classdef?AHRS?
????%%?Public?properties
????properties?（Access?=?public）
????????SamplePeriod?=?1/256;
????????Quaternion?=?[1?0?0?0];?????%?output?quaternion?describing?the?sensor?relative?to?the?Earth
????????Kp?=?2;?????????????????????%?proportional?gain
????????Ki?=?0;?????????????????????%?integral?gain
????????KpInit?=?200;???????????????%?proportional?gain?used?during?initialisation
????????InitPeriod?=?5;?????????????%?initialisation?period?in?seconds
????end

????%%?Private?properties
????properties?（Access?=?private）
????????q?=?[1?0?0?0];??????????????%?internal?quaternion?describing?the?Earth?relative?to?the?sensor
????????IntError?=?[0?0?0]‘;????????%?integral?error
????????KpRamped;???????????????????%?internal?proportional?gain?used?to?ramp?during?initialisation
????end

????%%?Public?methods
????methods?（Access?=?public）
????????function?obj?=?AHRS（varargin）
????????????for?i?=?1:2:nargin
????????????????if??strcmp（varargin{i}?‘SamplePeriod‘）?obj.SamplePeriod?=?varargin{i+1};
????????????????elseif??strcmp（varargin{i}?‘Quaternion‘）
????????????????????obj.Quaternion?=?varargin{i+1};
????????????????????obj.q?=?quaternConj（obj.Quaternion）;
????????????????elseif??strcmp（varargin{i}?‘Kp‘）?obj.Kp?=?varargin{i+1};
????????????????elseif??strcmp（varargin{i}?‘Ki‘）?obj.Ki?=?varargin{i+1};
????????????????elseif??strcmp（varargin{i}?‘KpInit‘）?obj.KpInit?=?varargin{i+1};
????????????????elseif??strcmp（varargin{i}?‘InitPeriod‘）?obj.InitPeriod?=?varargin{i+1};????????????????????
????????????????else?error（‘Invalid?argument‘）;
????????????????end
????????????????obj.KpRamped?=?obj.KpInit;
????????????end;
????????end
????????function?obj?=?Update（obj?Gyroscope?Accelerometer?Magnetometer）
????????????error（‘This?method?is?unimplemented‘）;
????????end
????????function?obj?=?UpdateIMU（obj?Gyroscope?Accelerometer）

????????????%?Normalise?accelerometer?measurement
????????????if（norm（Accelerometer）?==?0）??????????????????????????????????????????	%?handle?NaN
????????????????warning（0?‘Accelerometer?magnitude?is?zero.??Algorithm?update?aborted.‘）;
????????????????return;
????????????else
????????????????Accelerometer?=?Accelerometer?/?norm（Accelerometer）;????????????????%?normalise?measurement
????????????end

????????????%?Compute?error?between?estimated?and?measured?direction?of?gravity
????????????v?=?[2*（obj.q（2）*obj.q（4）?-?obj.q（1）*obj.q（3））
????????????????2*（obj.q（1）*obj.q（2）?+?obj.q（3）*obj.q（4））
????????????????obj.q（1）^2?-?obj.q（2）^2?-?obj.q（3）^2?+?obj.q（4）^2];???????????????	%?estimated?direction?of?gravity
????????????error?=?cross（v?Accelerometer‘）;
????????????
%????????????	%?Compute?ramped?Kp?value?used?during?init?period
%?????????????if（obj.KpRamped?>?obj.Kp）
%?????????????????obj.IntError?=?[0?0?0]‘;
%?????????????????obj.KpRamped?=?obj.KpRamped?-?（obj.KpInit?-?obj.Kp）?/?（obj.InitPeriod?/?obj.SamplePeriod）;
%?????????????else????????????????????????????????????????????????????????????????????%?init?per

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????247129??2015-12-14?21:03??MIMU-ZUPT&約束&PDR\A?note?on?the?lim-i-ta-tions?of?ZUPTs?and?the?impli-ca-tion?on?sen-sor?error?mod-el-ing.pdf

?????文件????1336749??2015-12-12?16:22??MIMU-ZUPT&約束&PDR\A?novel?self-algnment?method?for?SINS?based?on?parameter?recognition?and?dual-velocity?vectors.pdf

?????文件???????5128??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\AHRS.m

?????文件?????391195??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\spiralStairs.BIN

?????文件????1200557??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\spiralStairs_CalInertialAndMag.csv

?????文件?????441717??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\stairsAndCorridor.BIN

?????文件????1363725??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\stairsAndCorridor_CalInertialAndMag.csv

?????文件?????290660??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\straightLine.BIN

?????文件?????905489??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Datasets\straightLine_CalInertialAndMag.csv

?????文件????????202??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\axisAngle2quatern.m

?????文件????????502??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\axisAngle2rotMat.m

?????文件????????508??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\euler2rotMat.m

?????文件????????604??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\quatern2euler.m

?????文件????????527??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\quatern2rotMat.m

?????文件?????????82??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\quaternConj.m

?????文件????????337??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\quaternProd.m

?????文件????????162??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\quaternRotate.m

?????文件????????354??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\rotMat2euler.m

?????文件???????1300??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\rotMat2quatern.m

?????文件???????2168??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\Quaternions\Testscript.m

?????文件???????7337??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\script.m

?????文件???????9270??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\SixDofAnimation.m

?????文件???????3551??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\ADXL345busDatabaseClass.m

?????文件???????2032??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\AnalogueInputDatabaseClass.m

?????文件???????1858??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\BatteryAndThermometerDatabaseClass.m

?????文件????????702??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalADXL345busDataClass.m

?????文件????????704??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalAnalogueInputDataClass.m

?????文件????????777??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalBatteryAndThermometerDataClass.m

?????文件????????819??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalInertialAndMagneticDataClass.m

?????文件????????477??2013-12-10?22:23??MIMU-ZUPT&約束&PDR\Gait?Tracking?With?x-IMU\Gait?Tracking?With?x-IMU\ximu_matlab_library\CommandDataClass.m

............此處省略145個文件信息