%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%>
%>?@file?Main.m
%>???????????????????????????????????????????????????????????????????????????
%>?@brief?This?is?the?skeleton?file?for?processing?data?from?a?foot?mounted
%>?IMU.?The?data?is?processed?using?a?Kalman?filter?based?zero-velocity?
%>?aided?inertial?navigation?system?algorithm.
%>?
%>?@details?This?is?the?skeleton?file?for?processing?data?data?from?a?foot
%>?mounted?inertial?measurement?unit?（IMU）.?The?data?is?processed?using?a?
%>?Kalman?filter?based?zero-velocity?aided?inertial?navigation?system.?The
%>?processing?is?done?in?the?following?order.?
%>?
%>?\li?The?IMU?data?and?the?settings?controlling?the?Kalman?filter?is?loaded.
%>?\li?The?zero-velocity?detector?process?all?the?IMU?data.
%>?\li?The?filter?algorithm?is?processed.
%>?\li?The?in?data?and?results?of?the?processing?is?plotted.
%>
%>?@authors?Isaac?Skog?John-Olof?Nilsson
%>?@copyright?Copyright?（c）?2011?OpenShoe?ISC?License?（open?source）
%>
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%?Loads?the?algorithm?settings?and?the?IMU?data
disp（‘Loads?the?algorithm?settings?and?the?IMU?data‘）
u=settings（）;


%%?Run?the?zero-velocity?detector?
disp（‘Runs?the?zero?velocity?detector‘）
[zupt?T]=zero_velocity_detector（u）;


%%?Run?the?Kalman?filter
disp（‘Runs?the?filter‘）
[x_h?cov]=ZUPTaidedINS（uzupt）;

%%?Print?the?horizontal?error?and?spherical?error?at?the?end?of?the
%%?trajectory
sprintf（‘Horizontal?error?=?%0.5g??Spherical?error?=?%0.5g‘sqrt（sum（（x_h（1:2end））.^2））?sqrt（sum（（x_h（1:3end））.^2）））


%%?View?the?result?
disp（‘Views?the?data‘）
view_data;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-04-08?18:19??步態導航\
?????文件????????1660??2011-12-15?11:39??步態導航\main.m
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_2\
?????文件?????3842541??2011-12-15?11:39??步態導航\Measurement_100521_2\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_3\
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_30\
?????文件?????3780063??2011-12-15?11:39??步態導航\Measurement_100521_30\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_31\
?????文件?????3928073??2011-12-15?11:39??步態導航\Measurement_100521_31\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_32\
?????文件?????3813384??2011-12-15?11:39??步態導航\Measurement_100521_32\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_33\
?????文件?????3891208??2011-12-15?11:39??步態導航\Measurement_100521_33\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_34\
?????文件?????3870728??2011-12-15?11:39??步態導航\Measurement_100521_34\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_35\
?????文件?????3775149??2011-12-15?11:39??步態導航\Measurement_100521_35\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_36\
?????文件?????3919294??2011-12-15?11:39??步態導航\Measurement_100521_36\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_37\
?????文件?????3863835??2011-12-15?11:39??步態導航\Measurement_100521_37\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_38\
?????文件?????3874824??2011-12-15?11:39??步態導航\Measurement_100521_38\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_39\
?????文件?????3776520??2011-12-15?11:39??步態導航\Measurement_100521_39\data_inert.txt
?????文件?????3746601??2011-12-15?11:39??步態導航\Measurement_100521_3\data_inert.txt
?????目錄???????????0??2011-12-15?11:39??步態導航\Measurement_100521_44\
?????文件?????2864185??2011-12-15?11:39??步態導航\Measurement_100521_44\data_inert.txt
?????文件????????4281??2011-12-15?11:39??步態導航\readme.m
?????文件????????7418??2015-04-08?18:17??步態導航\settings.m
?????文件????????4411??2011-12-15?11:39??步態導航\view_data.m
............此處省略2個文件信息