Note that the Matlab implementation is currently not very up-to-date. It works fine but non of the latest updates to the embedded code has been ported to this implementation.
As a part of the OpenShoe project a ZUPT aided INS algorithm framework for data processing in Matlab has been released. The framework allows the user to easily process data from a foot-mounted IMU in a Kalman filter based zero-velocity aided inertial navigation system framework. The user can choose between different state space (error) models, zero-velocity detectors, etc. The main features the user can choose between in the framework are:
- 4 different error state space models.
- 4 different zero-velocity detection algorithms.
- 13 IMU datasets recorded at normal and fast gait.
The Matlab framework can be downloaded from OpenShoe at sourceforge or as zip-folder here OpenShoe Matlab Framework. The online documentation for the framework is found at OpenShoe Matlab Framework Documentation.