zero_velocity_detector.m File Reference

Functions for implementing different zero-velocity detection algorithms. More...

Functions
function	zero_velocity_detector (in u)
	Wrapper function for running the zero-velocity detection algorithms.
function	GLRT (in u)
	Function that runs the generalized likelihood test (SHOE detector).
function	MV (in u)
	Function that runs the acceleration moving variance detector.
function	MAG (in u)
	Function that runs the acceleration magnitude detector.
function	ARE (in u)
	Function that runs the angular rate energy detector.

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Detailed Description

Functions for implementing different zero-velocity detection algorithms.

Functions for implementing different zero-velocity detection algorithms, as well as a wrapper function for easy to use purpose. The settings used by the wrapper function "zero_velocity_detector()" is specified in the file setting.m. Details about the detectors can be found in papers

• Zero-Velocity Detection -- An Algorithm Evaluation
• Evaluation of Zero-Velocity Detectors for Foot-Mounted Inertial Navigation Systems

Authors:

Isaac Skog, John-Olof Nilsson

Copyright:

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

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Function Documentation

function ARE

(

in

u

)

Function that runs the angular rate energy detector.

Parameters:

[out]	T	The test statistics of the detector
[in]	u	The IMU data vector.

function GLRT

(

in

u

)

Function that runs the generalized likelihood test (SHOE detector).

Parameters:

[out]	T	The test statistics of the detector
[in]	u	The IMU data vector.

function MAG

(

in

u

)

Function that runs the acceleration magnitude detector.

Parameters:

[out]	T	The test statistics of the detector
[in]	u	The IMU data vector.

function MV

(

in

u

)

Function that runs the acceleration moving variance detector.

Parameters:

[out]	T	The test statistics of the detector
[in]	u	The IMU data vector.

function zero_velocity_detector

(

in

u

)

Wrapper function for running the zero-velocity detection algorithms.

A wrapper function that runs the zero-velocity detection algorithm that was specified in the file setting.m.

Parameters:

[out]	zupt	Vector with the detector decsions. [ true = zero velocity, false = moving]
[out]	T	The test statistics of the detector
[in]	u	The IMU data vector.