License at\r
+%\r
+% http://www.apache.org/licenses/LICENSE-2.0\r
+%\r
+% Unless required by applicable law or agreed to in writing, software\r
+% distributed under the License is distributed on an "AS IS" BASIS,\r
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\r
+% See the License for the specific language governing permissions and\r
+% limitations under the License.\r
+\r
+% Converts a quaternion orientation to ZYX Euler angles where phi is a\r
+% rotation around X, theta around Y and psi around Z.\r
+\r
+ R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2;\r
+ R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4));\r
+ R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3));\r
+ R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2));\r
+ R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2;\r
+\r
+ phi = atan2(R(3,2,:), R(3,3,:) );\r
+ theta = -atan(R(3,1,:) ./ sqrt(1-R(3,1,:).^2) );\r
+ psi = atan2(R(2,1,:), R(1,1,:) );\r
+\r
+ euler = [phi(1,:)' theta(1,:)' psi(1,:)'];\r
+end\r
--- /dev/null
+function R = Quat2RotMat(q)\r
+% Quat2RotMat\r
+%\r
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.\r
+%\r
+% Licensed under the Apache License, Version 2.0 (the "License");\r
+% you may not use this file except in compliance with the License.\r
+% You may obtain a copy of the License at\r
+%\r
+% http://www.apache.org/licenses/LICENSE-2.0\r
+%\r
+% Unless required by applicable law or agreed to in writing, software\r
+% distributed under the License is distributed on an "AS IS" BASIS,\r
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\r
+% See the License for the specific language governing permissions and\r
+% limitations under the License.\r
+\r
+% Converts a quaternion orientation to a rotation matrix.\r
+\r
+ R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2;\r
+ R(1,2,:) = 2.*(q(:,2).*q(:,3)+q(:,1).*q(:,4));\r
+ R(1,3,:) = 2.*(q(:,2).*q(:,4)-q(:,1).*q(:,3));\r
+ R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4));\r
+ R(2,2,:) = 2.*q(:,1).^2-1+2.*q(:,3).^2;\r
+ R(2,3,:) = 2.*(q(:,3).*q(:,4)+q(:,1).*q(:,2));\r
+ R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3));\r
+ R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2));\r
+ R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2;\r
+end\r
--- /dev/null
+function ab = QuatProd(a, b)\r
+% QuatProd\r
+%\r
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.\r
+%\r
+% Licensed under the Apache License, Version 2.0 (the "License");\r
+% you may not use this file except in compliance with the License.\r
+% You may obtain a copy of the License at\r
+%\r
+% http://www.apache.org/licenses/LICENSE-2.0\r
+%\r
+% Unless required by applicable law or agreed to in writing, software\r
+% distributed under the License is distributed on an "AS IS" BASIS,\r
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\r
+% See the License for the specific language governing permissions and\r
+% limitations under the License.\r
+\r
+% Calculates the quaternion product of quaternion a and b.\r
+\r
+ ab(:,1) = a(:,1).*b(:,1)-a(:,2).*b(:,2)-a(:,3).*b(:,3)-a(:,4).*b(:,4);\r
+ ab(:,2) = a(:,1).*b(:,2)+a(:,2).*b(:,1)+a(:,3).*b(:,4)-a(:,4).*b(:,3);\r
+ ab(:,3) = a(:,1).*b(:,3)-a(:,2).*b(:,4)+a(:,3).*b(:,1)+a(:,4).*b(:,2);\r
+ ab(:,4) = a(:,1).*b(:,4)+a(:,2).*b(:,3)-a(:,3).*b(:,2)+a(:,4).*b(:,1);\r
+end\r
--- /dev/null
+function q = RotMat2Quat(R)
+% RotMat2Quat
+%
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.
+%
+% Licensed under the Apache License, Version 2.0 (the "License");
+% you may not use this file except in compliance with the License.
+% You may obtain a copy of the License at
+%
+% http://www.apache.org/licenses/LICENSE-2.0
+%
+% Unless required by applicable law or agreed to in writing, software
+% distributed under the License is distributed on an "AS IS" BASIS,
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+% See the License for the specific language governing permissions and
+% limitations under the License.
+
+% Converts a rotation matrix orientation to a quaternion.
+
+ [row col numR] = size(R);
+ q = zeros(numR, 4);
+ K = zeros(4,4);
+ for i = 1:numR
+ K(1,1) = (1/3) * (R(1,1,i) - R(2,2,i) - R(3,3,i));
+ K(1,2) = (1/3) * (R(2,1,i) + R(1,2,i));
+ K(1,3) = (1/3) * (R(3,1,i) + R(1,3,i));
+ K(1,4) = (1/3) * (R(2,3,i) - R(3,2,i));
+ K(2,1) = (1/3) * (R(2,1,i) + R(1,2,i));
+ K(2,2) = (1/3) * (R(2,2,i) - R(1,1,i) - R(3,3,i));
+ K(2,3) = (1/3) * (R(3,2,i) + R(2,3,i));
+ K(2,4) = (1/3) * (R(3,1,i) - R(1,3,i));
+ K(3,1) = (1/3) * (R(3,1,i) + R(1,3,i));
+ K(3,2) = (1/3) * (R(3,2,i) + R(2,3,i));
+ K(3,3) = (1/3) * (R(3,3,i) - R(1,1,i) - R(2,2,i));
+ K(3,4) = (1/3) * (R(1,2,i) - R(2,1,i));
+ K(4,1) = (1/3) * (R(2,3,i) - R(3,2,i));
+ K(4,2) = (1/3) * (R(3,1,i) - R(1,3,i));
+ K(4,3) = (1/3) * (R(1,2,i) - R(2,1,i));
+ K(4,4) = (1/3) * (R(1,1,i) + R(2,2,i) + R(3,3,i));
+ [V,D] = eig(K);
+ q(i,:) = V(:,4)';
+ q(i,:) = [q(i,4) q(i,1) q(i,2) q(i,3)];
+ end
+end
--- /dev/null
+% SF_Orien\r
+%\r
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.\r
+%\r
+% Licensed under the Apache License, Version 2.0 (the "License");\r
+% you may not use this file except in compliance with the License.\r
+% You may obtain a copy of the License at\r
+%\r
+% http://www.apache.org/licenses/LICENSE-2.0\r
+%\r
+% Unless required by applicable law or agreed to in writing, software\r
+% distributed under the License is distributed on an "AS IS" BASIS,\r
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\r
+% See the License for the specific language governing permissions and\r
+% limitations under the License.\r
+\r
+% Sensor Fusion Implementation - Orientation Estimation\r
+%\r
+% - Orientation Estimation using Gyroscope as the driving system and Accelerometer+Geo-Magnetic Sensors as Aiding System.\r
+% - Quaternion based approach\r
+% - Estimation and correction of Euler errors and bias errors for gyroscope using Kalman filter\r
+\r
+\r
+clear\r
+\r
+LOW_PASS_FILTERING_ON = 0;\r
+\r
+Max_Range_Accel = 39.203407; Min_Range_Accel = -39.204006; Res_Accel = 0.000598;\r
+Max_Range_Gyro = 1146.862549; Min_Range_Gyro = -1146.880005; Res_Gyro = 0.017500;\r
+Max_Range_Magnetic = 1200; Min_Range_Magnetic = -1200; Res_Magnetic = 1;\r
+\r
+PI = 3.141593;\r
+GRAVITY = 9.80665;\r
+NON_ZERO_VAL = 0.1;\r
+\r
+Bias_Ax = 0.098586;\r
+Bias_Ay = 0.18385;\r
+Bias_Az = 10.084 - GRAVITY;\r
+\r
+Bias_Gx = -5.3539;\r
+Bias_Gy = 0.24325;\r
+Bias_Gz = 2.3391;\r
+\r
+BUFFER_SIZE = 1065;\r
+MOVING_AVERAGE_WINDOW_LENGTH = 20;\r
+RAD = 57.2957795;\r
+US2S = 1.0 / 1000000.0;\r
+\r
+% get accel x,y,z axis data from stored file\r
+Ax = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,1))') - Bias_Ax)(1:BUFFER_SIZE);\r
+Ay = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,2))') - Bias_Ay)(1:BUFFER_SIZE);\r
+Az = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,3))') - Bias_Az)(1:BUFFER_SIZE);\r
+ATime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,4))');\r
+\r
+% get gyro x,y,z axis data from stored file\r
+Gx = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,1))') - Bias_Gx)(1:BUFFER_SIZE);\r
+Gy = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,2))') - Bias_Gy)(1:BUFFER_SIZE);\r
+Gz = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,3))') - Bias_Gz)(1:BUFFER_SIZE);\r
+GTime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,4))');\r
+\r
+scale_Gyro = 575;\r
+Gx = Gx/scale_Gyro;\r
+Gy = Gy/scale_Gyro;\r
+Gz = Gz/scale_Gyro;\r
+\r
+% get magnetometer x,y,z axis data from stored file\r
+Mx = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,1))'))(1:BUFFER_SIZE);\r
+My = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,2))'))(1:BUFFER_SIZE);\r
+Mz = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,3))'))(1:BUFFER_SIZE);\r
+MTime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,4))');\r
+\r
+% 1st order smoothening filter\r
+b = [0.9999 0 ];\r
+a = [1.0000000 0.1 ];\r
+\r
+% initialize filter output variables to zero\r
+filt_Ax = zeros(1,BUFFER_SIZE);\r
+filt_Ay = zeros(1,BUFFER_SIZE);\r
+filt_Az = zeros(1,BUFFER_SIZE);\r
+filt_Gx = zeros(1,BUFFER_SIZE);\r
+filt_Gy = zeros(1,BUFFER_SIZE);\r
+filt_Gz = zeros(1,BUFFER_SIZE);\r
+filt_Mx = zeros(1,BUFFER_SIZE);\r
+filt_My = zeros(1,BUFFER_SIZE);\r
+filt_Mz = zeros(1,BUFFER_SIZE);\r
+\r
+acc_x = zeros(1,BUFFER_SIZE);\r
+acc_y = zeros(1,BUFFER_SIZE);\r
+acc_z = zeros(1,BUFFER_SIZE);\r
+gyr_x = zeros(1,BUFFER_SIZE);\r
+gyr_y = zeros(1,BUFFER_SIZE);\r
+gyr_z = zeros(1,BUFFER_SIZE);\r
+mag_x = zeros(1,BUFFER_SIZE);\r
+mag_y = zeros(1,BUFFER_SIZE);\r
+mag_z = zeros(1,BUFFER_SIZE);\r
+\r
+UA = zeros(1,BUFFER_SIZE);\r
+Corrected_Az = zeros(1,BUFFER_SIZE);\r
+\r
+% User Acceleration mean and Variance\r
+mean_UA = zeros(1,BUFFER_SIZE);\r
+A_T = zeros(1,BUFFER_SIZE);\r
+G_T = zeros(1,BUFFER_SIZE);\r
+M_T = zeros(1,BUFFER_SIZE);\r
+var_UA = zeros(1,BUFFER_SIZE);\r
+var_Ax = zeros(1,BUFFER_SIZE);\r
+var_Ay = zeros(1,BUFFER_SIZE);\r
+var_Az = zeros(1,BUFFER_SIZE);\r
+var_Gx = zeros(1,BUFFER_SIZE);\r
+var_Gy = zeros(1,BUFFER_SIZE);\r
+var_Gz = zeros(1,BUFFER_SIZE);\r
+var_Mx = zeros(1,BUFFER_SIZE);\r
+var_My = zeros(1,BUFFER_SIZE);\r
+var_Mz = zeros(1,BUFFER_SIZE);\r
+\r
+mean_Roll = zeros(1,BUFFER_SIZE);\r
+mean_Pitch = zeros(1,BUFFER_SIZE);\r
+mean_Yaw = zeros(1,BUFFER_SIZE);\r
+var_Roll = zeros(1,BUFFER_SIZE);\r
+var_Pitch = zeros(1,BUFFER_SIZE);\r
+var_Yaw = zeros(1,BUFFER_SIZE);\r
+quat_driv = zeros(BUFFER_SIZE,4);\r
+quat_aid = zeros(BUFFER_SIZE,4);\r
+quat_error = zeros(BUFFER_SIZE,4);\r
+euler = zeros(BUFFER_SIZE,3);\r
+Ro = zeros(3, 3, BUFFER_SIZE);\r
+\r
+% Gyroscope Bias Variables\r
+Bx = 0; By = 0; Bz = 0;\r
+\r
+% system covariance matrix\r
+Q=[ 1.1 0 0 0 0 0;\r
+ 0 1.1 0 0 0 0;\r
+ 0 0 1.1 0 0 0;\r
+ 0 0 0 0 0 0;\r
+ 0 0 0 0 0 0;\r
+ 0 0 0 0 0 0;];\r
+\r
+% measurement covariance matrix\r
+R=[ 1.01 0 0 0 0 0;\r
+ 0 1.01 0 0 0 0;\r
+ 0 0 1.01 0 0 0;\r
+ 0 0 0 1.01 0 0;\r
+ 0 0 0 0 1.01 0;\r
+ 0 0 0 0 0 1.01;];\r
+\r
+%R=[ 1.01 0 0;\r
+% 0 1.01 0;\r
+% 0 0 1.01;];\r
+ \r
+A_T(1) = 100000;\r
+G_T(1) = 100000;\r
+M_T(1) = 100000;\r
+ \r
+acc_e = [0.0;0.0;1.0]; % gravity vector in earth frame\r
+mag_e = [0.0;1.0;0.0]; % magnetic field vector in eart frame \r
+ \r
+H = [eye(3) zeros(3,3); zeros(3,6)];\r
+x = zeros(6,BUFFER_SIZE);\r
+e = zeros(1,6);\r
+P = 1 * eye(6);% state covariance matrix\r
+\r
+% first order filtering\r
+for i = 1:BUFFER_SIZE\r
+ if LOW_PASS_FILTERING_ON == 1\r
+ if i < 2\r
+ filt_Ax(i) = Ax(i);\r
+ filt_Ay(i) = Ay(i);\r
+ filt_Az(i) = Az(i);\r
+ filt_Gx(i) = Gx(i);\r
+ filt_Gy(i) = Gy(i);\r
+ filt_Gz(i) = Gz(i);\r
+ filt_Mx(i) = Mx(i);\r
+ filt_My(i) = My(i);\r
+ filt_Mz(i) = Mz(i);\r
+ elseif i >= 2\r
+ filt_Ax(i) = -a(2)*filt_Ax(i-1)+b(1)*Ax(i);\r
+ filt_Ay(i) = -a(2)*filt_Ay(i-1)+b(1)*Ay(i);\r
+ filt_Az(i) = -a(2)*filt_Az(i-1)+b(1)*Az(i);\r
+ filt_Gx(i) = -a(2)*filt_Gx(i-1)+b(1)*Gx(i);\r
+ filt_Gy(i) = -a(2)*filt_Gy(i-1)+b(1)*Gy(i);\r
+ filt_Gz(i) = -a(2)*filt_Gz(i-1)+b(1)*Gz(i);\r
+ filt_Mx(i) = -a(2)*filt_Mx(i-1)+b(1)*Mx(i);\r
+ filt_My(i) = -a(2)*filt_My(i-1)+b(1)*My(i);\r
+ filt_Mz(i) = -a(2)*filt_Mz(i-1)+b(1)*Mz(i);\r
+ end\r
+ else\r
+ filt_Ax(i) = Ax(i);\r
+ filt_Ay(i) = Ay(i);\r
+ filt_Az(i) = Az(i);\r
+ filt_Gx(i) = Gx(i);\r
+ filt_Gy(i) = Gy(i);\r
+ filt_Gz(i) = Gz(i);\r
+ filt_Mx(i) = Mx(i);\r
+ filt_My(i) = My(i);\r
+ filt_Mz(i) = Mz(i);\r
+ end\r
+ \r
+ % normalize accelerometer measurements\r
+ norm_acc = 1/sqrt(filt_Ax(i)^2 + filt_Ay(i)^2 + filt_Az(i)^2);\r
+ acc_x(i) = norm_acc * filt_Ax(i);\r
+ acc_y(i) = norm_acc * filt_Ay(i);\r
+ acc_z(i) = norm_acc * filt_Az(i);\r
+\r
+ % normalize magnetometer measurements\r
+ norm_mag = 1/sqrt(filt_Mx(i)^2 + filt_My(i)^2 + filt_Mz(i)^2);\r
+ mag_x(i) = norm_mag * filt_Mx(i);\r
+ mag_y(i) = norm_mag * filt_My(i);\r
+ mag_z(i) = norm_mag * filt_Mz(i);\r
+ \r
+ gyr_x(i) = filt_Gx(i) * PI;\r
+ gyr_y(i) = filt_Gy(i) * PI;\r
+ gyr_z(i) = filt_Gz(i) * PI;\r
+ \r
+ UA(i) = sqrt(acc_x(i)^2 + acc_y(i)^2 + acc_z(i)^2) - GRAVITY;\r
+ \r
+ if i <= MOVING_AVERAGE_WINDOW_LENGTH\r
+ mean_UA(i) = UA(i);\r
+ var_UA(i) = NON_ZERO_VAL;\r
+ var_Ax(i) = NON_ZERO_VAL;\r
+ var_Ay(i) = NON_ZERO_VAL;\r
+ var_Az(i) = NON_ZERO_VAL;\r
+ var_Gx(i) = NON_ZERO_VAL;\r
+ var_Gy(i) = NON_ZERO_VAL;\r
+ var_Gz(i) = NON_ZERO_VAL;\r
+ var_Mx(i) = NON_ZERO_VAL;\r
+ var_My(i) = NON_ZERO_VAL;\r
+ var_Mz(i) = NON_ZERO_VAL;\r
+ else\r
+ mean_UA(i) = mean(UA((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_UA(i) = var(UA((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Ax(i) = var(acc_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Ay(i) = var(acc_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Az(i) = var(acc_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Gx(i) = var(gyr_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Gy(i) = var(gyr_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Gz(i) = var(gyr_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Mx(i) = var(mag_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_My(i) = var(mag_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ var_Mz(i) = var(mag_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i));\r
+ end\r
+ if i > 1\r
+ A_T(i) = ATime(i) - ATime(i-1);\r
+ G_T(i) = GTime(i) - GTime(i-1);\r
+ M_T(i) = MTime(i) - MTime(i-1);\r
+ end\r
+ \r
+ dt = G_T(i) * US2S;\r
+ \r
+ gyr_x(i) = gyr_x(i) + Bx;\r
+ gyr_y(i) = gyr_y(i) + By;\r
+ gyr_z(i) = gyr_z(i) + Bz;\r
+ \r
+ % Aiding System (Accelerometer + Geomagnetic) quaternion generation\r
+ % gravity vector in body frame\r
+ acc_b =[acc_x(i);acc_y(i);acc_z(i)]; \r
+ % magnetic field vector in body frame\r
+ mag_b =[mag_x(i);mag_y(i);mag_z(i)]; \r
+\r
+ % compute measurement quaternion with TRIAD algorithm\r
+ acc_b_x_mag_b = cross(acc_b,mag_b);\r
+ acc_e_x_mag_e = cross(acc_e,mag_e);\r
+ M_b = [acc_b acc_b_x_mag_b cross(acc_b_x_mag_b,acc_b)];\r
+ M_e = [acc_e acc_e_x_mag_e cross(acc_e_x_mag_e,acc_e)];\r
+ Rot_m = M_e * M_b'; \r
+ quat_aid(i,:) = RotMat2Quat(Rot_m);\r
+ \r
+ % initialization for q\r
+ if i == 1\r
+ q = quat_aid(i,:);\r
+ end\r
+ \r
+ q_t = [q(2) q(3) q(4)]';\r
+ Rtan = (q(1)^2 - q_t'*q_t)*eye(3) + 2*q_t*q_t' - 2*q(1)*[0 -q(4) q(3);q(4) 0 -q(2);-q(3) q(2) 0];\r
+ %F = [[0 gyr_z(i) -gyr_y(i);-gyr_z(i) 0 gyr_x(i);gyr_y(i) -gyr_x(i) 0] Rtan; eye(3) ((-1/dt) * eye(3))];\r
+ F = [[0 gyr_z(i) -gyr_y(i);-gyr_z(i) 0 gyr_x(i);gyr_y(i) -gyr_x(i) 0] Rtan; zeros(3,6)];\r
+ %F = [[0 gyr_z(i) -gyr_y(i);-gyr_z(i) 0 gyr_x(i);gyr_y(i) -gyr_x(i) 0] Rtan; zeros(3,3) ((1/dt) * eye(3))];\r
+ %F = eye(6); \r
+\r
+ % Time Update\r
+ if i > 1\r
+ x(:,i) = F * x(:,i-1);\r
+ end\r
+\r
+ % compute covariance of prediction\r
+ P = (F * P * F') + Q;\r
+ \r
+ % Driving System (Gyroscope) quaternion generation\r
+ % convert scaled gyro data to rad/s\r
+ qDot = 0.5 * QuatProd(q, [0 gyr_x(i) gyr_y(i) gyr_z(i)]);\r
+\r
+ % Integrate to yield quaternion\r
+ q = q + qDot * dt * PI;\r
+ \r
+ % normalise quaternion\r
+ quat_driv(i,:) = q / norm(q);\r
+\r
+ % Kalman Filtering\r
+ quat_error(i,:) = QuatProd(quat_aid(i,:), quat_driv(i,:));\r
+ \r
+ euler_e = Quat2Euler(quat_error(i,:));\r
+ x1 = euler_e(1)'/PI;\r
+ x2 = euler_e(2)'/PI;\r
+ x3 = euler_e(3)'/PI;\r
+ \r
+ q = QuatProd(quat_driv(i,:), [1 x1 x2 x3]) * PI;\r
+ q = q / norm(q);\r
+ \r
+ By = x(4,i);\r
+ Bx = x(5,i);\r
+ Bz = x(6,i);\r
+\r
+ if i > 1\r
+ e = [x1 x2 x3 x(4,i) x(5,i) x(6,i)];\r
+ end\r
+ \r
+ for j =1:6\r
+ % compute Kalman gain\r
+ K(:,j) = P(j ,:)./(P(j,j)+R(j,j));\r
+ % update state vector\r
+ x(:,i) = x(:,i) + K(:,j) * e(j);\r
+ % update covariance matrix\r
+ P = ((eye(6) - (K(:,j) * H(j,:))) * P * (eye(6) - (K(:,j) * H(j,:)))') + (K(:,j) * R(j,j) * K(:,j)');\r
+ end\r
+end\r
+\r
+euler = Quat2Euler(quat_aid);\r
+roll = euler(:,1)' * RAD;\r
+pitch = euler(:,2)' * RAD;\r
+yaw = euler(:,3)' * RAD;\r
+\r
+euler = Quat2Euler(quat_driv);\r
+phi = euler(:,1)' * RAD;\r
+theta = euler(:,2)' * RAD;\r
+psi = -euler(:,3)' * RAD;\r
+\r
+euler = Quat2Euler(quat_error);\r
+roll_e = euler(:,1)' * RAD;\r
+pitch_e = euler(:,2)' * RAD;\r
+yaw_e = euler(:,3)' * RAD;\r
+\r
+% Plot results\r
+close all\r
+\r
+% Rotation Plot Results\r
+hfig=(figure);\r
+scrsz = get(0,'ScreenSize');\r
+set(hfig,'position',scrsz);\r
+subplot(3,1,1)\r
+UA = pitch;\r
+p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');\r
+hold on;\r
+grid on;\r
+UA = theta;\r
+p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');\r
+hold on;\r
+grid on;\r
+UA = pitch_e;\r
+p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');\r
+title(['Pitch']);\r
+legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error');\r
+subplot(3,1,2)\r
+UA = roll;\r
+p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');\r
+hold on;\r
+grid on;\r
+UA = phi;\r
+p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');\r
+hold on;\r
+grid on;\r
+UA = roll_e;\r
+p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');\r
+title(['Roll']);\r
+legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error');\r
+subplot(3,1,3)\r
+UA = yaw;\r
+p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');\r
+hold on;\r
+grid on;\r
+UA = psi;\r
+p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');\r
+hold on;\r
+grid on;\r
+UA = yaw_e;\r
+p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');\r
+title(['Yaw']);\r
+legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error');\r
+\r
+% Accelerometer/Gyroscope/Magnetometer scaled Plot results\r
+hfig=(figure);\r
+scrsz = get(0,'ScreenSize');\r
+set(hfig,'position',scrsz);\r
+subplot(3,1,1)\r
+p1 = plot(1:BUFFER_SIZE,acc_x(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,gyr_x(1,1:BUFFER_SIZE),'b');\r
+hold on;\r
+grid on;\r
+p3 = plot(1:BUFFER_SIZE,mag_x(1,1:BUFFER_SIZE),'k');\r
+title(['Accelerometer/Gyroscope/Magnetometer X-Axis Plot']);\r
+legend([p1 p2 p3],'Acc_X', 'Gyr_X', 'Mag_X');\r
+subplot(3,1,2)\r
+p1 = plot(1:BUFFER_SIZE,acc_y(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,gyr_y(1,1:BUFFER_SIZE),'b');\r
+hold on;\r
+grid on;\r
+p3 = plot(1:BUFFER_SIZE,mag_y(1,1:BUFFER_SIZE),'k');\r
+title(['Accelerometer/Gyroscope/Magnetometer Y-Axis Plot']);\r
+legend([p1 p2 p3],'Acc_Y', 'Gyr_Y', 'Mag_Y');\r
+subplot(3,1,3)\r
+p1 = plot(1:BUFFER_SIZE,acc_z(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,gyr_z(1,1:BUFFER_SIZE),'b');\r
+hold on;\r
+grid on;\r
+p3 = plot(1:BUFFER_SIZE,mag_z(1,1:BUFFER_SIZE),'k');\r
+title(['Accelerometer/Gyroscope/Magnetometer Z-Axis Plot']);\r
+legend([p1 p2 p3],'Acc_Z', 'Gyr_Z', 'Mag_Z');\r
+\r
+% Accelerometer Raw (vs) filtered output\r
+hfig=(figure);\r
+scrsz = get(0,'ScreenSize');\r
+set(hfig,'position',scrsz);\r
+subplot(3,1,1)\r
+p1 = plot(1:BUFFER_SIZE,Ax(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Ax(1,1:BUFFER_SIZE),'b');\r
+title(['Accelerometer X-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,2)\r
+p1 = plot(1:BUFFER_SIZE,Ay(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Ay(1,1:BUFFER_SIZE),'b');\r
+title(['Accelerometer Y-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,3)\r
+p1 = plot(1:BUFFER_SIZE,Az(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Az(1,1:BUFFER_SIZE),'b');\r
+title(['Accelerometer Z-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+\r
+% Gyroscope Raw (vs) filtered output\r
+hfig=(figure);\r
+scrsz = get(0,'ScreenSize');\r
+set(hfig,'position',scrsz);\r
+subplot(3,1,1)\r
+p1 = plot(1:BUFFER_SIZE,Gx(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Gx(1,1:BUFFER_SIZE),'b');\r
+title(['Gyroscope X-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,2)\r
+p1 = plot(1:BUFFER_SIZE,Gy(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Gy(1,1:BUFFER_SIZE),'b');\r
+title(['Gyroscope Y-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,3)\r
+p1 = plot(1:BUFFER_SIZE,Gz(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Gz(1,1:BUFFER_SIZE),'b');\r
+title(['Gyroscope Z-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+\r
+% Magnetometer Raw (vs) filtered output\r
+hfig=(figure);\r
+scrsz = get(0,'ScreenSize');\r
+set(hfig,'position',scrsz);\r
+subplot(3,1,1)\r
+p1 = plot(1:BUFFER_SIZE,Mx(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Mx(1,1:BUFFER_SIZE),'b');\r
+title(['Magnetometer X-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,2)\r
+p1 = plot(1:BUFFER_SIZE,My(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_My(1,1:BUFFER_SIZE),'b');\r
+title(['Magnetometer Y-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
+subplot(3,1,3)\r
+p1 = plot(1:BUFFER_SIZE,Mz(1,1:BUFFER_SIZE),'r');\r
+hold on;\r
+grid on;\r
+p2 = plot(1:BUFFER_SIZE,filt_Mz(1,1:BUFFER_SIZE),'b');\r
+title(['Magnetometer Z-Axis Plot']);\r
+legend([p1 p2],'input signal','low-pass filtered signal');\r
--- /dev/null
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projects / platform / core / system / sensor-framework.git / commitdiff