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.

Detailed Description

Functions for setting all the parameters in the zero-velocity aided inertial navigation system framework, as well as loading the IMU data.

Authors:: Isaac Skog, John-Olof Nilsson

Copyright:: Copyright (c) 2011 OpenShoe, ISC License (open source)

Function Documentation

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.

Parameters:

[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.

Parameters:

[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.

Parameters:

[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.