The OpenShoe Matlab Implementation
v1
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Functions for setting all the parameters in the zero-velocity aided inertial navigation system framework, as well as loading the IMU data. More...
Functions | |
function | settings () |
Function that controls all the settings for the zero-velocity aided inertial navigation system. | |
function | gravity (in lambda, in h) |
Function for calculating the magnitude of the local gravity. | |
function | load_dataset () |
Function that loads the IMU data set stored in the specfied folder. |
Functions for setting all the parameters in the zero-velocity aided inertial navigation system framework, as well as loading the IMU data.
function gravity | ( | in | lambda, |
in | h | ||
) |
Function for calculating the magnitude of the local gravity.
Function for calculation of the local gravity vector based upon the WGS84 gravity model.
[out] | g | magnitude of the local gravity vector [m/s^2] |
[in] | lambda | latitude [degrees] |
[in] | h | altitude [m] |
function load_dataset | ( | ) |
Function that loads the IMU data set stored in the specfied folder.
Function that loads the IMU data set stored in the specfied folder. The file should be named ''data_inert.txt''. The data is scaled to SI-units.
[out] | u | Matrix of IMU data. Each column corresponed to the IMU data sampled at one time instant. |
function settings | ( | ) |
Function that controls all the settings for the zero-velocity aided inertial navigation system.
[out] | u | Matrix with IMU data. Each column corresponds to one sample instant. The data in each column is arranged as x, y, and z axis specfic force components; x, y, and z axis angular rates. |