The OpenShoe Matlab Implementation
v1

Functions for setting all the parameters in the zerovelocity aided inertial navigation system framework, as well as loading the IMU data. More...
Functions  
function  settings () 
Function that controls all the settings for the zerovelocity 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 zerovelocity 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 SIunits.
[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 zerovelocity 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. 