3 % Copyright (c) 2014 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 % Sensor Fusion Implementation for Orientation Estimation
19 % - Input Accelerometer, Gyroscope and Magnetometer sensor data
20 % - Call estimate_orientation function
21 % - Plot results for orientation
31 Max_Range_Accel = 39.203407; Min_Range_Accel = -39.204006; Res_Accel = 0.000598;
32 Max_Range_Gyro = 1146.862549; Min_Range_Gyro = -1146.880005; Res_Gyro = 0.017500;
33 Max_Range_Magnetic = 1200; Min_Range_Magnetic = -1200; Res_Magnetic = 1;
35 PITCH_PHASE_CORRECTION = -1;
36 ROLL_PHASE_CORRECTION = -1;
37 YAW_PHASE_CORRECTION = -1;
41 Bias_Az = 10.084 - GRAVITY;
65 Accel_data = zeros(4,BUFFER_SIZE);
66 Gyro_data = zeros(4,BUFFER_SIZE);
67 Mag_data = zeros(4,BUFFER_SIZE);
69 OR_driv = zeros(3,BUFFER_SIZE);
70 OR_aid = zeros(3,BUFFER_SIZE);
71 OR_err = zeros(3,BUFFER_SIZE);
73 euler_driv = zeros(BUFFER_SIZE,3);
74 euler_aid = zeros(BUFFER_SIZE,3);
75 euler_err = zeros(BUFFER_SIZE,3);
77 % Sensor Data simulating orientation motions
79 % get accel x,y,z axis data from stored file
80 Accel_data(1,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/accel.txt")(:,1))') - Bias_Ax)(1:BUFFER_SIZE);
81 Accel_data(2,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/accel.txt")(:,2))') - Bias_Ay)(1:BUFFER_SIZE);
82 Accel_data(3,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/accel.txt")(:,3))') - Bias_Az)(1:BUFFER_SIZE);
83 Accel_data(4,:) = ((dlmread("data/100ms/orientation/roll_pitch_yaw/accel.txt")(:,4))')(1:BUFFER_SIZE);
85 % get gyro x,y,z axis data from stored file
86 Gyro_data(1,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/gyro.txt")(:,1))') - Bias_Gx)(1:BUFFER_SIZE);
87 Gyro_data(2,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/gyro.txt")(:,2))') - Bias_Gy)(1:BUFFER_SIZE);
88 Gyro_data(3,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/gyro.txt")(:,3))') - Bias_Gz)(1:BUFFER_SIZE);
89 Gyro_data(4,:) = ((dlmread("data/100ms/orientation/roll_pitch_yaw/gyro.txt")(:,4))')(1:BUFFER_SIZE);
92 Gyro_data(1,:) = Gyro_data(1,:)/scale_Gyro;
93 Gyro_data(2,:) = Gyro_data(2,:)/scale_Gyro;
94 Gyro_data(3,:) = Gyro_data(3,:)/scale_Gyro;
96 % get magnetometer x,y,z axis data from stored file
97 Mag_data(1,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/magnetic.txt")(:,1))') - Bias_Mx)(1:BUFFER_SIZE) * Sign_Mx;
98 Mag_data(2,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/magnetic.txt")(:,2))') - Bias_My)(1:BUFFER_SIZE) * Sign_My;
99 Mag_data(3,:) = (((dlmread("data/100ms/orientation/roll_pitch_yaw/magnetic.txt")(:,3))') - Bias_Mz)(1:BUFFER_SIZE) * Sign_Mz;
100 Mag_data(4,:) = ((dlmread("data/100ms/orientation/roll_pitch_yaw/magnetic.txt")(:,4))')(1:BUFFER_SIZE);
102 % estimate orientation
103 [Quat_driv, Quat_aid, Quat_err, Gyro_bias] = estimate_orientation(Accel_data, Gyro_data, Mag_data);
105 Gyro_bias(1,:) = Gyro_bias(1,:) + Bias_Gx;
106 Gyro_bias(2,:) = Gyro_bias(2,:) + Bias_Gy;
107 Gyro_bias(3,:) = Gyro_bias(3,:) + Bias_Gz;
109 for i = 1:BUFFER_SIZE
110 euler_aid(i,:) = quat2euler(Quat_aid(i,:));
111 OR_aid(1,i) = euler_aid(i,2)' * RAD2DEG;
112 OR_aid(2,i) = euler_aid(i,1)' * RAD2DEG;
113 OR_aid(3,i) = euler_aid(i,3)' * RAD2DEG;
115 euler_driv(i,:) = quat2euler(Quat_driv(i,:));
116 OR_driv(1,i) = ROLL_PHASE_CORRECTION * euler_driv(i,2)' * RAD2DEG;
117 OR_driv(2,i) = PITCH_PHASE_CORRECTION * euler_driv(i,1)' * RAD2DEG;
118 OR_driv(3,i) = YAW_PHASE_CORRECTION * euler_driv(i,3)' * RAD2DEG;
120 if (OR_driv(3,i) < 0)
121 OR_driv(3,i) = OR_driv(3,i) + 360;
125 OR_aid(3,i) = OR_aid(3,i) + 360;
129 % Rotation Plot Results
131 scrsz = get(0,'ScreenSize');
132 set(hfig,'position',scrsz);
135 p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');
139 p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');
143 p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');
145 legend([p1 p2 p3],'Aiding System', 'Driving System', 'Gyroscope Bias error');
148 p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');
152 p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');
156 p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');
158 legend([p1 p2 p3],'Aiding System', 'Driving System', 'Gyroscope Bias error');
161 p1 = plot(1:length(UA),UA(1,1:length(UA)),'r');
165 p2 = plot(1:length(UA),UA(1,1:length(UA)),'b');
169 p3 = plot(1:length(UA),UA(1,1:length(UA)),'g');
171 legend([p1 p2 p3],'Aiding System', 'Driving System', 'Gyroscope Bias error');