function?[axayaz]?=?accelerometer（）
%UNtitleD?此處顯示有關(guān)此函數(shù)的摘要
%???此處顯示詳細(xì)說明
%?加速度計(jì)矯正
time=[];
x=[];
y=[];
z=[];
others=[];
for?i=1:18
filename?=?[‘.\加速度計(jì)矯正\‘?num2str（i）?‘a(chǎn).txt‘];
[timex1y1z1others]=textread（filename‘%n%n%n%n%n‘‘delimiter‘‘‘）;
x1=x1‘;
y1=y1‘;
z1=z1‘;
x=[xx1];
y=[yy1];
z=[zz1];

end
%空間二次曲面擬合算法
num_points?=?length（x）;
%一次項(xiàng)統(tǒng)計(jì)平均
x_avr?=?sum（x）/num_points;
y_avr?=?sum（y）/num_points;
z_avr?=?sum（z）/num_points;
%二次項(xiàng)統(tǒng)計(jì)平均
xx_avr?=?sum（x.*x）/num_points;
yy_avr?=?sum（y.*y）/num_points;
zz_avr?=?sum（z.*z）/num_points;
xy_avr?=?sum（x.*y）/num_points;
xz_avr?=?sum（x.*z）/num_points;
yz_avr?=?sum（y.*z）/num_points;
%三次項(xiàng)統(tǒng)計(jì)平均
xxx_avr?=?sum（x.*x.*x）/num_points;
xxy_avr?=?sum（x.*x.*y）/num_points;
xxz_avr?=?sum（x.*x.*z）/num_points;
xyy_avr?=?sum（x.*y.*y）/num_points;
xzz_avr?=?sum（x.*z.*z）/num_points;
yyy_avr?=?sum（y.*y.*y）/num_points;
yyz_avr?=?sum（y.*y.*z）/num_points;
yzz_avr?=?sum（y.*z.*z）/num_points;
zzz_avr?=?sum（z.*z.*z）/num_points;
%四次項(xiàng)統(tǒng)計(jì)平均
yyyy_avr?=?sum（y.*y.*y.*y）/num_points;
zzzz_avr?=?sum（z.*z.*z.*z）/num_points;
xxyy_avr?=?sum（x.*x.*y.*y）/num_points;
xxzz_avr?=?sum（x.*x.*z.*z）/num_points;
yyzz_avr?=?sum（y.*y.*z.*z）/num_points;


%計(jì)算求解線性方程的系數(shù)矩陣
A0?=?[yyyy_avr?yyzz_avr?xyy_avr?yyy_avr?yyz_avr?yy_avr;
?????yyzz_avr?zzzz_avr?xzz_avr?yzz_avr?zzz_avr?zz_avr;
?????xyy_avr??xzz_avr??xx_avr??xy_avr??xz_avr??x_avr;
?????yyy_avr??yzz_avr??xy_avr??yy_avr??yz_avr??y_avr;
?????yyz_avr??zzz_avr??xz_avr??yz_avr??zz_avr??z_avr;
?????yy_avr???zz_avr???x_avr???y_avr???z_avr???1;];
%計(jì)算非齊次項(xiàng)
b?=?[-xxyy_avr;
?????-xxzz_avr;
?????-xxx_avr;
?????-xxy_avr;
?????-xxz_avr;
?????-xx_avr];

resoult?=?inv（A0）*b;
%resoult?=?solution_equations_n_yuan（A0b）;

x00?=?-resoult（3）/2???;??????????????%擬合出的x坐標(biāo)
y00?=?-resoult（4）/（2*resoult（1））??;??%擬合出的y坐標(biāo)
z00?=?-resoult（5）/（2*resoult（2））??;??%擬合出的z坐標(biāo)

AA?=?sqrt（x00*x00?+?resoult（1）*y00*y00?+?resoult（2）*z00*z00?-?resoult（6））;??%?擬合出的x方向上的軸半徑
BB?=?AA/sqrt（resoult（1））???;???????????????????????????????????????????????%?擬合出的y方向上的軸半徑
CC?=?AA/sqrt（resoult（2））??;????????????????????????????????????????????????%?擬合出的z方向上的軸半徑

%?讀入待矯正數(shù)據(jù)
filename?=??‘ACCELEROMETER_tag_walk_flat.txt‘;
[time1x2y2z2others1]=textread（filename‘%n%n%n%n%n‘‘delimiter‘‘‘）;
aaa=sqrt（AA*AA+BB*BB+CC*CC）;
ax?=?x2-x00;
ay?=?y2-y00;
az?=?z2-z00;
ax?=?ax/AA*aaa;
ay?=?ay/BB*aaa;
az?=?az/CC*aaa;
ax?=?smooth（ax8）;
ay?=?smooth（ay8）;
az?=?smooth（az8）;
end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-06-10?18:09??整合代碼\
?????目錄???????????0??2020-06-10?18:09??整合代碼\matlab\
?????文件???????93068??2020-05-08?19:28??整合代碼\matlab\ACCELEROMETER_tag_walk_flat.txt
?????文件????????3790??2020-04-30?18:47??整合代碼\matlab\AHRSupdate.m
?????文件???????97980??2020-05-08?19:28??整合代碼\matlab\GYROSCOPE_tag_walk_flat.txt
?????文件???????81007??2020-05-08?19:28??整合代碼\matlab\MAGNETICFIELD_tag_walk_flat.txt
?????文件???????80725??2020-05-08?19:28??整合代碼\matlab\ORIENTATION_tag_walk_flat.txt
?????文件????????2625??2020-04-15?17:45??整合代碼\matlab\accelerometer.m
?????文件????????1117??2020-04-16?22:28??整合代碼\matlab\correct.m
?????文件?????????602??2020-04-16?22:07??整合代碼\matlab\gyroscope.m
?????文件????????2435??2020-04-15?14:56??整合代碼\matlab\magneticfield.m
?????文件????????2706??2020-05-09?13:38??整合代碼\matlab\main_madgwick.m
?????目錄???????????0??2020-06-10?18:09??整合代碼\matlab\test\
?????目錄???????????0??2020-06-10?18:09??整合代碼\matlab\test\1.加速度計(jì)\
?????文件??????576384??2020-04-24?16:32??整合代碼\matlab\test\1.加速度計(jì)\水平靜止.txt
?????文件??????159127??2020-04-24?17:25??整合代碼\matlab\test\1.加速度計(jì)\運(yùn)動(dòng)狀態(tài).txt
?????文件???????72305??2020-05-10?15:02??整合代碼\matlab\test\1.加速度計(jì)\運(yùn)動(dòng)狀態(tài)2.txt
?????目錄???????????0??2020-06-10?18:09??整合代碼\matlab\test\2.陀螺儀\
?????文件??????639393??2020-04-24?16:32??整合代碼\matlab\test\2.陀螺儀\水平靜止.txt
?????文件???????97422??2020-04-25?15:15??整合代碼\matlab\test\2.陀螺儀\運(yùn)動(dòng)狀態(tài).txt
?????文件???????78668??2020-05-10?15:02??整合代碼\matlab\test\2.陀螺儀\運(yùn)動(dòng)狀態(tài)2.txt
?????目錄???????????0??2020-06-10?18:09??整合代碼\matlab\test\3.磁力計(jì)\
?????文件??????498527??2020-04-24?16:32??整合代碼\matlab\test\3.磁力計(jì)\水平靜止.txt
?????文件??????291026??2020-04-29?19:57??整合代碼\matlab\test\3.磁力計(jì)\磁力計(jì)矯正.txt
?????文件???????62277??2020-05-10?16:44??整合代碼\matlab\test\3.磁力計(jì)\運(yùn)動(dòng).txt
?????文件????????3350??2020-05-05?13:59??整合代碼\matlab\test\correct_tuoqiu.m
?????文件?????????966??2020-05-12?13:45??整合代碼\matlab\test\test_acce.m
?????文件???????35734??2020-04-25?12:30??整合代碼\matlab\test\加噪橢球.jpg
?????文件???????12752??2020-05-05?14:05??整合代碼\matlab\test\加速度計(jì)校正前.jpg
?????文件???????45742??2020-05-05?14:04??整合代碼\matlab\test\加速度計(jì)橢球矯正.txt
?????文件????????2462??2020-05-04?15:36??整合代碼\matlab\test\加速度計(jì)橢球矯正1.txt
............此處省略503個(gè)文件信息