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48 lines
1.4 KiB
Matlab
48 lines
1.4 KiB
Matlab
function analyzeEKF(fn)
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fid = fopen(fn);
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dat = uint8(fread(fid,inf,'uchar'));
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fclose(fid);
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mag_data_size = 1 + 4*3;
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accel_sensor_size = 4*3;
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gyro_sensor_size = 4*3;
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raw_framing = 15:-1:0;
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starts = strfind(char(dat'),char(raw_framing));
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starts(end) = [];
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counts = typecast(reshape(dat(bsxfun(@plus,starts,(16:19)')),1,[]),'int32');
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accel = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(20:31)')),1,[]),'single'),3,[])';
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gyro = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(32:43)')),1,[]),'single'),3,[])';
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mag_updated = dat(starts+44);
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mag = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(45:56)')),1,[]),'single'),3,[])';
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%gps = 28 bytes 57:84
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X = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(85:85+13*4-1)')),1,[]),'single'),13,[])';
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P = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(137:137+13*4-1)')),1,[]),'single'),13,[])';
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insgps_ml('INSGPSInit');
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insgps_ml('INSSetMagNorth',[24000 1700 43000]);
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insgps_ml('INSSetMagVar',[50 50 50]/1000/1000);
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insgps_ml('INSSetAccelVar',1.5e-4 * ones(1,3));
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insgps_ml('INSSetGyroVar',2e-5*ones(1,3));
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for i = 1:size(accel,1)
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[a(:,i) b K] = insgps_ml('INSStatePrediction',gyro(i,:),accel(i,:), 0.01);
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if(mag_updated(i))
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[c(:,i) d] = insgps_ml('INSMagVelBaroCorrection',mag(i,:),[0 0 0], 0);
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else
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[c(:,i) d] = insgps_ml('INSVelBaroCorrection',[0 0 0], 0);
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end
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if(mod(i,10) == 0)
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subplot(211);
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imagesc(b < 0); %//,[-10 0])
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subplot(212);
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imagesc(a)
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drawnow
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end
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end
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imagesc(a)
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keyboard
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