From: Ramasamy Date: Mon, 7 Apr 2014 03:59:26 +0000 (+0530) Subject: Adding initial version Sensor Fusion octave code X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=079eee4661d208b2215f01650e88b39ba0311dd7;p=platform%2Fcore%2Fsystem%2Fsensor-framework.git Adding initial version Sensor Fusion octave code signed-off-by: Ramasamy Change-Id: I9404403f2ae9e6d0c2810124eb4207a9fdded6cb --- diff --git a/SensorFusion/LICENSE b/SensorFusion/LICENSE new file mode 100755 index 0000000..247c97d --- /dev/null +++ b/SensorFusion/LICENSE @@ -0,0 +1,203 @@ +Copyright (c) 2000 - 2011 Samsung Electronics Co., Ltd. All rights reserved. + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/SensorFusion/Quat2Euler.m b/SensorFusion/Quat2Euler.m new file mode 100755 index 0000000..b4495ee --- /dev/null +++ b/SensorFusion/Quat2Euler.m @@ -0,0 +1,32 @@ +function euler = Quat2Euler(q) +% Quat2Euler +% +% 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 quaternion orientation to ZYX Euler angles where phi is a +% rotation around X, theta around Y and psi around Z. + + R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2; + R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4)); + R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3)); + R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2)); + R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2; + + phi = atan2(R(3,2,:), R(3,3,:) ); + theta = -atan(R(3,1,:) ./ sqrt(1-R(3,1,:).^2) ); + psi = atan2(R(2,1,:), R(1,1,:) ); + + euler = [phi(1,:)' theta(1,:)' psi(1,:)']; +end diff --git a/SensorFusion/Quat2RotMat.m b/SensorFusion/Quat2RotMat.m new file mode 100755 index 0000000..b253862 --- /dev/null +++ b/SensorFusion/Quat2RotMat.m @@ -0,0 +1,29 @@ +function R = Quat2RotMat(q) +% Quat2RotMat +% +% 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 quaternion orientation to a rotation matrix. + + R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2; + R(1,2,:) = 2.*(q(:,2).*q(:,3)+q(:,1).*q(:,4)); + R(1,3,:) = 2.*(q(:,2).*q(:,4)-q(:,1).*q(:,3)); + R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4)); + R(2,2,:) = 2.*q(:,1).^2-1+2.*q(:,3).^2; + R(2,3,:) = 2.*(q(:,3).*q(:,4)+q(:,1).*q(:,2)); + R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3)); + R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2)); + R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2; +end diff --git a/SensorFusion/QuatProd.m b/SensorFusion/QuatProd.m new file mode 100755 index 0000000..dbd5682 --- /dev/null +++ b/SensorFusion/QuatProd.m @@ -0,0 +1,24 @@ +function ab = QuatProd(a, b) +% QuatProd +% +% 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. + +% Calculates the quaternion product of quaternion a and b. + + ab(:,1) = a(:,1).*b(:,1)-a(:,2).*b(:,2)-a(:,3).*b(:,3)-a(:,4).*b(:,4); + ab(:,2) = a(:,1).*b(:,2)+a(:,2).*b(:,1)+a(:,3).*b(:,4)-a(:,4).*b(:,3); + ab(:,3) = a(:,1).*b(:,3)-a(:,2).*b(:,4)+a(:,3).*b(:,1)+a(:,4).*b(:,2); + ab(:,4) = a(:,1).*b(:,4)+a(:,2).*b(:,3)-a(:,3).*b(:,2)+a(:,4).*b(:,1); +end diff --git a/SensorFusion/RotMat2Quat.m b/SensorFusion/RotMat2Quat.m new file mode 100755 index 0000000..87693bc --- /dev/null +++ b/SensorFusion/RotMat2Quat.m @@ -0,0 +1,44 @@ +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 diff --git a/SensorFusion/SF_Orien.m b/SensorFusion/SF_Orien.m new file mode 100755 index 0000000..5906b3b --- /dev/null +++ b/SensorFusion/SF_Orien.m @@ -0,0 +1,500 @@ +% SF_Orien +% +% 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 - Orientation Estimation +% +% - Orientation Estimation using Gyroscope as the driving system and Accelerometer+Geo-Magnetic Sensors as Aiding System. +% - Quaternion based approach +% - Estimation and correction of Euler errors and bias errors for gyroscope using Kalman filter + + +clear + +LOW_PASS_FILTERING_ON = 0; + +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; + +PI = 3.141593; +GRAVITY = 9.80665; +NON_ZERO_VAL = 0.1; + +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 = 1065; +MOVING_AVERAGE_WINDOW_LENGTH = 20; +RAD = 57.2957795; +US2S = 1.0 / 1000000.0; + +% get accel x,y,z axis data from stored file +Ax = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,1))') - Bias_Ax)(1:BUFFER_SIZE); +Ay = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,2))') - Bias_Ay)(1:BUFFER_SIZE); +Az = (((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,3))') - Bias_Az)(1:BUFFER_SIZE); +ATime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/accel.txt")(:,4))'); + +% get gyro x,y,z axis data from stored file +Gx = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,1))') - Bias_Gx)(1:BUFFER_SIZE); +Gy = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,2))') - Bias_Gy)(1:BUFFER_SIZE); +Gz = (((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,3))') - Bias_Gz)(1:BUFFER_SIZE); +GTime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/gyro.txt")(:,4))'); + +scale_Gyro = 575; +Gx = Gx/scale_Gyro; +Gy = Gy/scale_Gyro; +Gz = Gz/scale_Gyro; + +% get magnetometer x,y,z axis data from stored file +Mx = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,1))'))(1:BUFFER_SIZE); +My = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,2))'))(1:BUFFER_SIZE); +Mz = (((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,3))'))(1:BUFFER_SIZE); +MTime = ((dlmread("sensor_data/100ms/roll_pitch_yaw/magnetic.txt")(:,4))'); + +% 1st order smoothening filter +b = [0.9999 0 ]; +a = [1.0000000 0.1 ]; + +% initialize filter output variables to zero +filt_Ax = zeros(1,BUFFER_SIZE); +filt_Ay = zeros(1,BUFFER_SIZE); +filt_Az = zeros(1,BUFFER_SIZE); +filt_Gx = zeros(1,BUFFER_SIZE); +filt_Gy = zeros(1,BUFFER_SIZE); +filt_Gz = zeros(1,BUFFER_SIZE); +filt_Mx = zeros(1,BUFFER_SIZE); +filt_My = zeros(1,BUFFER_SIZE); +filt_Mz = zeros(1,BUFFER_SIZE); + +acc_x = zeros(1,BUFFER_SIZE); +acc_y = zeros(1,BUFFER_SIZE); +acc_z = zeros(1,BUFFER_SIZE); +gyr_x = zeros(1,BUFFER_SIZE); +gyr_y = zeros(1,BUFFER_SIZE); +gyr_z = zeros(1,BUFFER_SIZE); +mag_x = zeros(1,BUFFER_SIZE); +mag_y = zeros(1,BUFFER_SIZE); +mag_z = zeros(1,BUFFER_SIZE); + +UA = zeros(1,BUFFER_SIZE); +Corrected_Az = zeros(1,BUFFER_SIZE); + +% User Acceleration mean and Variance +mean_UA = zeros(1,BUFFER_SIZE); +A_T = zeros(1,BUFFER_SIZE); +G_T = zeros(1,BUFFER_SIZE); +M_T = zeros(1,BUFFER_SIZE); +var_UA = zeros(1,BUFFER_SIZE); +var_Ax = zeros(1,BUFFER_SIZE); +var_Ay = zeros(1,BUFFER_SIZE); +var_Az = zeros(1,BUFFER_SIZE); +var_Gx = zeros(1,BUFFER_SIZE); +var_Gy = zeros(1,BUFFER_SIZE); +var_Gz = zeros(1,BUFFER_SIZE); +var_Mx = zeros(1,BUFFER_SIZE); +var_My = zeros(1,BUFFER_SIZE); +var_Mz = zeros(1,BUFFER_SIZE); + +mean_Roll = zeros(1,BUFFER_SIZE); +mean_Pitch = zeros(1,BUFFER_SIZE); +mean_Yaw = zeros(1,BUFFER_SIZE); +var_Roll = zeros(1,BUFFER_SIZE); +var_Pitch = zeros(1,BUFFER_SIZE); +var_Yaw = zeros(1,BUFFER_SIZE); +quat_driv = zeros(BUFFER_SIZE,4); +quat_aid = zeros(BUFFER_SIZE,4); +quat_error = zeros(BUFFER_SIZE,4); +euler = zeros(BUFFER_SIZE,3); +Ro = zeros(3, 3, BUFFER_SIZE); + +% Gyroscope Bias Variables +Bx = 0; By = 0; Bz = 0; + +% system covariance matrix +Q=[ 1.1 0 0 0 0 0; + 0 1.1 0 0 0 0; + 0 0 1.1 0 0 0; + 0 0 0 0 0 0; + 0 0 0 0 0 0; + 0 0 0 0 0 0;]; + +% measurement covariance matrix +R=[ 1.01 0 0 0 0 0; + 0 1.01 0 0 0 0; + 0 0 1.01 0 0 0; + 0 0 0 1.01 0 0; + 0 0 0 0 1.01 0; + 0 0 0 0 0 1.01;]; + +%R=[ 1.01 0 0; +% 0 1.01 0; +% 0 0 1.01;]; + +A_T(1) = 100000; +G_T(1) = 100000; +M_T(1) = 100000; + +acc_e = [0.0;0.0;1.0]; % gravity vector in earth frame +mag_e = [0.0;1.0;0.0]; % magnetic field vector in eart frame + +H = [eye(3) zeros(3,3); zeros(3,6)]; +x = zeros(6,BUFFER_SIZE); +e = zeros(1,6); +P = 1 * eye(6);% state covariance matrix + +% first order filtering +for i = 1:BUFFER_SIZE + if LOW_PASS_FILTERING_ON == 1 + if i < 2 + filt_Ax(i) = Ax(i); + filt_Ay(i) = Ay(i); + filt_Az(i) = Az(i); + filt_Gx(i) = Gx(i); + filt_Gy(i) = Gy(i); + filt_Gz(i) = Gz(i); + filt_Mx(i) = Mx(i); + filt_My(i) = My(i); + filt_Mz(i) = Mz(i); + elseif i >= 2 + filt_Ax(i) = -a(2)*filt_Ax(i-1)+b(1)*Ax(i); + filt_Ay(i) = -a(2)*filt_Ay(i-1)+b(1)*Ay(i); + filt_Az(i) = -a(2)*filt_Az(i-1)+b(1)*Az(i); + filt_Gx(i) = -a(2)*filt_Gx(i-1)+b(1)*Gx(i); + filt_Gy(i) = -a(2)*filt_Gy(i-1)+b(1)*Gy(i); + filt_Gz(i) = -a(2)*filt_Gz(i-1)+b(1)*Gz(i); + filt_Mx(i) = -a(2)*filt_Mx(i-1)+b(1)*Mx(i); + filt_My(i) = -a(2)*filt_My(i-1)+b(1)*My(i); + filt_Mz(i) = -a(2)*filt_Mz(i-1)+b(1)*Mz(i); + end + else + filt_Ax(i) = Ax(i); + filt_Ay(i) = Ay(i); + filt_Az(i) = Az(i); + filt_Gx(i) = Gx(i); + filt_Gy(i) = Gy(i); + filt_Gz(i) = Gz(i); + filt_Mx(i) = Mx(i); + filt_My(i) = My(i); + filt_Mz(i) = Mz(i); + end + + % normalize accelerometer measurements + norm_acc = 1/sqrt(filt_Ax(i)^2 + filt_Ay(i)^2 + filt_Az(i)^2); + acc_x(i) = norm_acc * filt_Ax(i); + acc_y(i) = norm_acc * filt_Ay(i); + acc_z(i) = norm_acc * filt_Az(i); + + % normalize magnetometer measurements + norm_mag = 1/sqrt(filt_Mx(i)^2 + filt_My(i)^2 + filt_Mz(i)^2); + mag_x(i) = norm_mag * filt_Mx(i); + mag_y(i) = norm_mag * filt_My(i); + mag_z(i) = norm_mag * filt_Mz(i); + + gyr_x(i) = filt_Gx(i) * PI; + gyr_y(i) = filt_Gy(i) * PI; + gyr_z(i) = filt_Gz(i) * PI; + + UA(i) = sqrt(acc_x(i)^2 + acc_y(i)^2 + acc_z(i)^2) - GRAVITY; + + if i <= MOVING_AVERAGE_WINDOW_LENGTH + mean_UA(i) = UA(i); + var_UA(i) = NON_ZERO_VAL; + var_Ax(i) = NON_ZERO_VAL; + var_Ay(i) = NON_ZERO_VAL; + var_Az(i) = NON_ZERO_VAL; + var_Gx(i) = NON_ZERO_VAL; + var_Gy(i) = NON_ZERO_VAL; + var_Gz(i) = NON_ZERO_VAL; + var_Mx(i) = NON_ZERO_VAL; + var_My(i) = NON_ZERO_VAL; + var_Mz(i) = NON_ZERO_VAL; + else + mean_UA(i) = mean(UA((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_UA(i) = var(UA((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Ax(i) = var(acc_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Ay(i) = var(acc_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Az(i) = var(acc_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Gx(i) = var(gyr_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Gy(i) = var(gyr_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Gz(i) = var(gyr_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Mx(i) = var(mag_x((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_My(i) = var(mag_y((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + var_Mz(i) = var(mag_z((i-MOVING_AVERAGE_WINDOW_LENGTH):i)); + end + if i > 1 + A_T(i) = ATime(i) - ATime(i-1); + G_T(i) = GTime(i) - GTime(i-1); + M_T(i) = MTime(i) - MTime(i-1); + end + + dt = G_T(i) * US2S; + + gyr_x(i) = gyr_x(i) + Bx; + gyr_y(i) = gyr_y(i) + By; + gyr_z(i) = gyr_z(i) + Bz; + + % Aiding System (Accelerometer + Geomagnetic) quaternion generation + % gravity vector in body frame + acc_b =[acc_x(i);acc_y(i);acc_z(i)]; + % magnetic field vector in body frame + mag_b =[mag_x(i);mag_y(i);mag_z(i)]; + + % compute measurement quaternion with TRIAD algorithm + acc_b_x_mag_b = cross(acc_b,mag_b); + acc_e_x_mag_e = cross(acc_e,mag_e); + M_b = [acc_b acc_b_x_mag_b cross(acc_b_x_mag_b,acc_b)]; + M_e = [acc_e acc_e_x_mag_e cross(acc_e_x_mag_e,acc_e)]; + Rot_m = M_e * M_b'; + quat_aid(i,:) = RotMat2Quat(Rot_m); + + % initialization for q + if i == 1 + q = quat_aid(i,:); + end + + q_t = [q(2) q(3) q(4)]'; + 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]; + %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))]; + 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)]; + %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))]; + %F = eye(6); + + % Time Update + if i > 1 + x(:,i) = F * x(:,i-1); + end + + % compute covariance of prediction + P = (F * P * F') + Q; + + % Driving System (Gyroscope) quaternion generation + % convert scaled gyro data to rad/s + qDot = 0.5 * QuatProd(q, [0 gyr_x(i) gyr_y(i) gyr_z(i)]); + + % Integrate to yield quaternion + q = q + qDot * dt * PI; + + % normalise quaternion + quat_driv(i,:) = q / norm(q); + + % Kalman Filtering + quat_error(i,:) = QuatProd(quat_aid(i,:), quat_driv(i,:)); + + euler_e = Quat2Euler(quat_error(i,:)); + x1 = euler_e(1)'/PI; + x2 = euler_e(2)'/PI; + x3 = euler_e(3)'/PI; + + q = QuatProd(quat_driv(i,:), [1 x1 x2 x3]) * PI; + q = q / norm(q); + + By = x(4,i); + Bx = x(5,i); + Bz = x(6,i); + + if i > 1 + e = [x1 x2 x3 x(4,i) x(5,i) x(6,i)]; + end + + for j =1:6 + % compute Kalman gain + K(:,j) = P(j ,:)./(P(j,j)+R(j,j)); + % update state vector + x(:,i) = x(:,i) + K(:,j) * e(j); + % update covariance matrix + P = ((eye(6) - (K(:,j) * H(j,:))) * P * (eye(6) - (K(:,j) * H(j,:)))') + (K(:,j) * R(j,j) * K(:,j)'); + end +end + +euler = Quat2Euler(quat_aid); +roll = euler(:,1)' * RAD; +pitch = euler(:,2)' * RAD; +yaw = euler(:,3)' * RAD; + +euler = Quat2Euler(quat_driv); +phi = euler(:,1)' * RAD; +theta = euler(:,2)' * RAD; +psi = -euler(:,3)' * RAD; + +euler = Quat2Euler(quat_error); +roll_e = euler(:,1)' * RAD; +pitch_e = euler(:,2)' * RAD; +yaw_e = euler(:,3)' * RAD; + +% Plot results +close all + +% Rotation Plot Results +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); +subplot(3,1,1) +UA = pitch; +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = theta; +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = pitch_e; +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Pitch']); +legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error'); +subplot(3,1,2) +UA = roll; +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = phi; +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = roll_e; +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Roll']); +legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error'); +subplot(3,1,3) +UA = yaw; +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = psi; +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = yaw_e; +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Yaw']); +legend([p1 p2 p3],'Aiding System', 'Driving System', 'Quaternion based error'); + +% Accelerometer/Gyroscope/Magnetometer scaled Plot results +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); +subplot(3,1,1) +p1 = plot(1:BUFFER_SIZE,acc_x(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,gyr_x(1,1:BUFFER_SIZE),'b'); +hold on; +grid on; +p3 = plot(1:BUFFER_SIZE,mag_x(1,1:BUFFER_SIZE),'k'); +title(['Accelerometer/Gyroscope/Magnetometer X-Axis Plot']); +legend([p1 p2 p3],'Acc_X', 'Gyr_X', 'Mag_X'); +subplot(3,1,2) +p1 = plot(1:BUFFER_SIZE,acc_y(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,gyr_y(1,1:BUFFER_SIZE),'b'); +hold on; +grid on; +p3 = plot(1:BUFFER_SIZE,mag_y(1,1:BUFFER_SIZE),'k'); +title(['Accelerometer/Gyroscope/Magnetometer Y-Axis Plot']); +legend([p1 p2 p3],'Acc_Y', 'Gyr_Y', 'Mag_Y'); +subplot(3,1,3) +p1 = plot(1:BUFFER_SIZE,acc_z(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,gyr_z(1,1:BUFFER_SIZE),'b'); +hold on; +grid on; +p3 = plot(1:BUFFER_SIZE,mag_z(1,1:BUFFER_SIZE),'k'); +title(['Accelerometer/Gyroscope/Magnetometer Z-Axis Plot']); +legend([p1 p2 p3],'Acc_Z', 'Gyr_Z', 'Mag_Z'); + +% Accelerometer Raw (vs) filtered output +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); +subplot(3,1,1) +p1 = plot(1:BUFFER_SIZE,Ax(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Ax(1,1:BUFFER_SIZE),'b'); +title(['Accelerometer X-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,2) +p1 = plot(1:BUFFER_SIZE,Ay(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Ay(1,1:BUFFER_SIZE),'b'); +title(['Accelerometer Y-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,3) +p1 = plot(1:BUFFER_SIZE,Az(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Az(1,1:BUFFER_SIZE),'b'); +title(['Accelerometer Z-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); + +% Gyroscope Raw (vs) filtered output +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); +subplot(3,1,1) +p1 = plot(1:BUFFER_SIZE,Gx(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Gx(1,1:BUFFER_SIZE),'b'); +title(['Gyroscope X-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,2) +p1 = plot(1:BUFFER_SIZE,Gy(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Gy(1,1:BUFFER_SIZE),'b'); +title(['Gyroscope Y-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,3) +p1 = plot(1:BUFFER_SIZE,Gz(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Gz(1,1:BUFFER_SIZE),'b'); +title(['Gyroscope Z-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); + +% Magnetometer Raw (vs) filtered output +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); +subplot(3,1,1) +p1 = plot(1:BUFFER_SIZE,Mx(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Mx(1,1:BUFFER_SIZE),'b'); +title(['Magnetometer X-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,2) +p1 = plot(1:BUFFER_SIZE,My(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_My(1,1:BUFFER_SIZE),'b'); +title(['Magnetometer Y-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); +subplot(3,1,3) +p1 = plot(1:BUFFER_SIZE,Mz(1,1:BUFFER_SIZE),'r'); +hold on; +grid on; +p2 = plot(1:BUFFER_SIZE,filt_Mz(1,1:BUFFER_SIZE),'b'); +title(['Magnetometer Z-Axis Plot']); +legend([p1 p2],'input signal','low-pass filtered signal'); diff --git a/SensorFusion/sensor_data/100ms/pitch/accel.txt b/SensorFusion/sensor_data/100ms/pitch/accel.txt new file mode 100755 index 0000000..c6b5cb9 --- /dev/null +++ b/SensorFusion/sensor_data/100ms/pitch/accel.txt @@ -0,0 +1,671 @@ +0.007178 0.178265 10.127622 451630336.000000 +0.016750 0.196211 10.155140 451730528.000000 +0.007178 0.197408 10.128819 451830528.000000 +0.013161 0.205783 10.173084 451930368.000000 +0.043071 0.210568 10.180264 452030528.000000 +0.062213 0.223729 10.005588 452130400.000000 +0.010768 0.220140 10.171888 452230464.000000 +-0.003589 0.208176 10.173084 452330464.000000 +0.023928 0.180658 10.131211 452430624.000000 +0.014357 0.208176 10.179067 452530496.000000 +0.008375 0.216550 10.143176 452630496.000000 +0.063410 0.229711 9.850054 452730592.000000 +-0.221336 0.211765 10.161121 452830624.000000 +0.248854 0.210568 9.456435 452930592.000000 +-0.129212 0.192622 10.177871 453030592.000000 +-0.021535 0.222532 10.048658 453130432.000000 +-0.005982 0.228515 10.168301 453230528.000000 +0.021535 0.177069 10.200603 453330496.000000 +0.001196 0.183051 10.205389 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