classdef?AHRS?
????%%?Public?properties
????properties?（Access?=?public）
????????SamplePeriod?=?1/256;
????????Quaternion?=?[1?0?0?0];?????%?output?quaternion?describing?the?sensor?relative?to?the?Earth?輸出描述傳感器相對(duì)于地球的四元數(shù)
????????Kp?=?2;?????????????????????%?proportional?gain?比例增益
????????Ki?=?0;?????????????????????%?integral?gain?積分增益
????????KpInit?=?200;???????????????%?proportional?gain?used?during?initialisation?初始化期間使用的比例增益
????????InitPeriod?=?5;?????????????%?initialisation?period?in?seconds?初始化時(shí)間（秒）
????end

????%%?Private?properties%特性
????properties?（Access?=?private）
????????q?=?[1?0?0?0];??????????????%?internal?quaternion?describing?the?Earth?relative?to?the?sensor?描述地球相對(duì)于傳感器的內(nèi)部四元數(shù)
????????IntError?=?[0?0?0]‘;????????%?integral?error?積分誤差
????????KpRamped;???????????????????%?internal?proportional?gain?used?to?ramp?during?initialisation?初始化期間用于斜坡的內(nèi)部比例增益
????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};%字符串比較函數(shù)
????????????????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?估計(jì)和測(cè)量重力方向之間的計(jì)算誤差
????????????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估計(jì)重力方向
????????????error?=?cross（v?Accelerometer‘）;??%C?=?cross（AB）返回向量叉積A和B即C?=?A?x?B
????????????
%????????????	%?Compute?ramped?Kp?value?used?during?init?period?計(jì)算在初始化期間使用的Kp值
%?????????????if（obj.KpRamped?>?obj.Kp）
%??????

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

????.......??????2039??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\.gitignore

?????文件???????5731??2018-03-15?09:59??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\AHRS.m

????.......????391195??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\spiralStairs.BIN

????.......???1200557??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\spiralStairs_CalInertialAndMag.csv

????.......????441717??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\stairsAndCorridor.BIN

????.......???1363725??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\stairsAndCorridor_CalInertialAndMag.csv

????.......????290660??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\straightLine.BIN

????.......????905489??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Datasets\straightLine_CalInertialAndMag.csv

????.......???????202??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\axisAngle2quatern.m

????.......???????502??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\axisAngle2rotMat.m

????.......???????508??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\euler2rotMat.m

????.......???????604??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\quatern2euler.m

????.......???????527??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\quatern2rotMat.m

?????文件????????117??2017-09-07?11:17??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\quaternConj.m

????.......???????337??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\quaternProd.m

????.......???????162??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\quaternRotate.m

????.......???????354??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\rotMat2euler.m

?????文件???????1365??2017-09-07?19:03??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\rotMat2quatern.m

????.......??????2168??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\Quaternions\Testscript.m

?????文件???????8367??2018-03-20?08:19??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\script.m

????.......??????9275??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\SixDofAnimation.m

????.......??????3551??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\ADXL345busDatabaseClass.m

????.......??????2032??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\AnalogueInputDatabaseClass.m

????.......??????1858??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\BatteryAndThermometerDatabaseClass.m

????.......???????702??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalADXL345busDataClass.m

????.......???????704??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalAnalogueInputDataClass.m

????.......???????777??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalBatteryAndThermometerDataClass.m

????.......???????819??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\CalInertialAndMagneticDataClass.m

????.......???????477??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\CommandDataClass.m

????.......??????1504??2017-08-03?21:31??Gait-Tracking-With-x-IMU-master\Gait?Tracking?With?x-IMU\ximu_matlab_library\DatabaseClass.m

............此處省略29個(gè)文件信息