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%%%??用加速度判斷積分起始結束時間
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%?MTI數據格式——第1列：PacketCounter；第2列：SampleTimeFine；第3列：Acc_X；
%???????????????第4列：Acc_Y；第5列：Acc_Z；第6列：Gyr_X；第7列：Gyr_Y；第8列：Gyr_Z
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%??此方法摘自論文《A?Comparison?of?Pedestrian?Dead-Reckoning》
%??利用加速度獲得積分時間
clear;
clc;
T=1.5;??????%閾值
g=9.8;??????%重力加速度
w=15;???????%滑窗采樣點

A=importdata（‘MTIoutput.txt‘）;
%?W=sqrt（A（:6）.^2+A（:7）.^2+A（:8）.^2）;
a=sqrt（A（:3）.^2+A（:4）.^2+（A（:5））.^2）-g;
N=max（size（a））;
%?B=zeros（N1）;
Acc=zeros（N1）;

if?N>w??????????????????????%總的采樣點數要大于滑窗長度
????rou（1:w）=a（1:w）;????????%第w個滑窗前的點仍等于原始值
????for?i=w+1:N-w???????????%第w+1到N-w點之間進行?滑窗處理
????????rou1=0;?????????????%下一個循環，rou1清0
??

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????1641??2014-02-26?10:02??Get_A_G.m
?????文件????????1740??2014-02-26?10:02??Get_AttMatrix.m
?????文件????????1263??2014-02-26?10:02??Get_q.m
?????文件????????2046??2014-02-26?10:02??IntegralTime.m
?????文件??????524416??2014-02-26?10:02??MTIoutput.txt
?????文件????????2134??2014-02-26?10:02??ZUPT3.m
?????文件????????2726??2014-02-26?10:02??AngleVelocity.m