├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── _config.yml ├── data ├── 16448_imu_param.yaml ├── A3_imu_param.yaml ├── BMI160_imu_param.yaml ├── N3_imu_param.yaml ├── data_16448_acc_t.txt ├── data_16448_acc_x.txt ├── data_16448_acc_y.txt ├── data_16448_acc_z.txt ├── data_16448_gyr_t.txt ├── data_16448_gyr_x.txt ├── data_16448_gyr_y.txt ├── data_16448_gyr_z.txt ├── data_16448_sim_acc_t.txt ├── data_16448_sim_acc_x.txt ├── data_16448_sim_acc_y.txt ├── data_16448_sim_acc_z.txt ├── data_16448_sim_gyr_t.txt ├── data_16448_sim_gyr_x.txt ├── data_16448_sim_gyr_y.txt ├── data_16448_sim_gyr_z.txt ├── data_A3_acc_t.txt ├── data_A3_acc_x.txt ├── data_A3_acc_y.txt ├── data_A3_acc_z.txt ├── data_A3_gyr_t.txt ├── data_A3_gyr_x.txt ├── data_A3_gyr_y.txt ├── data_A3_gyr_z.txt ├── data_A3_sim_acc_t.txt ├── data_A3_sim_acc_x.txt ├── data_A3_sim_acc_y.txt ├── data_A3_sim_acc_z.txt ├── data_A3_sim_gyr_t.txt ├── data_A3_sim_gyr_x.txt ├── data_A3_sim_gyr_y.txt ├── data_A3_sim_gyr_z.txt ├── data_BMI160_acc_t.txt ├── data_BMI160_acc_x.txt ├── data_BMI160_acc_y.txt ├── data_BMI160_acc_z.txt ├── data_BMI160_gyr_t.txt ├── data_BMI160_gyr_x.txt ├── data_BMI160_gyr_y.txt ├── data_BMI160_gyr_z.txt ├── data_BMI160_sim_acc_t.txt ├── data_BMI160_sim_acc_x.txt ├── data_BMI160_sim_acc_y.txt ├── data_BMI160_sim_acc_z.txt ├── data_BMI160_sim_gyr_t.txt ├── data_BMI160_sim_gyr_x.txt ├── data_BMI160_sim_gyr_y.txt ├── data_BMI160_sim_gyr_z.txt ├── data_N3_acc_t.txt ├── data_N3_acc_x.txt ├── data_N3_acc_y.txt ├── data_N3_acc_z.txt ├── data_N3_gyr_t.txt ├── data_N3_gyr_x.txt ├── data_N3_gyr_y.txt ├── data_N3_gyr_z.txt ├── data_N3_sim_acc_t.txt ├── data_N3_sim_acc_x.txt ├── data_N3_sim_acc_y.txt ├── data_N3_sim_acc_z.txt ├── data_N3_sim_gyr_t.txt ├── data_N3_sim_gyr_x.txt ├── data_N3_sim_gyr_y.txt ├── data_N3_sim_gyr_z.txt ├── data_gx4_acc_t.txt ├── data_gx4_acc_x.txt ├── data_gx4_acc_y.txt ├── data_gx4_acc_z.txt ├── data_gx4_gyr_t.txt ├── data_gx4_gyr_x.txt ├── data_gx4_gyr_y.txt ├── data_gx4_gyr_z.txt ├── data_gx4_sim_acc_t.txt ├── data_gx4_sim_acc_x.txt ├── data_gx4_sim_acc_y.txt ├── data_gx4_sim_acc_z.txt ├── data_gx4_sim_gyr_t.txt ├── data_gx4_sim_gyr_x.txt ├── data_gx4_sim_gyr_y.txt ├── data_gx4_sim_gyr_z.txt ├── data_xsens_acc_t.txt ├── data_xsens_acc_x.txt ├── data_xsens_acc_y.txt ├── data_xsens_acc_z.txt ├── data_xsens_gyr_t.txt ├── data_xsens_gyr_x.txt ├── data_xsens_gyr_y.txt ├── data_xsens_gyr_z.txt ├── data_xsens_sim_acc_t.txt ├── data_xsens_sim_acc_x.txt ├── data_xsens_sim_acc_y.txt ├── data_xsens_sim_acc_z.txt ├── data_xsens_sim_gyr_t.txt ├── data_xsens_sim_gyr_x.txt ├── data_xsens_sim_gyr_y.txt ├── data_xsens_sim_gyr_z.txt ├── gx4_imu_param.yaml └── xsens_imu_param.yaml ├── figure ├── acc.jpg └── gyr.jpg ├── launch ├── 16448.launch ├── A3.launch ├── gx4.launch ├── n3.launch ├── tum.launch └── xsens.launch ├── package.xml ├── scripts ├── all_of_draw_allan.m ├── all_of_draw_allan_acc.m ├── allan_with_degree.m ├── avg_of_all_sensors.m ├── avg_of_all_sensors_acc.m ├── draw_allan.m └── ideal_allan.m └── src ├── acc_lib ├── allan_acc.cpp ├── allan_acc.h ├── fitallan_acc.cpp └── fitallan_acc.h ├── gyr_lib ├── allan_gyr.cpp ├── allan_gyr.h ├── fitallan_gyr.cpp └── fitallan_gyr.h ├── imu_an.cpp ├── type.h └── utils.h /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(imu_utils) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | set(CMAKE_BUILD_TYPE "Release") 6 | set(CMAKE_CXX_FLAGS "-std=c++11") 7 | #-DEIGEN_USE_MKL_ALL") 8 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC") 9 | 10 | ## Find catkin macros and libraries 11 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 12 | ## is used, also find other catkin packages 13 | find_package(catkin REQUIRED 14 | roscpp 15 | std_msgs 16 | geometry_msgs 17 | nav_msgs 18 | code_utils 19 | ) 20 | 21 | ## System dependencies are found with CMake's conventions 22 | # find_package(Boost REQUIRED COMPONENTS system) 23 | find_package(OpenCV REQUIRED) 24 | find_package(Ceres REQUIRED) 25 | find_package(Eigen3 REQUIRED) 26 | include_directories( 27 | ${catkin_INCLUDE_DIRS} 28 | ${CERES_INCLUDE_DIRS} 29 | ${EIGEN3_INCLUDE_DIR} 30 | ) 31 | 32 | catkin_package() 33 | 34 | set(ACC_LIB_SOURCE_FILES 35 | ${PROJECT_SOURCE_DIR}/src/acc_lib/allan_acc.cpp 36 | ${PROJECT_SOURCE_DIR}/src/acc_lib/fitallan_acc.cpp 37 | ) 38 | set(GYR_LIB_SOURCE_FILES 39 | ${PROJECT_SOURCE_DIR}/src/gyr_lib/allan_gyr.cpp 40 | ${PROJECT_SOURCE_DIR}/src/gyr_lib/fitallan_gyr.cpp 41 | ) 42 | 43 | add_executable(imu_an 44 | src/imu_an.cpp 45 | ${GYR_LIB_SOURCE_FILES} 46 | ${ACC_LIB_SOURCE_FILES} 47 | ) 48 | 49 | target_link_libraries(imu_an ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) 50 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 gaowenliang 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # imu_utils 2 | 3 | A ROS package tool to analyze the IMU performance. C++ version of Allan Variance Tool. 4 | The figures are drawn by Matlab, in `scripts`. 5 | 6 | Actually, just analyze the Allan Variance for the IMU data. Collect the data while the IMU is Stationary, with a two hours duration. 7 | 8 | ## refrence 9 | 10 | Refrence technical report: [`Allan Variance: Noise Analysis for Gyroscopes`](http://cache.freescale.com/files/sensors/doc/app_note/AN5087.pdf "Allan Variance: Noise Analysis for Gyroscopes"), [`vectornav gyroscope`](https://www.vectornav.com/support/library/gyroscope "vectornav gyroscope") and 11 | [`An introduction to inertial navigation`](http://www.cl.cam.ac.uk/techreports/UCAM-CL-TR-696.html "An introduction to inertial navigation"). 12 | 13 | ``` 14 | Woodman, O.J., 2007. An introduction to inertial navigation (No. UCAM-CL-TR-696). University of Cambridge, Computer Laboratory. 15 | ``` 16 | Refrence Matlab code: [`GyroAllan`](https://github.com/XinLiGitHub/GyroAllan "GyroAllan") 17 | 18 | ## IMU Noise Values 19 | 20 | Parameter | YAML element | Symbol | Units 21 | --- | --- | --- | --- 22 | Gyroscope "white noise" | `gyr_n` | | 23 | Accelerometer "white noise" | `acc_n` | | 24 | Gyroscope "bias Instability" | `gyr_w` | | 25 | Accelerometer "bias Instability" | `acc_w` | | 26 | 27 | * White noise is at tau=1; 28 | 29 | * Bias Instability is around the minimum; 30 | 31 | (according to technical report: [`Allan Variance: Noise Analysis for Gyroscopes`](http://cache.freescale.com/files/sensors/doc/app_note/AN5087.pdf "Allan Variance: Noise Analysis for Gyroscopes")) 32 | 33 | ## sample test 34 | 35 | 36 | 37 | 38 | * blue : Vi-Sensor, ADIS16448, `200Hz` 39 | * red : 3dm-Gx4, `500Hz` 40 | * green : DJI-A3, `400Hz` 41 | * black : DJI-N3, `400Hz` 42 | * circle : xsens-MTI-100, `100Hz` 43 | 44 | ## How to build and run? 45 | 46 | ### to build 47 | 48 | ``` 49 | sudo apt-get install libdw-dev 50 | ``` 51 | 52 | * download required [`code_utils`](https://github.com/gaowenliang/code_utils "code_utils"); 53 | 54 | * put the ROS package `imu_utils` and `code_utils` into your workspace, usually named `catkin_ws`; 55 | 56 | * cd to your workspace, build with `catkin_make`; 57 | 58 | 59 | ### to run 60 | 61 | * collect the data while the IMU is Stationary, with a two hours duration; 62 | 63 | * (or) play rosbag dataset; 64 | 65 | ``` 66 | rosbag play -r 200 imu_A3.bag 67 | ``` 68 | 69 | * roslaunch the rosnode; 70 | 71 | ``` 72 | roslaunch imu_utils A3.launch 73 | ``` 74 | 75 | Be careful of your roslaunch file: 76 | 77 | ``` 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | ``` 88 | 89 | ### sample output: 90 | 91 | ``` 92 | type: IMU 93 | name: A3 94 | Gyr: 95 | unit: " rad/s" 96 | avg-axis: 97 | gyr_n: 1.0351286977809465e-04 98 | gyr_w: 2.9438676109223402e-05 99 | x-axis: 100 | gyr_n: 1.0312669892959053e-04 101 | gyr_w: 3.3765827874234673e-05 102 | y-axis: 103 | gyr_n: 1.0787155789128671e-04 104 | gyr_w: 3.1970693666470835e-05 105 | z-axis: 106 | gyr_n: 9.9540352513406743e-05 107 | gyr_w: 2.2579506786964707e-05 108 | Acc: 109 | unit: " m/s^2" 110 | avg-axis: 111 | acc_n: 1.3985049290745563e-03 112 | acc_w: 6.3249251509920116e-04 113 | x-axis: 114 | acc_n: 1.1687799474421937e-03 115 | acc_w: 5.3044554054317266e-04 116 | y-axis: 117 | acc_n: 1.2050535351630543e-03 118 | acc_w: 6.0281218607825414e-04 119 | z-axis: 120 | acc_n: 1.8216813046184213e-03 121 | acc_w: 7.6421981867617645e-04 122 | ``` 123 | 124 | ## dataset 125 | 126 | DJI A3: `400Hz` 127 | 128 | Download link: [`百度网盘`](https://pan.baidu.com/s/1jJYg8R0 "DJI A3") 129 | 130 | 131 | DJI A3: `400Hz` 132 | 133 | Download link: [`百度网盘`](https://pan.baidu.com/s/1pLXGqx1 "DJI N3") 134 | 135 | 136 | ADIS16448: `200Hz` 137 | 138 | Download link:[`百度网盘`](https://pan.baidu.com/s/1dGd0mn3 "ADIS16448") 139 | 140 | 3dM-GX4: `500Hz` 141 | 142 | Download link:[`百度网盘`](https://pan.baidu.com/s/1ggcan9D "GX4") 143 | 144 | xsens-MTI-100: `100Hz` 145 | 146 | Download link:[`百度网盘`](https://pan.baidu.com/s/1i64xkgP "MTI-100") 147 | -------------------------------------------------------------------------------- /_config.yml: -------------------------------------------------------------------------------- 1 | theme: jekyll-theme-leap-day -------------------------------------------------------------------------------- /data/16448_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: "16448" 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 1.8582082627718251e-04 9 | gyr_w: 7.2451532648461174e-05 10 | x-axis: 11 | gyr_n: 1.9497697212844325e-04 12 | gyr_w: 7.7480963067055273e-05 13 | y-axis: 14 | gyr_n: 1.8208890417142641e-04 15 | gyr_w: 6.5696944982419141e-05 16 | z-axis: 17 | gyr_n: 1.8039660253167786e-04 18 | gyr_w: 7.4176689895909121e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 1.9862287242243099e-03 23 | acc_w: 1.2148497781522122e-03 24 | x-axis: 25 | acc_n: 1.8873639193772013e-03 26 | acc_w: 9.2773313316259773e-04 27 | y-axis: 28 | acc_n: 2.3132372298208183e-03 29 | acc_w: 1.8685315978790539e-03 30 | z-axis: 31 | acc_n: 1.7580850234749105e-03 32 | acc_w: 8.4828460341498479e-04 33 | -------------------------------------------------------------------------------- /data/A3_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: A3 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 1.0922514245261136e-04 9 | gyr_w: 3.0407639130588035e-05 10 | x-axis: 11 | gyr_n: 1.1712350336249066e-04 12 | gyr_w: 3.6395480767077183e-05 13 | y-axis: 14 | gyr_n: 1.0957986890514727e-04 15 | gyr_w: 3.1881226725483150e-05 16 | z-axis: 17 | gyr_n: 1.0097205509019619e-04 18 | gyr_w: 2.2946209899203768e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 1.4268671413807624e-03 23 | acc_w: 6.3698303145662391e-04 24 | x-axis: 25 | acc_n: 1.2219441138445304e-03 26 | acc_w: 5.3750668357445538e-04 27 | y-axis: 28 | acc_n: 1.2229466839249080e-03 29 | acc_w: 6.0460048331990467e-04 30 | z-axis: 31 | acc_n: 1.8357106263728492e-03 32 | acc_w: 7.6884192747551168e-04 33 | -------------------------------------------------------------------------------- /data/BMI160_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: BMI160 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 1.2138209013030823e-03 9 | gyr_w: 2.6288838782975280e-05 10 | x-axis: 11 | gyr_n: 1.4274184891384049e-03 12 | gyr_w: 3.7205161559693717e-05 13 | y-axis: 14 | gyr_n: 1.0835399568308625e-03 15 | gyr_w: 2.0725450906070991e-05 16 | z-axis: 17 | gyr_n: 1.1305042579399798e-03 18 | gyr_w: 2.0935903883161137e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 1.9881978694148459e-02 23 | acc_w: 5.2649077628102515e-04 24 | x-axis: 25 | acc_n: 1.9234259821164789e-02 26 | acc_w: 3.7855837800027711e-04 27 | y-axis: 28 | acc_n: 1.7581479289213518e-02 29 | acc_w: 5.2561877961900319e-04 30 | z-axis: 31 | acc_n: 2.2830196972067073e-02 32 | acc_w: 6.7529517122379504e-04 33 | -------------------------------------------------------------------------------- /data/N3_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: N3 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 1.0728878615222317e-04 9 | gyr_w: 4.2550607847761556e-05 10 | x-axis: 11 | gyr_n: 1.0527575833172373e-04 12 | gyr_w: 3.9384242019484837e-05 13 | y-axis: 14 | gyr_n: 1.1111531556488697e-04 15 | gyr_w: 4.6830371915420001e-05 16 | z-axis: 17 | gyr_n: 1.0547528456005885e-04 18 | gyr_w: 4.1437209608379824e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 1.5477787819314819e-03 23 | acc_w: 6.5703931689992470e-04 24 | x-axis: 25 | acc_n: 1.1978309675605518e-03 26 | acc_w: 6.0502261252329530e-04 27 | y-axis: 28 | acc_n: 1.2709111231909587e-03 29 | acc_w: 5.2388572978467960e-04 30 | z-axis: 31 | acc_n: 2.1745942550429349e-03 32 | acc_w: 8.4220960839179919e-04 33 | -------------------------------------------------------------------------------- /data/data_16448_acc_t.txt: -------------------------------------------------------------------------------- 1 | 0.005000003472 2 | 0.01000000694 3 | 0.01500001042 4 | 0.02000001389 5 | 0.02500001736 6 | 0.03000002083 7 | 0.0350000243 8 | 0.04000002778 9 | 0.04500003125 10 | 0.05000003472 11 | 0.05500003819 12 | 0.06500004514 13 | 0.07500005208 14 | 0.08500005903 15 | 0.09500006597 16 | 0.1100000764 17 | 0.1250000868 18 | 0.1400000972 19 | 0.1600001111 20 | 0.1850001285 21 | 0.2100001458 22 | 0.2400001667 23 | 0.275000191 24 | 0.3100002153 25 | 0.3550002465 26 | 0.4050002812 27 | 0.4650003229 28 | 0.530000368 29 | 0.6050004201 30 | 0.6900004791 31 | 0.7850005451 32 | 0.900000625 33 | 1.025000712 34 | 1.170000812 35 | 1.335000927 36 | 1.525001059 37 | 1.745001212 38 | 1.990001382 39 | 2.27500158 40 | 2.600001805 41 | 2.970002062 42 | 3.390002354 43 | 3.870002687 44 | 4.420003069 45 | 5.050003507 46 | 5.770004007 47 | 6.590004576 48 | 7.530005229 49 | 8.600005972 50 | 9.820006819 51 | 11.22000779 52 | 12.8150089 53 | 14.63501016 54 | 16.72001161 55 | 19.10001326 56 | 21.81501515 57 | 24.9200173 58 | 28.46501977 59 | 32.51002258 60 | 37.14002579 61 | 42.42002946 62 | 48.45503365 63 | 55.35003844 64 | 63.2250439 65 | 72.22005015 66 | 82.50005729 67 | 94.23506544 68 | 107.6450748 69 | 122.9600854 70 | 140.4550975 71 | 160.4351114 72 | 183.2651273 73 | 209.3401454 74 | 239.1251661 75 | 273.1451897 76 | 312.0102167 77 | 356.4052475 78 | 407.1102827 79 | 465.0353229 80 | 531.2053689 81 | 606.7854214 82 | 693.1204813 83 | 791.7355498 84 | 904.385628 85 | 1033.065717 86 | 1180.050819 87 | 1347.950936 88 | 1539.736069 89 | 1758.816221 90 | 2009.061395 91 | 2294.916594 92 | 2621.44182 93 | -------------------------------------------------------------------------------- /data/data_16448_acc_x.txt: -------------------------------------------------------------------------------- 1 | 0.0188673645 2 | 0.01588213257 3 | 0.01361087904 4 | 0.01208032263 5 | 0.01097331883 6 | 0.01010625707 7 | 0.009400174088 8 | 0.00881313006 9 | 0.008317944962 10 | 0.007899665471 11 | 0.007541744935 12 | 0.006958054816 13 | 0.006496704343 14 | 0.006121513609 15 | 0.00580138665 16 | 0.005398231716 17 | 0.005075119254 18 | 0.004807580681 19 | 0.00450321834 20 | 0.004191269184 21 | 0.003940436353 22 | 0.003692376253 23 | 0.003456579419 24 | 0.003263196248 25 | 0.00305577714 26 | 0.002868536413 27 | 0.002684004952 28 | 0.002519538044 29 | 0.002363372422 30 | 0.002222562472 31 | 0.002093495187 32 | 0.001967143226 33 | 0.001854941897 34 | 0.0017494822 35 | 0.001649777348 36 | 0.001556312697 37 | 0.001465958804 38 | 0.001384763829 39 | 0.001307684998 40 | 0.001238480926 41 | 0.001178251013 42 | 0.001126537221 43 | 0.001078261292 44 | 0.001038705952 45 | 0.001006564927 46 | 0.0009777447975 47 | 0.0009548595086 48 | 0.0009374415619 49 | 0.0009275684357 50 | 0.0009237424028 51 | 0.0009271056275 52 | 0.000938797983 53 | 0.0009569389428 54 | 0.0009808292021 55 | 0.001007287659 56 | 0.001034198755 57 | 0.001057493671 58 | 0.00107355218 59 | 0.00107977093 60 | 0.001079971126 61 | 0.001075701589 62 | 0.001067802455 63 | 0.001059217621 64 | 0.001048367857 65 | 0.001042892763 66 | 0.001051498719 67 | 0.001074248876 68 | 0.001118634618 69 | 0.001184517901 70 | 0.001262499502 71 | 0.001347350725 72 | 0.001435557071 73 | 0.001530073269 74 | 0.001629249312 75 | 0.001733417569 76 | 0.001835673897 77 | 0.001938386258 78 | 0.002036208884 79 | 0.002143089154 80 | 0.002253727325 81 | 0.002372737661 82 | 0.002507646533 83 | 0.002666262681 84 | 0.002836178918 85 | 0.003000385957 86 | 0.003181652384 87 | 0.003386224553 88 | 0.003611137421 89 | 0.003842733138 90 | 0.004095454459 91 | 0.004545030004 92 | 0.005138680522 93 | -------------------------------------------------------------------------------- /data/data_16448_acc_y.txt: -------------------------------------------------------------------------------- 1 | 0.01975383953 2 | 0.01648596352 3 | 0.01407566762 4 | 0.01247268975 5 | 0.01129250134 6 | 0.01038224331 7 | 0.009661257467 8 | 0.009074460825 9 | 0.008583648161 10 | 0.008168493617 11 | 0.007806330737 12 | 0.007203880604 13 | 0.006719631769 14 | 0.006316547053 15 | 0.005978190419 16 | 0.00556739846 17 | 0.005239401857 18 | 0.004962537313 19 | 0.004650917811 20 | 0.004336786027 21 | 0.004076225754 22 | 0.003820026846 23 | 0.003573255844 24 | 0.003372422391 25 | 0.003159068379 26 | 0.002965244123 27 | 0.002777370846 28 | 0.002615188024 29 | 0.0024655498 30 | 0.002328336283 31 | 0.002206546714 32 | 0.002091571359 33 | 0.001992902868 34 | 0.001904058901 35 | 0.001831014362 36 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42.22022699 92 | 48.51473667 93 | 55.76184687 94 | -------------------------------------------------------------------------------- /data/data_BMI160_sim_gyr_z.txt: -------------------------------------------------------------------------------- 1 | 229.4972197 2 | 162.2903175 3 | 132.519852 4 | 114.7747828 5 | 102.6660269 6 | 93.72848588 7 | 86.78282461 8 | 81.1845613 9 | 76.54782759 10 | 72.62561733 11 | 69.2515068 12 | 63.7126106 13 | 59.32298382 14 | 55.7334226 15 | 52.72722824 16 | 49.01260217 17 | 45.09989898 18 | 42.71403421 19 | 39.46471905 20 | 36.86336803 21 | 34.72000442 22 | 32.26794065 23 | 30.02037963 24 | 28.18970262 25 | 26.31718741 26 | 24.50292143 27 | 22.9126925 28 | 21.41989987 29 | 19.9702638 30 | 18.66789927 31 | 17.45289157 32 | 16.29885033 33 | 15.22909535 34 | 14.25215498 35 | 13.32696393 36 | 12.47128698 37 | 11.67812661 38 | 10.94367483 39 | 10.26547294 40 | 9.63449902 41 | 9.052550809 42 | 8.510629442 43 | 8.016135649 44 | 7.556323838 45 | 7.135635138 46 | 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-------------------------------------------------------------------------------- /data/data_xsens_gyr_z.txt: -------------------------------------------------------------------------------- 1 | 283.4521048 2 | 203.3992534 3 | 167.4689032 4 | 146.2147278 5 | 132.0537401 6 | 121.7815287 7 | 113.9130388 8 | 107.5379166 9 | 102.1105757 10 | 97.30140854 11 | 92.9272333 12 | 85.03684753 13 | 78.15372962 14 | 72.41550406 15 | 67.86928463 16 | 62.82428481 17 | 58.98815248 18 | 55.86344381 19 | 52.83085468 20 | 49.60797382 21 | 46.18961081 22 | 43.18874596 23 | 40.64400426 24 | 38.62331939 25 | 35.90749692 26 | 33.93927765 27 | 31.77595537 28 | 30.09871023 29 | 28.30835689 30 | 26.81549941 31 | 25.43704668 32 | 24.02185733 33 | 22.78911616 34 | 21.62755718 35 | 20.54074883 36 | 19.60075559 37 | 18.68916699 38 | 17.89771202 39 | 17.13772243 40 | 16.45897015 41 | 15.85065743 42 | 15.32351952 43 | 14.85912866 44 | 14.46449643 45 | 14.16036827 46 | 13.90335725 47 | 13.66705015 48 | 13.39834671 49 | 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6 | 0.002996035985 7 | 0.002763708812 8 | 0.002578562874 9 | 0.002426578779 10 | 0.0022989432 11 | 0.002189803457 12 | 0.002011924438 13 | 0.001872056652 14 | 0.001758392144 15 | 0.00166368841 16 | 0.001547284129 17 | 0.001453054184 18 | 0.001374788192 19 | 0.001288510533 20 | 0.001201504658 21 | 0.001130936693 22 | 0.001061662651 23 | 0.0009960420383 24 | 0.0009422058452 25 | 0.0008854316125 26 | 0.0008341891317 27 | 0.0007843790899 28 | 0.0007406671745 29 | 0.0006996632806 30 | 0.000661938818 31 | 0.0006276579988 32 | 0.0005941026206 33 | 0.0005646729186 34 | 0.0005370726894 35 | 0.0005117600477 36 | 0.0004883247492 37 | 0.0004666007153 38 | 0.0004472452778 39 | 0.0004292583161 40 | 0.0004129405177 41 | 0.0003981885251 42 | 0.0003849115599 43 | 0.0003729077762 44 | 0.0003620650473 45 | 0.0003523128652 46 | 0.0003435951164 47 | 0.0003358563329 48 | 0.0003289718661 49 | 0.0003229204353 50 | 0.0003176199588 51 | 0.0003129822709 52 | 0.0003089904414 53 | 0.0003055867351 54 | 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-------------------------------------------------------------------------------- 1 | 0.009999989173 2 | 0.01999997835 3 | 0.02999996752 4 | 0.03999995669 5 | 0.04999994586 6 | 0.05999993504 7 | 0.06999992421 8 | 0.07999991338 9 | 0.08999990255 10 | 0.09999989173 11 | 0.1099998809 12 | 0.1299998592 13 | 0.1499998376 14 | 0.1699998159 15 | 0.1899997943 16 | 0.2199997618 17 | 0.2499997293 18 | 0.2799996968 19 | 0.3199996535 20 | 0.3699995994 21 | 0.4199995453 22 | 0.4799994803 23 | 0.5499994045 24 | 0.6199993287 25 | 0.7099992313 26 | 0.809999123 27 | 0.9299989931 28 | 1.059998852 29 | 1.20999869 30 | 1.379998506 31 | 1.5699983 32 | 1.799998051 33 | 2.04999778 34 | 2.339997466 35 | 2.669997109 36 | 3.049996698 37 | 3.489996221 38 | 3.979995691 39 | 4.549995074 40 | 5.19999437 41 | 5.939993569 42 | 6.779992659 43 | 7.73999162 44 | 8.839990429 45 | 10.09998906 46 | 11.53998751 47 | 13.17998573 48 | 15.05998369 49 | 17.19998138 50 | 19.63997874 51 | 22.4399757 52 | 25.62997225 53 | 29.26996831 54 | 33.43996379 55 | 38.19995864 56 | 43.62995276 57 | 49.83994604 58 | 56.92993836 59 | 65.0199296 60 | 74.27991958 61 | 84.83990814 62 | 96.90989507 63 | 110.6998801 64 | 126.4498631 65 | 144.4398436 66 | 164.9998214 67 | 188.4697959 68 | 215.2897669 69 | 245.9197337 70 | 280.9096959 71 | 320.8696526 72 | 366.5296031 73 | 418.6795467 74 | 478.2494822 75 | 546.2894085 76 | 624.0193244 77 | 712.8092282 78 | 814.2191184 79 | 930.068993 80 | 1062.40885 81 | 1213.568686 82 | 1386.238499 83 | 1583.468286 84 | 1808.768042 85 | 2066.127763 86 | 2360.097445 87 | 2695.897081 88 | 3079.466666 89 | 3517.626191 90 | 4018.115649 91 | 4589.82503 92 | 5242.874323 93 | -------------------------------------------------------------------------------- /data/data_xsens_sim_gyr_x.txt: -------------------------------------------------------------------------------- 1 | 317.1329577 2 | 219.8891908 3 | 178.4337192 4 | 154.110396 5 | 137.6609918 6 | 125.5916884 7 | 116.2529327 8 | 108.7512745 9 | 102.5552306 10 | 97.32625822 11 | 92.83714966 12 | 85.48687457 13 | 79.67939106 14 | 74.94292673 15 | 70.98563692 16 | 66.10884632 17 | 62.15153038 18 | 58.85869813 19 | 55.22310872 20 | 51.55144712 21 | 48.57002467 22 | 45.64076198 23 | 42.86416665 24 | 40.58524836 25 | 38.18141864 26 | 36.01169798 27 | 33.90292319 28 | 32.05290388 29 | 30.31831472 30 | 28.72345226 31 | 27.27527012 32 | 25.85900893 33 | 24.61814313 34 | 23.4556858 35 | 22.39081948 36 | 21.40611593 37 | 20.49441779 38 | 19.68304777 39 | 18.92980197 40 | 18.24700481 41 | 17.63002621 42 | 17.07476171 43 | 16.57246498 44 | 16.11813735 45 | 15.70851655 46 | 15.34094692 47 | 15.01281506 48 | 14.71856534 49 | 14.4570349 50 | 14.22446349 51 | 14.01673905 52 | 13.83287833 53 | 13.67005688 54 | 13.52553953 55 | 13.39794342 56 | 13.28548673 57 | 13.1862659 58 | 13.09901916 59 | 13.02247336 60 | 12.95526997 61 | 12.89666789 62 | 12.84565637 63 | 12.80154198 64 | 12.76374301 65 | 12.73179116 66 | 12.70534943 67 | 12.68427314 68 | 12.66853206 69 | 12.65832455 70 | 12.65406202 71 | 12.656435 72 | 12.66647578 73 | 12.68563317 74 | 12.71588677 75 | 12.75987385 76 | 12.82107678 77 | 12.90400331 78 | 13.01443847 79 | 13.15978743 80 | 13.34934274 81 | 13.59464043 82 | 13.90987881 83 | 14.31217178 84 | 14.8218941 85 | 15.46275575 86 | 16.26184259 87 | 17.24962428 88 | 18.45971912 89 | 19.928984 90 | 21.69732572 91 | 23.80831417 92 | 26.30949782 93 | -------------------------------------------------------------------------------- /data/data_xsens_sim_gyr_y.txt: -------------------------------------------------------------------------------- 1 | 295.7250768 2 | 206.063646 3 | 167.5302121 4 | 144.8487692 5 | 129.484027 6 | 118.199441 7 | 109.4624913 8 | 102.4414946 9 | 96.64101407 10 | 91.74513251 11 | 87.54165169 12 | 80.65890474 13 | 75.22126003 14 | 70.78718603 15 | 67.08339089 16 | 62.52053912 17 | 58.81968156 18 | 55.74178177 19 | 52.34555952 20 | 48.91841301 21 | 46.13811136 22 | 43.40923702 23 | 40.82570738 24 | 38.7080004 25 | 36.47745949 26 | 34.46757214 27 | 32.51787883 28 | 30.81104222 29 | 29.21435565 30 | 27.74996849 31 | 26.42384817 32 | 25.13082378 33 | 24.00159338 34 | 22.94732128 35 | 21.98509179 36 | 21.09876303 37 | 20.28155705 38 | 19.55744202 39 | 18.88825112 40 | 18.28455126 41 | 17.74176879 42 | 17.25582276 43 | 16.81863662 44 | 16.4255028 45 | 16.07327661 46 | 15.75937442 47 | 15.48128154 48 | 15.23405421 49 | 15.01651497 50 | 14.82535142 51 | 14.65705991 52 | 14.51074417 53 | 14.38405713 54 | 14.27481764 55 | 14.18194601 56 | 14.10410004 57 | 14.0399391 58 | 13.9886372 59 | 13.94942103 60 | 13.92159545 61 | 13.90484896 62 | 13.89887213 63 | 13.90359448 64 | 13.91909398 65 | 13.94561488 66 | 13.98359432 67 | 14.03357549 68 | 14.09637664 69 | 14.1729199 70 | 14.26437362 71 | 14.37206675 72 | 14.49762899 73 | 14.64280504 74 | 14.8096446 75 | 15.00041446 76 | 15.21769753 77 | 15.46428824 78 | 15.74324867 79 | 16.05803526 80 | 16.41233923 81 | 16.81013946 82 | 17.25581814 83 | 17.75405228 84 | 18.30995226 85 | 18.92898185 86 | 19.61701989 87 | 20.38047382 88 | 21.22623872 89 | 22.16189258 90 | 23.19561293 91 | 24.33648725 92 | 25.59448844 93 | -------------------------------------------------------------------------------- /data/data_xsens_sim_gyr_z.txt: -------------------------------------------------------------------------------- 1 | 312.9171996 2 | 221.1224457 3 | 180.5523326 4 | 156.3954236 5 | 139.92298 6 | 127.771276 7 | 118.3322308 8 | 110.7275019 9 | 104.4313994 10 | 99.10751261 11 | 94.52923574 12 | 87.01738666 13 | 81.06813218 14 | 76.20633982 15 | 72.13724173 16 | 67.11307618 17 | 63.02764956 18 | 59.62174957 19 | 55.85366901 20 | 52.03890272 21 | 48.93331603 22 | 45.87393886 23 | 42.96529233 24 | 40.57053553 25 | 38.03590838 26 | 35.73914956 27 | 33.49714949 28 | 31.52079786 29 | 29.65817001 30 | 27.9358331 31 | 26.3622835 32 | 24.81289316 33 | 23.44524283 34 | 22.15383436 35 | 20.96066333 36 | 19.84713518 37 | 18.80595232 38 | 17.86972885 39 | 16.99118268 40 | 16.1858206 41 | 15.44970623 42 | 14.77953111 43 | 14.16627308 44 | 13.60525926 45 | 13.09387479 46 | 12.63022271 47 | 12.21241168 48 | 11.83468007 49 | 11.49675865 50 | 11.19492977 51 | 10.92487663 52 | 10.68623992 53 | 10.47616561 54 | 10.29184447 55 | 10.13213884 56 | 9.995332895 57 | 9.879550267 58 | 9.783684427 59 | 9.706606261 60 | 9.647177452 61 | 9.604900571 62 | 9.579124115 63 | 9.569558014 64 | 9.576085902 65 | 9.598786591 66 | 9.637968811 67 | 9.694072551 68 | 9.767843275 69 | 9.860135918 70 | 9.972065721 71 | 10.10489386 72 | 10.26018413 73 | 10.43955652 74 | 10.6449034 75 | 10.87826169 76 | 11.14191373 77 | 11.438239 78 | 11.76976443 79 | 12.13929482 80 | 12.54970376 81 | 13.00398201 82 | 13.50535312 83 | 14.05713155 84 | 14.66285954 85 | 15.32619584 86 | 16.05095907 87 | 16.84121398 88 | 17.70118488 89 | 18.63540132 90 | 19.64854459 91 | 20.74567101 92 | 21.93207965 93 | -------------------------------------------------------------------------------- /data/gx4_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: gx4 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 6.5815583297789605e-05 9 | gyr_w: 4.5023579240746458e-05 10 | x-axis: 11 | gyr_n: 6.5123262354603977e-05 12 | gyr_w: 4.3243173464588734e-05 13 | y-axis: 14 | gyr_n: 6.8145374749185235e-05 15 | gyr_w: 4.8543575743410994e-05 16 | z-axis: 17 | gyr_n: 6.4178112789579618e-05 18 | gyr_w: 4.3283988514239640e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 9.0799544296830015e-04 23 | acc_w: 4.4091057032126735e-04 24 | x-axis: 25 | acc_n: 9.4100411610227542e-04 26 | acc_w: 4.1585942408095241e-04 27 | y-axis: 28 | acc_n: 8.9052781461271594e-04 29 | acc_w: 4.7210861511524135e-04 30 | z-axis: 31 | acc_n: 8.9245439818990931e-04 32 | acc_w: 4.3476367176760840e-04 33 | -------------------------------------------------------------------------------- /data/xsens_imu_param.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | type: IMU 4 | name: xsens 5 | Gyr: 6 | unit: " rad/s" 7 | avg-axis: 8 | gyr_n: 1.5641921981365443e-04 9 | gyr_w: 5.8371294942786571e-05 10 | x-axis: 11 | gyr_n: 1.5929650434021210e-04 12 | gyr_w: 6.1344105209174259e-05 13 | y-axis: 14 | gyr_n: 1.5297132101736133e-04 15 | gyr_w: 6.7378670380355060e-05 16 | z-axis: 17 | gyr_n: 1.5698983408338980e-04 18 | gyr_w: 4.6391109238830401e-05 19 | Acc: 20 | unit: " m/s^2" 21 | avg-axis: 22 | acc_n: 7.8531619738053877e-04 23 | acc_w: 3.2064659601889169e-04 24 | x-axis: 25 | acc_n: 8.1936568393485391e-04 26 | acc_w: 4.8066600394948737e-04 27 | y-axis: 28 | acc_n: 7.7685118479656147e-04 29 | acc_w: 1.8591481791391698e-04 30 | z-axis: 31 | acc_n: 7.5973172341020059e-04 32 | acc_w: 2.9535896619327070e-04 33 | -------------------------------------------------------------------------------- /figure/acc.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gaowenliang/imu_utils/2cdda91d5b7206517abb080e585c4f2793e523f1/figure/acc.jpg -------------------------------------------------------------------------------- /figure/gyr.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gaowenliang/imu_utils/2cdda91d5b7206517abb080e585c4f2793e523f1/figure/gyr.jpg -------------------------------------------------------------------------------- /launch/16448.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /launch/A3.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /launch/gx4.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /launch/n3.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /launch/tum.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /launch/xsens.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | imu_utils 4 | 0.1.0 5 | The imu_utils package 6 | 7 | 8 | 9 | 10 | gaowenliang 11 | 12 | 13 | 14 | 15 | 16 | MIT 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | gaowenliang 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | catkin 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /scripts/all_of_draw_allan.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_gx4_gyr_t.txt'); 5 | data_x = dlmread('../data/data_gx4_gyr_x.txt'); 6 | data_y= dlmread('../data/data_gx4_gyr_y.txt'); 7 | data_z = dlmread('../data/data_gx4_gyr_z.txt'); 8 | data_draw=[data_x data_y data_z] ; 9 | 10 | data_sim_x= dlmread('../data/data_gx4_sim_gyr_x.txt'); 11 | data_sim_y= dlmread('../data/data_gx4_sim_gyr_y.txt'); 12 | data_sim_z= dlmread('../data/data_gx4_sim_gyr_z.txt'); 13 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 14 | 15 | 16 | figure 17 | loglog(dt, data_draw , 'r+'); 18 | % loglog(dt, data_sim_draw , '-'); 19 | xlabel('time:sec'); 20 | ylabel('Sigma:deg/h'); 21 | % legend('x','y','z'); 22 | grid on; 23 | hold on; 24 | loglog(dt, data_sim_draw , 'r-'); 25 | 26 | dt = dlmread('../data/data_16448_gyr_t.txt'); 27 | data_x = dlmread('../data/data_16448_gyr_x.txt'); 28 | data_y = dlmread('../data/data_16448_gyr_y.txt'); 29 | data_z = dlmread('../data/data_16448_gyr_z.txt'); 30 | data_draw=[data_x data_y data_z] ; 31 | data_sim_x= dlmread('../data/data_16448_sim_gyr_x.txt'); 32 | data_sim_y= dlmread('../data/data_16448_sim_gyr_y.txt'); 33 | data_sim_z= dlmread('../data/data_16448_sim_gyr_z.txt'); 34 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 35 | loglog(dt, data_draw , 'b+'); 36 | xlabel('time:sec'); 37 | loglog(dt, data_sim_draw , 'b-'); 38 | 39 | dt = dlmread('../data/data_A3_gyr_t.txt'); 40 | data_x = dlmread('../data/data_A3_gyr_x.txt'); 41 | data_y = dlmread('../data/data_A3_gyr_y.txt'); 42 | data_z = dlmread('../data/data_A3_gyr_z.txt'); 43 | data_draw=[data_x data_y data_z] ; 44 | data_sim_x= dlmread('../data/data_A3_sim_gyr_x.txt'); 45 | data_sim_y= dlmread('../data/data_A3_sim_gyr_y.txt'); 46 | data_sim_z= dlmread('../data/data_A3_sim_gyr_z.txt'); 47 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 48 | loglog(dt, data_draw , 'g+'); 49 | xlabel('time:sec'); 50 | loglog(dt, data_sim_draw , 'g-'); 51 | 52 | dt = dlmread('../data/data_N3_gyr_t.txt'); 53 | data_x = dlmread('../data/data_N3_gyr_x.txt'); 54 | data_y = dlmread('../data/data_N3_gyr_y.txt'); 55 | data_z = dlmread('../data/data_N3_gyr_z.txt'); 56 | data_draw=[data_x data_y data_z] ; 57 | data_sim_x= dlmread('../data/data_N3_sim_gyr_x.txt'); 58 | data_sim_y= dlmread('../data/data_N3_sim_gyr_y.txt'); 59 | data_sim_z= dlmread('../data/data_N3_sim_gyr_z.txt'); 60 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 61 | loglog(dt, data_draw , 'k+'); 62 | xlabel('time:sec'); 63 | loglog(dt, data_sim_draw , 'k-'); -------------------------------------------------------------------------------- /scripts/all_of_draw_allan_acc.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_gx4_acc_t.txt'); 5 | data_x = dlmread('../data/data_gx4_acc_x.txt'); 6 | data_y= dlmread('../data/data_gx4_acc_y.txt'); 7 | data_z = dlmread('../data/data_gx4_acc_z.txt'); 8 | data_draw=[data_x data_y data_z] ; 9 | 10 | data_sim_x= dlmread('../data/data_gx4_sim_acc_x.txt'); 11 | data_sim_y= dlmread('../data/data_gx4_sim_acc_y.txt'); 12 | data_sim_z= dlmread('../data/data_gx4_sim_acc_z.txt'); 13 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 14 | 15 | 16 | figure 17 | loglog(dt, data_draw , 'r+'); 18 | % loglog(dt, data_sim_draw , '-'); 19 | xlabel('time:sec'); 20 | ylabel('Sigma:deg/h'); 21 | % legend('x','y','z'); 22 | grid on; 23 | hold on; 24 | loglog(dt, data_sim_draw , 'r-'); 25 | 26 | dt = dlmread('../data/data_BMI160_acc_t.txt'); 27 | data_x = dlmread('../data/data_BMI160_acc_x.txt'); 28 | data_y = dlmread('../data/data_BMI160_acc_y.txt'); 29 | data_z = dlmread('../data/data_BMI160_acc_z.txt'); 30 | data_draw=[data_x data_y data_z] ; 31 | data_sim_x= dlmread('../data/data_BMI160_sim_acc_x.txt'); 32 | data_sim_y= dlmread('../data/data_BMI160_sim_acc_y.txt'); 33 | data_sim_z= dlmread('../data/data_BMI160_sim_acc_z.txt'); 34 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 35 | loglog(dt, data_draw , '-'); 36 | xlabel('time:sec'); 37 | loglog(dt, data_sim_draw , '-'); 38 | 39 | 40 | dt = dlmread('../data/data_16448_acc_t.txt'); 41 | data_x = dlmread('../data/data_16448_acc_x.txt'); 42 | data_y = dlmread('../data/data_16448_acc_y.txt'); 43 | data_z = dlmread('../data/data_16448_acc_z.txt'); 44 | data_draw=[data_x data_y data_z] ; 45 | data_sim_x= dlmread('../data/data_16448_sim_acc_x.txt'); 46 | data_sim_y= dlmread('../data/data_16448_sim_acc_y.txt'); 47 | data_sim_z= dlmread('../data/data_16448_sim_acc_z.txt'); 48 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 49 | loglog(dt, data_draw , 'b+'); 50 | xlabel('time:sec'); 51 | loglog(dt, data_sim_draw , 'b-'); 52 | 53 | dt = dlmread('../data/data_A3_acc_t.txt'); 54 | data_x = dlmread('../data/data_A3_acc_x.txt'); 55 | data_y = dlmread('../data/data_A3_acc_y.txt'); 56 | data_z = dlmread('../data/data_A3_acc_z.txt'); 57 | data_draw=[data_x data_y data_z] ; 58 | data_sim_x= dlmread('../data/data_A3_sim_acc_x.txt'); 59 | data_sim_y= dlmread('../data/data_A3_sim_acc_y.txt'); 60 | data_sim_z= dlmread('../data/data_A3_sim_acc_z.txt'); 61 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 62 | loglog(dt, data_draw , 'g+'); 63 | xlabel('time:sec'); 64 | loglog(dt, data_sim_draw , 'g-'); 65 | 66 | dt = dlmread('../data/data_N3_acc_t.txt'); 67 | data_x = dlmread('../data/data_N3_acc_x.txt'); 68 | data_y = dlmread('../data/data_N3_acc_y.txt'); 69 | data_z = dlmread('../data/data_N3_acc_z.txt'); 70 | data_draw=[data_x data_y data_z] ; 71 | data_sim_x= dlmread('../data/data_N3_sim_acc_x.txt'); 72 | data_sim_y= dlmread('../data/data_N3_sim_acc_y.txt'); 73 | data_sim_z= dlmread('../data/data_N3_sim_acc_z.txt'); 74 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 75 | loglog(dt, data_draw , 'k+'); 76 | xlabel('time:sec'); 77 | loglog(dt, data_sim_draw , 'k-'); 78 | 79 | 80 | dt = dlmread('../data/data_xsens_acc_t.txt'); 81 | data_x = dlmread('../data/data_xsens_acc_x.txt'); 82 | data_y = dlmread('../data/data_xsens_acc_y.txt'); 83 | data_z = dlmread('../data/data_xsens_acc_z.txt'); 84 | data_draw=[data_x data_y data_z]; 85 | data_sim_x= dlmread('../data/data_xsens_sim_acc_x.txt'); 86 | data_sim_y= dlmread('../data/data_xsens_sim_acc_y.txt'); 87 | data_sim_z= dlmread('../data/data_xsens_sim_acc_z.txt'); 88 | data_sim_draw=[data_sim_x data_sim_y data_sim_z]; 89 | loglog(dt, data_draw , 'o'); 90 | xlabel('time:sec'); 91 | loglog(dt, data_sim_draw , '-'); -------------------------------------------------------------------------------- /scripts/allan_with_degree.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_gx4_gyr_t.txt'); 5 | data_x = dlmread('../data/data_gx4_gyr_x.txt'); 6 | data_y= dlmread('../data/data_gx4_gyr_y.txt'); 7 | data_z = dlmread('../data/data_gx4_gyr_z.txt'); 8 | data_draw=(data_x+data_y+data_z)/3 /3600; 9 | 10 | data_sim_x= dlmread('../data/data_gx4_sim_gyr_x.txt'); 11 | data_sim_y= dlmread('../data/data_gx4_sim_gyr_y.txt'); 12 | data_sim_z= dlmread('../data/data_gx4_sim_gyr_z.txt'); 13 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 /3600; 14 | 15 | figure 16 | loglog(dt, data_draw , 'r+'); 17 | % loglog(dt, data_sim_draw , '-'); 18 | xlabel('time:sec'); 19 | ylabel('Sigma:deg/s'); 20 | % legend('x','y','z'); 21 | grid on; 22 | hold on; 23 | loglog(dt, data_sim_draw , 'r-'); 24 | 25 | dt = dlmread('../data/data_BMI160_gyr_t.txt'); 26 | data_x = dlmread('../data/data_BMI160_gyr_x.txt'); 27 | data_y = dlmread('../data/data_BMI160_gyr_y.txt'); 28 | data_z = dlmread('../data/data_BMI160_gyr_z.txt'); 29 | data_draw=(data_x+data_y+data_z)/3 /3600; 30 | data_sim_x= dlmread('../data/data_BMI160_sim_gyr_x.txt'); 31 | data_sim_y= dlmread('../data/data_BMI160_sim_gyr_y.txt'); 32 | data_sim_z= dlmread('../data/data_BMI160_sim_gyr_z.txt'); 33 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 /3600; 34 | loglog(dt, data_draw , '-'); 35 | xlabel('time:sec'); 36 | loglog(dt, data_sim_draw , '-'); 37 | 38 | 39 | dt = dlmread('../data/data_16448_gyr_t.txt'); 40 | data_x = dlmread('../data/data_16448_gyr_x.txt'); 41 | data_y = dlmread('../data/data_16448_gyr_y.txt'); 42 | data_z = dlmread('../data/data_16448_gyr_z.txt'); 43 | data_draw=(data_x+data_y+data_z)/3/3600; 44 | data_sim_x= dlmread('../data/data_16448_sim_gyr_x.txt'); 45 | data_sim_y= dlmread('../data/data_16448_sim_gyr_y.txt'); 46 | data_sim_z= dlmread('../data/data_16448_sim_gyr_z.txt'); 47 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3/3600; 48 | loglog(dt, data_draw , 'b+'); 49 | xlabel('time:sec'); 50 | loglog(dt, data_sim_draw , 'b-'); 51 | 52 | dt = dlmread('../data/data_A3_gyr_t.txt'); 53 | data_x = dlmread('../data/data_A3_gyr_x.txt'); 54 | data_y = dlmread('../data/data_A3_gyr_y.txt'); 55 | data_z = dlmread('../data/data_A3_gyr_z.txt'); 56 | data_draw=(data_x+data_y+data_z)/3/3600; 57 | data_sim_x= dlmread('../data/data_A3_sim_gyr_x.txt'); 58 | data_sim_y= dlmread('../data/data_A3_sim_gyr_y.txt'); 59 | data_sim_z= dlmread('../data/data_A3_sim_gyr_z.txt'); 60 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3/3600; 61 | loglog(dt, data_draw , 'g+'); 62 | xlabel('time:sec'); 63 | loglog(dt, data_sim_draw , 'g-'); 64 | 65 | dt = dlmread('../data/data_N3_gyr_t.txt'); 66 | data_x = dlmread('../data/data_N3_gyr_x.txt'); 67 | data_y = dlmread('../data/data_N3_gyr_y.txt'); 68 | data_z = dlmread('../data/data_N3_gyr_z.txt'); 69 | data_draw=(data_x+data_y+data_z)/3/3600; 70 | data_sim_x= dlmread('../data/data_N3_sim_gyr_x.txt'); 71 | data_sim_y= dlmread('../data/data_N3_sim_gyr_y.txt'); 72 | data_sim_z= dlmread('../data/data_N3_sim_gyr_z.txt'); 73 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3/3600; 74 | loglog(dt, data_draw , 'k+'); 75 | xlabel('time:sec'); 76 | loglog(dt, data_sim_draw , 'k-'); -------------------------------------------------------------------------------- /scripts/avg_of_all_sensors.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_gx4_gyr_t.txt'); 5 | data_x = dlmread('../data/data_gx4_gyr_x.txt'); 6 | data_y= dlmread('../data/data_gx4_gyr_y.txt'); 7 | data_z = dlmread('../data/data_gx4_gyr_z.txt'); 8 | data_draw=(data_x+data_y+data_z)/3 ; 9 | 10 | data_sim_x= dlmread('../data/data_gx4_sim_gyr_x.txt'); 11 | data_sim_y= dlmread('../data/data_gx4_sim_gyr_y.txt'); 12 | data_sim_z= dlmread('../data/data_gx4_sim_gyr_z.txt'); 13 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 ; 14 | 15 | figure 16 | loglog(dt, data_draw , 'r+'); 17 | % loglog(dt, data_sim_draw , '-'); 18 | xlabel('time:sec'); 19 | ylabel('Sigma:deg/h'); 20 | % legend('x','y','z'); 21 | grid on; 22 | hold on; 23 | loglog(dt, data_sim_draw , 'r-'); 24 | 25 | dt = dlmread('../data/data_16448_gyr_t.txt'); 26 | data_x = dlmread('../data/data_16448_gyr_x.txt'); 27 | data_y = dlmread('../data/data_16448_gyr_y.txt'); 28 | data_z = dlmread('../data/data_16448_gyr_z.txt'); 29 | data_draw=(data_x+data_y+data_z)/3 ; 30 | data_sim_x= dlmread('../data/data_16448_sim_gyr_x.txt'); 31 | data_sim_y= dlmread('../data/data_16448_sim_gyr_y.txt'); 32 | data_sim_z= dlmread('../data/data_16448_sim_gyr_z.txt'); 33 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 ; 34 | loglog(dt, data_draw , 'b+'); 35 | xlabel('time:sec'); 36 | loglog(dt, data_sim_draw , 'b-'); 37 | 38 | dt = dlmread('../data/data_A3_gyr_t.txt'); 39 | data_x = dlmread('../data/data_A3_gyr_x.txt'); 40 | data_y = dlmread('../data/data_A3_gyr_y.txt'); 41 | data_z = dlmread('../data/data_A3_gyr_z.txt'); 42 | data_draw=(data_x+data_y+data_z)/3; 43 | data_sim_x= dlmread('../data/data_A3_sim_gyr_x.txt'); 44 | data_sim_y= dlmread('../data/data_A3_sim_gyr_y.txt'); 45 | data_sim_z= dlmread('../data/data_A3_sim_gyr_z.txt'); 46 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 47 | loglog(dt, data_draw , 'g+'); 48 | xlabel('time:sec'); 49 | loglog(dt, data_sim_draw , 'g-'); 50 | 51 | dt = dlmread('../data/data_N3_gyr_t.txt'); 52 | data_x = dlmread('../data/data_N3_gyr_x.txt'); 53 | data_y = dlmread('../data/data_N3_gyr_y.txt'); 54 | data_z = dlmread('../data/data_N3_gyr_z.txt'); 55 | data_draw=(data_x+data_y+data_z)/3; 56 | data_sim_x= dlmread('../data/data_N3_sim_gyr_x.txt'); 57 | data_sim_y= dlmread('../data/data_N3_sim_gyr_y.txt'); 58 | data_sim_z= dlmread('../data/data_N3_sim_gyr_z.txt'); 59 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 60 | loglog(dt, data_draw , 'k+'); 61 | xlabel('time:sec'); 62 | loglog(dt, data_sim_draw , 'k-'); 63 | 64 | 65 | dt = dlmread('../data/data_xsens_gyr_t.txt'); 66 | data_x = dlmread('../data/data_xsens_gyr_x.txt'); 67 | data_y = dlmread('../data/data_xsens_gyr_y.txt'); 68 | data_z = dlmread('../data/data_xsens_gyr_z.txt'); 69 | data_draw=(data_x+data_y+data_z)/3; 70 | data_sim_x= dlmread('../data/data_xsens_sim_gyr_x.txt'); 71 | data_sim_y= dlmread('../data/data_xsens_sim_gyr_y.txt'); 72 | data_sim_z= dlmread('../data/data_xsens_sim_gyr_z.txt'); 73 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 74 | loglog(dt, data_draw , 'o'); 75 | xlabel('time:sec'); 76 | loglog(dt, data_sim_draw , '-'); -------------------------------------------------------------------------------- /scripts/avg_of_all_sensors_acc.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_gx4_acc_t.txt'); 5 | data_x = dlmread('../data/data_gx4_acc_x.txt'); 6 | data_y= dlmread('../data/data_gx4_acc_y.txt'); 7 | data_z = dlmread('../data/data_gx4_acc_z.txt'); 8 | data_draw=(data_x+data_y+data_z)/3 ; 9 | 10 | data_sim_x= dlmread('../data/data_gx4_sim_acc_x.txt'); 11 | data_sim_y= dlmread('../data/data_gx4_sim_acc_y.txt'); 12 | data_sim_z= dlmread('../data/data_gx4_sim_acc_z.txt'); 13 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 ; 14 | 15 | figure 16 | loglog(dt, data_draw , 'r+'); 17 | % loglog(dt, data_sim_draw , '-'); 18 | xlabel('time:sec'); 19 | ylabel('Sigma'); 20 | % legend('x','y','z'); 21 | grid on; 22 | hold on; 23 | loglog(dt, data_sim_draw , 'r-'); 24 | 25 | dt = dlmread('../data/data_16448_acc_t.txt'); 26 | data_x = dlmread('../data/data_16448_acc_x.txt'); 27 | data_y = dlmread('../data/data_16448_acc_y.txt'); 28 | data_z = dlmread('../data/data_16448_acc_z.txt'); 29 | data_draw=(data_x+data_y+data_z)/3 ; 30 | data_sim_x= dlmread('../data/data_16448_sim_acc_x.txt'); 31 | data_sim_y= dlmread('../data/data_16448_sim_acc_y.txt'); 32 | data_sim_z= dlmread('../data/data_16448_sim_acc_z.txt'); 33 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 ; 34 | loglog(dt, data_draw , 'b+'); 35 | xlabel('time:sec'); 36 | loglog(dt, data_sim_draw , 'b-'); 37 | 38 | 39 | dt = dlmread('../data/data_BMI160_acc_t.txt'); 40 | data_x = dlmread('../data/data_BMI160_acc_x.txt'); 41 | data_y = dlmread('../data/data_BMI160_acc_y.txt'); 42 | data_z = dlmread('../data/data_BMI160_acc_z.txt'); 43 | data_draw=(data_x+data_y+data_z)/3 ; 44 | data_sim_x= dlmread('../data/data_BMI160_sim_acc_x.txt'); 45 | data_sim_y= dlmread('../data/data_BMI160_sim_acc_y.txt'); 46 | data_sim_z= dlmread('../data/data_BMI160_sim_acc_z.txt'); 47 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3 ; 48 | loglog(dt, data_draw , 'b+'); 49 | xlabel('time:sec'); 50 | loglog(dt, data_sim_draw , 'b-'); 51 | 52 | dt = dlmread('../data/data_A3_acc_t.txt'); 53 | data_x = dlmread('../data/data_A3_acc_x.txt'); 54 | data_y = dlmread('../data/data_A3_acc_y.txt'); 55 | data_z = dlmread('../data/data_A3_acc_z.txt'); 56 | data_draw=(data_x+data_y+data_z)/3; 57 | data_sim_x= dlmread('../data/data_A3_sim_acc_x.txt'); 58 | data_sim_y= dlmread('../data/data_A3_sim_acc_y.txt'); 59 | data_sim_z= dlmread('../data/data_A3_sim_acc_z.txt'); 60 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 61 | loglog(dt, data_draw , 'g+'); 62 | xlabel('time:sec'); 63 | loglog(dt, data_sim_draw , 'g-'); 64 | 65 | dt = dlmread('../data/data_N3_acc_t.txt'); 66 | data_x = dlmread('../data/data_N3_acc_x.txt'); 67 | data_y = dlmread('../data/data_N3_acc_y.txt'); 68 | data_z = dlmread('../data/data_N3_acc_z.txt'); 69 | data_draw=(data_x+data_y+data_z)/3; 70 | data_sim_x= dlmread('../data/data_N3_sim_acc_x.txt'); 71 | data_sim_y= dlmread('../data/data_N3_sim_acc_y.txt'); 72 | data_sim_z= dlmread('../data/data_N3_sim_acc_z.txt'); 73 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 74 | loglog(dt, data_draw , 'k+'); 75 | xlabel('time:sec'); 76 | loglog(dt, data_sim_draw , 'k-'); 77 | 78 | 79 | 80 | dt = dlmread('../data/data_xsens_acc_t.txt'); 81 | data_x = dlmread('../data/data_xsens_acc_x.txt'); 82 | data_y = dlmread('../data/data_xsens_acc_y.txt'); 83 | data_z = dlmread('../data/data_xsens_acc_z.txt'); 84 | data_draw=(data_x+data_y+data_z)/3; 85 | data_sim_x= dlmread('../data/data_xsens_sim_acc_x.txt'); 86 | data_sim_y= dlmread('../data/data_xsens_sim_acc_y.txt'); 87 | data_sim_z= dlmread('../data/data_xsens_sim_acc_z.txt'); 88 | data_sim_draw=(data_sim_x+data_sim_y+data_sim_z)/3; 89 | loglog(dt, data_draw , 'o'); 90 | xlabel('time:sec'); 91 | loglog(dt, data_sim_draw , '-'); -------------------------------------------------------------------------------- /scripts/draw_allan.m: -------------------------------------------------------------------------------- 1 | clear 2 | close all 3 | 4 | dt = dlmread('../data/data_A3_gyr_t.txt'); 5 | data_x = dlmread('../data/data_A3_gyr_x.txt'); 6 | data_y= dlmread('../data/data_A3_gyr_y.txt'); 7 | data_z = dlmread('../data/data_A3_gyr_z.txt'); 8 | data_draw=[data_x data_y data_z] ; 9 | 10 | data_sim_x= dlmread('../data/data_A3_sim_gyr_x.txt'); 11 | data_sim_y= dlmread('../data/data_A3_sim_gyr_y.txt'); 12 | data_sim_z= dlmread('../data/data_A3_sim_gyr_z.txt'); 13 | data_sim_draw=[data_sim_x data_sim_y data_sim_z] ; 14 | 15 | 16 | figure 17 | loglog(dt, data_draw , 'o'); 18 | % loglog(dt, data_sim_draw , '-'); 19 | xlabel('time:sec'); 20 | ylabel('Sigma:deg/h'); 21 | % legend('x','y','z'); 22 | grid on; 23 | hold on; 24 | loglog(dt, data_sim_draw , '-'); 25 | -------------------------------------------------------------------------------- /scripts/ideal_allan.m: -------------------------------------------------------------------------------- 1 | clc 2 | close all 3 | clear 4 | 5 | size = 1000000; 6 | a_tmp = linspace(0,1000,size)'; 7 | a = a_tmp(2:size,:); 8 | b = a.^(-2)+a.^(-1)+1+a.^(1)+a.^(2); 9 | 10 | figure 11 | loglog(a, sqrt(b) , '-'); 12 | hold on; 13 | grid on; 14 | mea([1:size-1],1)= mean(b); 15 | loglog(a, sqrt(mea) , '-'); 16 | 17 | -------------------------------------------------------------------------------- /src/acc_lib/allan_acc.h: -------------------------------------------------------------------------------- 1 | #ifndef AllanAcc_H 2 | #define AllanAcc_H 3 | 4 | #include "../type.h" 5 | #include 6 | #include 7 | #include 8 | 9 | namespace imu 10 | { 11 | 12 | class AllanAcc 13 | { 14 | public: 15 | AllanAcc( std::string name, int maxCluster = 10000 ); 16 | ~AllanAcc( ); 17 | void pushRadPerSec( double data, double time ); 18 | void pushDegreePerSec( double data, double time ); 19 | void pushMPerSec2( double data, double time ); 20 | void calc( ); 21 | 22 | std::vector< double > getVariance( ) const; 23 | std::vector< double > getDeviation( ); 24 | std::vector< double > getTimes( ); 25 | std::vector< int > getFactors( ) const; 26 | double getFreq( ) const; 27 | 28 | private: 29 | std::vector< double > calcVariance( double period ); 30 | 31 | std::vector< double > calcThetas( const double freq ); 32 | void initStrides( ); 33 | std::vector< double > getLogSpace( float a, float b ); 34 | double getAvgFreq( ) { return 1.0 / getAvgDt( ); } 35 | double getAvgDt( ); 36 | double getAvgPeriod( ) { return getAvgDt( ); } 37 | int getFactorsNum( ) { return numFactors; } 38 | 39 | std::string m_name; 40 | double m_freq; 41 | int numData; 42 | std::vector< AccData > m_rawData; 43 | std::vector< double > m_thetas; 44 | int numCluster; 45 | int numFactors; 46 | std::vector< int > mFactors; 47 | 48 | std::vector< double > mVariance; 49 | }; 50 | } 51 | 52 | #endif // AllanAcc_H 53 | -------------------------------------------------------------------------------- /src/acc_lib/fitallan_acc.h: -------------------------------------------------------------------------------- 1 | #ifndef FitAllanAcc_H 2 | #define FitAllanAcc_H 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | namespace imu 9 | { 10 | 11 | class FitAllanAcc 12 | { 13 | class AllanSigmaError 14 | { 15 | public: 16 | AllanSigmaError( const double& _sigma2, const double& _tau ) 17 | : sigma2( _sigma2 ) 18 | , tau( _tau ) 19 | { 20 | } 21 | 22 | template< typename T > 23 | T calcLog10( T src ) const 24 | { 25 | return ( log( src ) ) / ( log( 10 ) ); 26 | } 27 | 28 | template< typename T > 29 | T calcSigma2( T _Q, T _N, T _B, T _K, T _R, T _tau ) const 30 | { 31 | // clang-format off 32 | return _Q * _Q / ( _tau * _tau ) 33 | + _N * _N / _tau 34 | + _B * _B 35 | + _K * _K * _tau 36 | + _R * _R * _tau * _tau; 37 | // clang-format on 38 | } 39 | 40 | template< typename T > 41 | bool operator( )( const T* const _paramt, T* residuals ) const 42 | { 43 | T _Q = T( _paramt[0] ); 44 | T _N = T( _paramt[1] ); 45 | T _B = T( _paramt[2] ); 46 | T _K = T( _paramt[3] ); 47 | T _R = T( _paramt[4] ); 48 | T _tau = T( tau ); 49 | 50 | T _sigma2 = calcSigma2( _Q, _N, _B, _K, _R, _tau ); 51 | T _dsigma2 = T( calcLog10( _sigma2 ) ) - T( calcLog10( sigma2 ) ); 52 | residuals[0] = _dsigma2; 53 | // std::cout << "_err " << T( sigma2 ) << " " << _sigma2 54 | // << std::endl; 55 | 56 | return true; 57 | } 58 | 59 | double sigma2; 60 | double tau; 61 | }; 62 | 63 | public: 64 | FitAllanAcc( std::vector< double > sigma2s, std::vector< double > taus, double _freq ); 65 | std::vector< double > calcSimDeviation( const std::vector< double > taus ) const; 66 | double getBiasInstability( ) const; 67 | double getWhiteNoise( ) const; 68 | 69 | private: 70 | std::vector< double > checkData( std::vector< double > sigma2s, std::vector< double > taus ); 71 | 72 | std::vector< double > initValue( std::vector< double > sigma2s, std::vector< double > taus ); 73 | double findMinNum( const std::vector< double > num ) const; 74 | int findMinIndex( std::vector< double > num ); 75 | double calcSigma2( double _Q, double _N, double _B, double _K, double _R, double _tau ) const; 76 | 77 | public: 78 | /** 79 | * @brief getQ 80 | * Quantization Noise 81 | * @unit: degree 82 | * @return 83 | */ 84 | double getQ( ) const; 85 | /** 86 | * @brief getN 87 | * Angle Random Walk 88 | * @unit: degree / sqrt( hour ) 89 | * @return 90 | */ 91 | double getN( ) const; 92 | /** 93 | * @brief getB 94 | * Bias Instability 95 | * @unit: degree / hour 96 | * @return 97 | */ 98 | double getB( ) const; 99 | /** 100 | * @brief getK 101 | * Rate Random Walk 102 | * @unit: degree / (hour*sqrt(hour)) 103 | * @return 104 | */ 105 | double getK( ) const; 106 | /** 107 | * @brief getR 108 | * Angle Rate Ramp 109 | * @unit: degree / (hour * hour) 110 | * @return 111 | */ 112 | double getR( ) const; 113 | 114 | double Q; 115 | double N; 116 | double B; 117 | double K; 118 | double R; 119 | 120 | private: 121 | std::vector< double > m_taus; 122 | double freq; 123 | }; 124 | } 125 | 126 | #endif // FitAllanAcc_H 127 | -------------------------------------------------------------------------------- /src/gyr_lib/allan_gyr.h: -------------------------------------------------------------------------------- 1 | #ifndef ALLAN_H 2 | #define ALLAN_H 3 | 4 | #include "../type.h" 5 | #include 6 | #include 7 | #include 8 | 9 | namespace imu 10 | { 11 | 12 | class AllanGyr 13 | { 14 | public: 15 | AllanGyr( std::string name, int maxCluster = 10000 ); 16 | ~AllanGyr( ); 17 | void pushRadPerSec( double data, double time ); 18 | void pushDegreePerSec( double data, double time ); 19 | void pushDegreePerHou( double data, double time ); 20 | void calc( ); 21 | 22 | std::vector< double > getVariance( ) const; 23 | std::vector< double > getDeviation( ); 24 | std::vector< double > getTimes( ); 25 | std::vector< int > getFactors( ) const; 26 | double getAvgValue( ); 27 | double getFreq( ) const; 28 | 29 | private: 30 | std::vector< double > calcVariance( double period ); 31 | 32 | std::vector< double > calcThetas( const double freq ); 33 | void initStrides( ); 34 | std::vector< double > getLogSpace( float a, float b ); 35 | double getAvgFreq( ) { return 1.0 / getAvgDt( ); } 36 | double getAvgDt( ); 37 | double getAvgPeriod( ) { return getAvgDt( ); } 38 | int getFactorsNum( ) { return numFactors; } 39 | 40 | std::string m_name; 41 | double m_freq; 42 | int numData; 43 | std::vector< GyrData > m_rawData; 44 | std::vector< double > m_thetas; 45 | int numCluster; 46 | int numFactors; 47 | std::vector< int > mFactors; 48 | 49 | std::vector< double > mVariance; 50 | }; 51 | } 52 | 53 | #endif // ALLAN_H 54 | -------------------------------------------------------------------------------- /src/gyr_lib/fitallan_gyr.cpp: -------------------------------------------------------------------------------- 1 | #include "fitallan_gyr.h" 2 | 3 | using namespace imu; 4 | 5 | FitAllanGyr::FitAllanGyr( std::vector< double > sigma2s, std::vector< double > taus, double _freq ) 6 | : Q( 0.0 ) 7 | , N( 0.0 ) 8 | , B( 0.0 ) 9 | , K( 0.0 ) 10 | , R( 0.0 ) 11 | , freq( _freq ) 12 | { 13 | if ( sigma2s.size( ) != taus.size( ) ) 14 | std::cerr << "Error of point size" << std::endl; 15 | 16 | m_taus = taus; 17 | 18 | std::vector< double > init = initValue( sigma2s, taus ); 19 | 20 | int num_samples = sigma2s.size( ); 21 | // double param[] = { Q, N, B, K, R }; 22 | double param[] = { init[0], init[1], init[2], init[3], init[4] }; 23 | 24 | ceres::Problem problem; 25 | 26 | for ( int i = 0; i < num_samples; ++i ) 27 | { 28 | // std::cout << "sigma " << i << " " << taus[i] << " " << sigma2s[i] << std::endl; 29 | 30 | ceres::CostFunction* f = new ceres::AutoDiffCostFunction< AllanSigmaError, 1, 5 >( 31 | new AllanSigmaError( sigma2s[i], taus[i] ) ); 32 | 33 | problem.AddResidualBlock( f, NULL /* squared loss */, param ); 34 | } 35 | ceres::Solver::Options options; 36 | options.minimizer_progress_to_stdout = true; 37 | options.logging_type = ceres::SILENT; 38 | options.trust_region_strategy_type = ceres::DOGLEG; 39 | // options.max_num_iterations = 5; 40 | 41 | ceres::Solver::Summary summary; 42 | ceres::Solve( options, &problem, &summary ); 43 | // std::cout << summary.FullReport( ) << "\n"; 44 | // std::cout << "num_parameters " << summary.num_parameters << std::endl; 45 | 46 | Q = param[0]; 47 | N = param[1]; 48 | B = param[2]; 49 | K = param[3]; 50 | R = param[4]; 51 | 52 | // std::cout << "Q " << Q // 53 | // << " " << N // 54 | // << " " << B // 55 | // << " " << K // 56 | // << " " << R << std::endl; 57 | 58 | std::cout << " Bias Instability " << getB( ) / ( 57.3 * 3600 ) << " rad/s" << std::endl; 59 | std::cout << " Bias Instability " << getBiasInstability( ) << " rad/s, at " 60 | << taus[findMinIndex( calcSimDeviation( taus ) )] << " s" << std::endl; 61 | 62 | std::cout << " White Noise " << sqrt( freq ) * getN( ) * 60 / 57.3 << " rad/s" << std::endl; 63 | std::cout << " White Noise " << getWhiteNoise( ) << " rad/s" << std::endl; 64 | } 65 | 66 | std::vector< double > 67 | FitAllanGyr::initValue( std::vector< double > sigma2s, std::vector< double > taus ) 68 | { 69 | if ( sigma2s.size( ) != taus.size( ) ) 70 | std::cout << " Error with data size!!!" << std::endl; 71 | 72 | Eigen::MatrixXd Y( sigma2s.size( ), 1 ); 73 | 74 | for ( unsigned int index = 0; index < sigma2s.size( ); ++index ) 75 | { 76 | Y( index, 0 ) = sqrt( sigma2s[index] ); 77 | } 78 | // std::cout << "Y " << Y << std::endl; 79 | 80 | int m_order = 2; 81 | 82 | Eigen::MatrixXd B( 2 * m_order + 1, 1 ); 83 | B.setZero( ); 84 | 85 | Eigen::MatrixXd F( taus.size( ), 2 * m_order + 1 ); 86 | F.setZero( ); 87 | 88 | for ( unsigned int index = 0; index < taus.size( ); ++index ) 89 | for ( int order_index = 0; order_index < 2 * m_order + 1; ++order_index ) 90 | { 91 | int kk = order_index - m_order; 92 | F( index, order_index ) = pow( sqrt( taus[index] ), kk ); 93 | } 94 | // std::cout << "F " << F << std::endl; 95 | 96 | Eigen::MatrixXd A = F.transpose( ) * F; 97 | B = F.transpose( ) * Y; 98 | // std::cout << "B " << B << std::endl; 99 | // std::cout << "A " << A << std::endl; 100 | 101 | Eigen::MatrixXd C = A.inverse( ) * B; 102 | std::cout << "C " << C.transpose( ) << std::endl; 103 | 104 | std::vector< double > init; 105 | for ( int index = 0; index < 2 * m_order + 1; ++index ) 106 | init.push_back( std::abs( C( index, 0 ) ) ); 107 | 108 | return init; 109 | } 110 | 111 | std::vector< double > 112 | FitAllanGyr::calcSimDeviation( const std::vector< double > taus ) const 113 | { 114 | std::vector< double > des; 115 | for ( auto& tau : taus ) 116 | des.push_back( sqrt( calcSigma2( Q, N, B, K, R, tau ) ) ); 117 | return des; 118 | } 119 | 120 | double 121 | FitAllanGyr::getBiasInstability( ) const 122 | { 123 | return findMinNum( calcSimDeviation( m_taus ) ) / ( 57.3 * 3600 ); 124 | } 125 | 126 | double 127 | FitAllanGyr::getWhiteNoise( ) const 128 | { 129 | return sqrt( freq ) * sqrt( calcSigma2( Q, N, B, K, R, 1 ) ) / ( 57.3 * 3600 ); 130 | } 131 | 132 | double 133 | FitAllanGyr::findMinNum( const std::vector< double > num ) const 134 | { 135 | double min = 1000.0; 136 | for ( unsigned int index = 0; index < num.size( ); ++index ) 137 | min = min < num[index] ? min : num[index]; 138 | return min; 139 | } 140 | 141 | int 142 | FitAllanGyr::findMinIndex( std::vector< double > num ) 143 | { 144 | double min = 1000.0; 145 | int min_index = 0; 146 | for ( unsigned int index = 0; index < num.size( ); ++index ) 147 | { 148 | min_index = min < num[index] ? min_index : index; 149 | min = min < num[index] ? min : num[index]; 150 | } 151 | return min_index; 152 | } 153 | 154 | double 155 | FitAllanGyr::calcSigma2( double _Q, double _N, double _B, double _K, double _R, double _tau ) const 156 | { 157 | // clang-format off 158 | return _Q * _Q / ( _tau * _tau ) 159 | + _N * _N / _tau 160 | + _B * _B 161 | + _K * _K * _tau 162 | + _R * _R * _tau * _tau; 163 | // clang-format on 164 | } 165 | 166 | double 167 | FitAllanGyr::getN( ) const 168 | { 169 | return sqrt( N * N ) / 60.0; 170 | } 171 | 172 | double 173 | FitAllanGyr::getB( ) const 174 | { 175 | return sqrt( B * B ) / 0.6642824703; 176 | } 177 | 178 | double 179 | FitAllanGyr::getK( ) const 180 | { 181 | return 60.0 * sqrt( 3.0 * K * K ); 182 | } 183 | 184 | double 185 | FitAllanGyr::getR( ) const 186 | { 187 | return 3600.0 * sqrt( 2.0 * R * R ); 188 | } 189 | 190 | double 191 | FitAllanGyr::getQ( ) const 192 | { 193 | return sqrt( Q * Q ) / ( 3600.0 * sqrt( 3.0 ) ); 194 | } 195 | -------------------------------------------------------------------------------- /src/gyr_lib/fitallan_gyr.h: -------------------------------------------------------------------------------- 1 | #ifndef FitAllanGyr_H 2 | #define FitAllanGyr_H 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | namespace imu 9 | { 10 | 11 | class FitAllanGyr 12 | { 13 | class AllanSigmaError 14 | { 15 | public: 16 | AllanSigmaError( const double& _sigma2, const double& _tau ) 17 | : sigma2( _sigma2 ) 18 | , tau( _tau ) 19 | { 20 | } 21 | 22 | template< typename T > 23 | T calcLog10( T src ) const 24 | { 25 | return ( log( src ) ) / ( log( 10 ) ); 26 | } 27 | 28 | template< typename T > 29 | T calcSigma2( T _Q, T _N, T _B, T _K, T _R, T _tau ) const 30 | { 31 | // clang-format off 32 | return _Q * _Q / ( _tau * _tau ) 33 | + _N * _N / _tau 34 | + _B * _B 35 | + _K * _K * _tau 36 | + _R * _R * _tau * _tau; 37 | // clang-format on 38 | } 39 | 40 | template< typename T > 41 | bool operator( )( const T* const _paramt, T* residuals ) const 42 | { 43 | T _Q = T( _paramt[0] ); 44 | T _N = T( _paramt[1] ); 45 | T _B = T( _paramt[2] ); 46 | T _K = T( _paramt[3] ); 47 | T _R = T( _paramt[4] ); 48 | T _tau = T( tau ); 49 | 50 | T _sigma2 = calcSigma2( _Q, _N, _B, _K, _R, _tau ); 51 | T _dsigma2 = T( calcLog10( _sigma2 ) ) - T( calcLog10( sigma2 ) ); 52 | residuals[0] = _dsigma2; 53 | // std::cout << "_err " << T( sigma2 ) << " " << _sigma2 << std::endl; 54 | 55 | return true; 56 | } 57 | 58 | double sigma2; 59 | double tau; 60 | }; 61 | 62 | public: 63 | FitAllanGyr( std::vector< double > sigma2s, std::vector< double > taus, double _freq ); 64 | std::vector< double > calcSimDeviation( const std::vector< double > taus ) const; 65 | double getBiasInstability( ) const; 66 | double getWhiteNoise( ) const; 67 | 68 | private: 69 | std::vector< double > initValue( std::vector< double > sigma2s, std::vector< double > taus ); 70 | double findMinNum( const std::vector< double > num ) const; 71 | int findMinIndex( std::vector< double > num ); 72 | double calcSigma2( double _Q, double _N, double _B, double _K, double _R, double _tau ) const; 73 | 74 | public: 75 | /** 76 | * @brief getQ 77 | * Quantization Noise 78 | * @unit: degree 79 | * @return 80 | */ 81 | double getQ( ) const; 82 | /** 83 | * @brief getN 84 | * Angle Random Walk 85 | * @unit: degree / sqrt( hour ) 86 | * @return 87 | */ 88 | double getN( ) const; 89 | /** 90 | * @brief getB 91 | * Bias Instability 92 | * @unit: degree / hour 93 | * @return 94 | */ 95 | double getB( ) const; 96 | /** 97 | * @brief getK 98 | * Rate Random Walk 99 | * @unit: degree / (hour*sqrt(hour)) 100 | * @return 101 | */ 102 | double getK( ) const; 103 | /** 104 | * @brief getR 105 | * Angle Rate Ramp 106 | * @unit: degree / (hour * hour) 107 | * @return 108 | */ 109 | double getR( ) const; 110 | 111 | double Q; 112 | double N; 113 | double B; 114 | double K; 115 | double R; 116 | 117 | private: 118 | std::vector< double > m_taus; 119 | double freq; 120 | }; 121 | } 122 | #endif // FitAllanGyr_H 123 | -------------------------------------------------------------------------------- /src/type.h: -------------------------------------------------------------------------------- 1 | #ifndef TYPE_H 2 | #define TYPE_H 3 | 4 | class Data 5 | { 6 | public: 7 | Data( ) 8 | : v( 0.0 ) 9 | , t( 0.0 ) 10 | { 11 | } 12 | Data( double data, double time ) 13 | : v( data ) 14 | , t( time ) 15 | { 16 | } 17 | 18 | double v; 19 | double t; 20 | }; 21 | 22 | class AccData 23 | { 24 | public: 25 | AccData( ) 26 | : a( 0.0 ) 27 | , t( 0.0 ) 28 | { 29 | } 30 | AccData( double data, double time ) 31 | : a( data ) 32 | , t( time ) 33 | { 34 | } 35 | 36 | double a; 37 | double t; 38 | }; 39 | 40 | class GyrData 41 | { 42 | public: 43 | GyrData( ) 44 | : w( 0.0 ) 45 | , t( 0.0 ) 46 | { 47 | } 48 | GyrData( double data, double time ) 49 | : w( data ) 50 | , t( time ) 51 | { 52 | } 53 | 54 | double w; 55 | double t; 56 | }; 57 | 58 | #endif // TYPE_H 59 | -------------------------------------------------------------------------------- /src/utils.h: -------------------------------------------------------------------------------- 1 | #ifndef UTILS_H 2 | #define UTILS_H 3 | 4 | #include 5 | 6 | #define M_PI_CON 3.141592653589 7 | 8 | namespace utils 9 | { 10 | template< class T > 11 | T 12 | avg( const std::vector< T > datas ) 13 | { 14 | T sum_data = T( 0 ); 15 | for ( auto data : datas ) 16 | sum_data += data; 17 | return sum_data / datas.size( ); 18 | } 19 | } 20 | 21 | #endif // UTILS_H 22 | --------------------------------------------------------------------------------