%This?function?takes?the?IMU?data?as?the?input?and?returns?the?plot?of?xyzthetaphipsiuvw.
%The?data?is?a?7?coloumn?matrix?with?each?row?representing?a?reading?of?the
%IMU.
%the?coloumn?should?contain?the?data?in?the?following?format:
%col???data
%1?????time
%2?????Ax
%3?????Ay
%4?????Az
%5?????p（angular?rate?along?x）
%6?????q（angular?rate?along?y）
%7?????r（angular?rate?along?z）
%?Initial?is?a?3x3?matrix?containing?initial?position?and?attitude
%?[phi?theta?psi
%??u?v?w
%??x?y?z]

function?output=find_position（datainitial）
current=initial;
g=9.8;
change=[];
output=[];
format?long
for?i=1:size（data1）-1
????change（11）=data（i5）+tan（current（12））*（data（i6）*sin（current（11））+data（i7）*cos（current（11）））;
????change（12）=data（i6）*cos（current（11））-data（i7）*

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-08-27?19:12??IMU\
?????目錄???????????0??2014-08-27?19:12??IMU\IMU_calculator\
?????文件??????239271??2012-06-14?01:44??IMU\IMU_calculator\example.txt
?????文件????????2078??2014-02-25?07:18??IMU\IMU_calculator\find_position.m
?????文件????????1026??2012-06-14?02:03??IMU\IMU_calculator\plot_trajectory.m
?????文件??????141460??2012-06-14?02:12??IMU\IMU_calculator\sample?inputs.mat
?????文件??????243038??2014-08-21?20:39??IMU\IMU_calculator.zip
?????目錄???????????0??2014-08-22?11:10??IMU\__MACOSX\
?????目錄???????????0??2014-08-22?11:10??IMU\__MACOSX\IMU_calculator\
?????文件?????????173??2012-06-14?01:44??IMU\__MACOSX\IMU_calculator\._example.txt
?????文件?????????229??2009-11-05?03:06??IMU\__MACOSX\IMU_calculator\._find_position.asv
?????文件??????????82??2012-06-14?02:04??IMU\__MACOSX\IMU_calculator\._find_position.m
?????文件?????????229??2009-10-24?14:42??IMU\__MACOSX\IMU_calculator\._plot_trajectory.asv
?????文件?????????229??2012-06-14?02:03??IMU\__MACOSX\IMU_calculator\._plot_trajectory.m
?????文件??????????82??2012-06-14?02:12??IMU\__MACOSX\IMU_calculator\._sample?inputs.mat
?????文件????????1316??2014-02-24?18:26??IMU\license.txt
?????目錄???????????0??2014-08-27?19:12??IMU\my_imu\
?????文件????????1103??2014-08-28?18:37??IMU\my_imu\plot_trajectory.m
?????文件?????????803??2014-08-27?16:27??IMU\my_imu\position.m