Functions for implementing different zero-velocity detection algorithms.
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Functions |
function | zero_velocity_detector (in u) |
| Wrapper function for running the zero-velocity detection algorithms.
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function | GLRT (in u) |
| Function that runs the generalized likelihood test (SHOE detector).
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function | MV (in u) |
| Function that runs the acceleration moving variance detector.
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function | MAG (in u) |
| Function that runs the acceleration magnitude detector.
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function | ARE (in u) |
| Function that runs the angular rate energy detector.
|
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
- Authors:
- Isaac Skog, John-Olof Nilsson
- Copyright:
- Copyright (c) 2011 OpenShoe, ISC License (open source)
Function Documentation
Function that runs the angular rate energy detector.
- Parameters:
-
[out] | T | The test statistics of the detector |
[in] | u | The IMU data vector. |
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 that runs the acceleration magnitude detector.
- Parameters:
-
[out] | T | The test statistics of the detector |
[in] | u | The IMU data vector. |
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. |