clc;
clear;
close?all;
addpath（‘My_Matlab_Library‘）;
%重力產(chǎn)生的加速度矢量
g=9.79;
G=[00-g]‘;

%****************************讀入數(shù)據(jù)
%**********讀入陀螺儀的數(shù)據(jù)
%??gyro_x?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘L2:L1098‘）;
%??gyro_y?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘M2:M1098‘）;
%??gyro_z?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘N2:N1098‘）;

%****************讀入線性加速度計(jì)的數(shù)據(jù)****************
%測(cè)試數(shù)據(jù)
%?FreeAcc_x?=?xlsread（‘zero_test.xlsx‘‘F2:F100‘）;??????%??0?0?0?0?
%?FreeAcc_y?=?xlsread（‘zero_test.xlsx‘‘G2:G100‘）;??????%??1?2?3?4?5
%?FreeAcc_z?=?xlsread（‘zero_test.xlsx‘‘H2:H100‘）;??????%??0?0?0?0?0
%?%********************************

%?FreeAcc_x?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘F2:F1098‘）;?????%mti3靜止10S數(shù)據(jù)
%?FreeAcc_y?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘G2:G1098‘）;
%?FreeAcc_z?=?xlsread（‘mti3_jingzhi10s.xlsx‘‘H2:H1098‘）;
FreeAcc_x?=?xlsread（‘mti_yunsu100m.xlsx‘‘F2:F10975‘）;?????
FreeAcc_y?=?xlsread（‘mti_yunsu100m.xlsx‘‘G2:G10975‘）;
FreeAcc_z?=?xlsread（‘mti_yunsu100m.xlsx‘‘H2:H10975‘）;

%?FreeAcc_x?=?xlsread（‘mti3_jingzhi10min.xlsx‘‘F2:F59344‘）;??%mti3靜止10min數(shù)據(jù)
%?FreeAcc_y?=?xlsread（‘mti3_jingzhi10min.xlsx‘‘G2:G59344‘）;
%?FreeAcc_z?=?xlsread（‘mti3_jingzhi10min.xlsx‘‘H2:H59344‘）;


%?FreeAcc_x?=?xlsread（‘mti3_jiasujiansu.xlsx‘‘F2:F3072‘）;??%mti3加速減速數(shù)據(jù)
%?FreeAcc_y?=?xlsread（‘mti3_jiasujiansu.xlsx‘‘G2:G3072‘）;
%?FreeAcc_z?=?xlsread（‘mti3_jiasujiansu.xlsx‘‘H2:H3072‘）;

%?FreeAcc_x?=?xlsread（‘lpms_jingzhi10min.xlsx‘‘T2:T32185‘）;?????%lpms靜止10min數(shù)據(jù)
%?FreeAcc_y?=?xlsread（‘lpms_jingzhi10min.xlsx‘‘U2:U32185‘）;
%?FreeAcc_z?=?xlsread（‘lpms_jingzhi10min.xlsx‘‘V2:V32185‘）;
%?FreeAcc_x?=?FreeAcc_x*g;?????%?lpms加速度單位是g?需要先統(tǒng)一單位
%?FreeAcc_y?=?FreeAcc_y*g;
%?FreeAcc_z?=?FreeAcc_z*g;????

%*******************放進(jìn)同一個(gè)矩陣，三行***********************************
FreeAcc=[FreeAcc_x‘;FreeAcc_y‘;FreeAcc_z‘];??%????FreeAcc??A代表原始數(shù)據(jù)
%*******************去均值***********************************
%?Free_aver_acc_x=mean（FreeAcc_x）;
%?Free_aver_acc_y=mean（FreeAcc_y）;
%?Free_aver_acc_z=mean（FreeAcc_z）;
%?Freeacc（1:）=FreeAcc（1:）-Free_aver_acc_x;???%???Freeacc??a代表去均值數(shù)據(jù)
%?Freeacc（2:）=FreeAcc（2:）-Free_aver_acc_y;
%?Freeacc（3:）=FreeAcc（3:）-Free_aver_acc_z;?

Freeacc（1:）=FreeAcc（1:）;???%???算法中包含去均值，所以這里不需要去均值
Freeacc（2:）=FreeAcc（2:）;
Freeacc（3:）=FreeAcc（3:）;?

%采樣時(shí)間
dtime=0.01;
tm=0:dtime:0.01*?（size（FreeAcc2）-1）;

%*************************原始線性加速度采樣曲線*****************************
figure
subplot（211）;
plot（tmFreeAcc_x‘r-‘tmFreeAcc_y‘g-‘tmFreeAcc_z‘b-.‘）;
title（‘原始線性加速度采樣曲線‘）;
legend（‘FreeACC_X‘‘FreeACC_Y‘‘FreeACC_Z‘）;
xlabel（‘Time?/?（1s）‘）;
ylabel（‘Free_ACC/?（m/s‘‘）‘）;
grid?on;

%*************************去均值后線性加速度計(jì)的采樣曲線*********************
subplot（212）;
plot（tmFreeacc（1:）‘r-‘tmFreeacc（2:）‘g-‘tmFreeacc（3:）‘b-.‘）;
title（‘去均值后線性加速度計(jì)的采樣曲線‘）;
legend（‘Freeacc_x‘‘Freeacc_y‘‘Freeacc_z‘）;
xlabel（‘Time?/?（1s）‘）;
ylabel（‘Freeacc/?（m/s‘‘）‘）;
grid?on;

%?由加速度信號(hào)積分算速度位移
%*************************時(shí)域計(jì)算*************

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????5105??2018-04-15?00:21??111\disint_velint.m

?????文件????????886??2018-04-16?10:15??111\My_Matlab_Library\IntFcn.m

?????文件????????810??2018-04-16?10:16??111\My_Matlab_Library\IntFcn2.m

?????文件????????221??2018-04-16?10:16??111\My_Matlab_Library\IntFcn_Time.m

?????文件????????214??2018-04-16?10:16??111\My_Matlab_Library\IntFcn_Time2.m

?????文件???????3131??2018-04-10?16:18??111\My_Matlab_Library\iomega.m

?????目錄??????????0??2018-04-16?10:52??111\My_Matlab_Library

?????目錄??????????0??2018-04-16?10:53??111

-----------?---------??----------?-----??----

????????????????10367????????????????????8