function?[Tsigma]?=?allan（omegafspts）
[NM]?=?size（omega）;?????????????%?figure?out?how?big?the?output?data?set?is
n?=?2.^（0:floor（log2（N/2）））‘;????%?determine?largest?bin?size
maxN?=?n（end）;
endLogInc?=?log10（maxN）;
m?=?unique（ceil（logspace（0endLogIncpts）））‘;????%?create?log?spaced?vector?average?factor
t0?=?1/fs;???????????????????????????????????????%?t0?=?sample?interval
T?=?m*t0;????????????????????????????????????????%?T?=?length?of?time?for?each?cluster
theta?=?cumsum（omega）/fs;???????%?integration?of?samples?over?time?to?obtain?output?angle?θ
sigma2?=?zeros（length（T）M）;????%?array?of?dimensions?（cluster?periods）?X?（#variables）
for?i=1:length（m）???????????????%?loop?over?the?various?cluster?sizes
????for?k=1:N-2*m（i）????????????%?implements?the?summation?in?the?AV?equation
????????sigma2（i:）?=?sigma2（i:）?+?（theta（k+2*m（i）:）?-?2*theta（k+m（i）:）?+?theta（k:））.^2;
????end
end
sigma2?=?sigma2./repmat（（2*T.^2.*（N-2*m））1M）;
sigma?=?sqrt（sigma2）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????973??2018-03-07?21:53??AllanVarianceAnalysis-master\allan.m
?????文件????????2109??2018-06-26?04:56??AllanVarianceAnalysis-master\gyro_data.m
?????文件????32926798??2018-04-21?00:11??AllanVarianceAnalysis-master\imu_random_walk.mat
?????文件???132065051??2018-06-25?22:01??AllanVarianceAnalysis-master\imu6050data.txt
?????文件?????????192??2018-04-08?16:15??AllanVarianceAnalysis-master\nihe.m
?????文件??????????40??2018-03-07?21:53??AllanVarianceAnalysis-master\README.md
?????文件?????5004345??2018-04-03?21:12??AllanVarianceAnalysis-master\sim_imu.mat