Adding linear acceleration virtual sensor

- adding octave code for computing linear acceleration.
- adding sensor data to test linear acceleration.
- fixing sign in gravity computation to correct phase.

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: I86356a58ed27f013693f28234d29fa1922da2323

diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/accel.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/accel.txt
new file mode 100755 (executable)
index 0000000..be2a3c7
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/accel.txt
@@ -0,0 +1,134 @@
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/gyro.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/gyro.txt
new file mode 100755 (executable)
index 0000000..6dca03a
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/gyro.txt
@@ -0,0 +1,134 @@
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/magnetic.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/magnetic.txt
new file mode 100755 (executable)
index 0000000..6e9c2ba
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/magnetic.txt
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/accel.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/accel.txt
new file mode 100755 (executable)
index 0000000..27d9479
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/accel.txt
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/gyro.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/gyro.txt
new file mode 100755 (executable)
index 0000000..0e4dd90
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/gyro.txt
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/magnetic.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_x_y_z/magnetic.txt
new file mode 100755 (executable)
index 0000000..0e406e9
--- /dev/null
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/accel.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/accel.txt
new file mode 100755 (executable)
index 0000000..9acc487
--- /dev/null
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/gyro.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/gyro.txt
new file mode 100755 (executable)
index 0000000..860e091
--- /dev/null
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/magnetic.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/magnetic.txt
new file mode 100755 (executable)
index 0000000..e334e50
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/magnetic.txt
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/accel.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/accel.txt
new file mode 100755 (executable)
index 0000000..15d5d71
--- /dev/null
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/gyro.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/gyro.txt
new file mode 100755 (executable)
index 0000000..d36ffc3
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/gyro.txt
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diff --git a/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/magnetic.txt b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/magnetic.txt
new file mode 100755 (executable)
index 0000000..eab1c61
--- /dev/null
+++ b/src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/magnetic.txt
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diff --git a/src/sensor_fusion/design/lib/estimate_gravity.m b/src/sensor_fusion/design/lib/estimate_gravity.m
index 5f62c4dce8393aa9007f31d3e1582ea66a17987c..0531a17fe00c1046d0105ecc2b8957ad131b206a 100755 (executable)
--- a/src/sensor_fusion/design/lib/estimate_gravity.m
+++ b/src/sensor_fusion/design/lib/estimate_gravity.m
@@ -36,10 +36,10 @@ Gravity = zeros(3,BUFFER_SIZE);
 % estimate orientation
 [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data, Mag_data);
 
-Gx = GRAVITY * -sind(OR_driv(1,:));
+Gx = GRAVITY * sind(OR_driv(1,:));
 Gy = GRAVITY * sind(OR_driv(2,:));
 Gz = GRAVITY * cosd(OR_driv(2,:)) .* cosd(OR_driv(1,:));
 
 Gravity = [Gx; Gy; Gz];
 
-end
\ No newline at end of file
+end

diff --git a/src/sensor_fusion/design/lib/estimate_linear_acceleration.m b/src/sensor_fusion/design/lib/estimate_linear_acceleration.m
new file mode 100755 (executable)
index 0000000..0ac6735
--- /dev/null
+++ b/src/sensor_fusion/design/lib/estimate_linear_acceleration.m
@@ -0,0 +1,36 @@
+% estimate_linear_acceleration
+%
+% 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.
+
+% Linear Acceleration Estimation function
+%
+% - Gravity estimation using the estimate_gravity function
+% - compute linear acceleration based gravitational force computed for each axes
+
+function [Linear_Acceleration]  = estimate_linear_acceleration(Accel_data, Gyro_data, Mag_data)
+
+GRAVITY = 9.80665;
+
+BUFFER_SIZE = size(Accel_data,2);
+
+Gravity = zeros(3,BUFFER_SIZE);
+Linear_Acceleration = zeros(3,BUFFER_SIZE);
+
+% estimate orientation
+Gravity  = estimate_gravity(Accel_data, Gyro_data, Mag_data);
+
+Linear_Acceleration = Accel_data(1:3,:) - [Gravity(2,:); Gravity(1,:); Gravity(3,:);];
+
+end

diff --git a/src/sensor_fusion/design/sf_linear_acceleration.m b/src/sensor_fusion/design/sf_linear_acceleration.m
new file mode 100755 (executable)
index 0000000..edb78e0
--- /dev/null
+++ b/src/sensor_fusion/design/sf_linear_acceleration.m
@@ -0,0 +1,111 @@
+% sf_linear_acceleration
+%
+% 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.
+
+% Sensor Fusion Implementation for Determination of linear acceleration
+%
+% - Input Accelerometer, Gyroscope and Magnetometer sensor data
+% - Call estimate_linear_acceleration
+% - Plot results for linear acceleration on different reference axes
+
+addpath('lib');
+clear
+close all
+clc
+
+GRAVITY = 9.80665;
+
+Max_Range_Accel = 39.203407; Min_Range_Accel = -39.204006; Res_Accel = 0.000598;
+Max_Range_Gyro = 1146.862549; Min_Range_Gyro = -1146.880005; Res_Gyro = 0.017500;
+Max_Range_Magnetic = 1200; Min_Range_Magnetic = -1200; Res_Magnetic = 1;
+
+Bias_Ax = 0.098586;
+Bias_Ay = 0.18385;
+Bias_Az = 10.084 - GRAVITY;
+
+Bias_Gx = -5.3539;
+Bias_Gy = 0.24325;
+Bias_Gz = 2.3391;
+
+BUFFER_SIZE = 125;
+
+Accel_data = zeros(4,BUFFER_SIZE);
+Gyro_data = zeros(4,BUFFER_SIZE);
+Mag_data =  zeros(4,BUFFER_SIZE);
+
+OR_driv = zeros(3,BUFFER_SIZE);
+OR_aid = zeros(3,BUFFER_SIZE);
+OR_err = zeros(3,BUFFER_SIZE);
+
+% Sensor Data simulating orientation motions
+
+% get accel x,y,z axis data from stored file
+Accel_data(1,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/accel.txt")(:,1))') - Bias_Ax)(1:BUFFER_SIZE);
+Accel_data(2,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/accel.txt")(:,2))') - Bias_Ay)(1:BUFFER_SIZE);
+Accel_data(3,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/accel.txt")(:,3))') - Bias_Az)(1:BUFFER_SIZE);
+Accel_data(4,:) = ((dlmread("data/100ms/linear_acceleration/move_x_y_z/accel.txt")(:,4))')(1:BUFFER_SIZE);
+
+% get gyro x,y,z axis data from stored file
+Gyro_data(1,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/gyro.txt")(:,1))') - Bias_Gx)(1:BUFFER_SIZE);
+Gyro_data(2,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/gyro.txt")(:,2))') - Bias_Gy)(1:BUFFER_SIZE);
+Gyro_data(3,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/gyro.txt")(:,3))') - Bias_Gz)(1:BUFFER_SIZE);
+Gyro_data(4,:) = ((dlmread("data/100ms/linear_acceleration/move_x_y_z/gyro.txt")(:,4))')(1:BUFFER_SIZE);
+
+scale_Gyro = 575;
+Gyro_data(1,:) = Gyro_data(1,:)/scale_Gyro;
+Gyro_data(2,:) = Gyro_data(2,:)/scale_Gyro;
+Gyro_data(3,:) = Gyro_data(3,:)/scale_Gyro;
+
+% get magnetometer x,y,z axis data from stored file
+Mag_data(1,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/magnetic.txt")(:,1))'))(1:BUFFER_SIZE);
+Mag_data(2,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/magnetic.txt")(:,2))'))(1:BUFFER_SIZE);
+Mag_data(3,:) = (((dlmread("data/100ms/linear_acceleration/move_x_y_z/magnetic.txt")(:,3))'))(1:BUFFER_SIZE);
+Mag_data(4,:) = ((dlmread("data/100ms/linear_acceleration/move_x_y_z/magnetic.txt")(:,4))')(1:BUFFER_SIZE);
+
+% estimate orientation
+Linear_acceleration = estimate_linear_acceleration(Accel_data, Gyro_data, Mag_data);
+
+hfig=(figure);
+scrsz = get(0,'ScreenSize');
+set(hfig,'position',scrsz);
+% Accelerometer Raw data
+subplot(2,1,1)
+UA = Accel_data(1,:);
+p1 = plot(1:length(UA),UA(1,1:length(UA)),'k');
+hold on;
+grid on;
+UA = Accel_data(2,:);
+p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');
+hold on;
+grid on;
+UA = Accel_data(3,:);
+p3 = plot(1:length(UA),UA(1,1:length(UA)),'r');
+title(['Raw Accelerometer Data']);
+legend([p1 p2 p3],'x-axis', 'y-axis', 'z-axis');
+
+% Linear Acceleration Plot Results
+subplot(2,1,2)
+UA = Linear_acceleration(1,:);
+p1 = plot(1:length(UA),UA(1,1:length(UA)),'k');
+hold on;
+grid on;
+UA = Linear_acceleration(2,:);
+p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');
+hold on;
+grid on;
+UA = Linear_acceleration(3,:);
+p3 = plot(1:length(UA),UA(1,1:length(UA)),'r');
+title(['Linear Acceleration']);
+legend([p1 p2 p3],'x-axis', 'y-axis', 'z-axis');