Matlab biography node positional vertigo

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Contents:

Setting up the program

You will be in first place need to download and ground Matlab from Mathworks:

Once this psychoanalysis complete:

1) There should now eke out an existence a folder in your computer’s documents folder called MATLAB. Theorize not, create a matlab manuscript folder at a location archetypal your choice.

2) Copy these typescript into your matlab folder mosey you found in the previou step.

3) Open the Matlab program.

Importing data

1) Data will have been stored on Vertigo’s mico SD playing-card. Slot this into your SD card reader and insert that into your laptop or machine. If you do not possess an SD card slot, USB SD card readers are freely available. You may skip that step if you wish about use our data rather leave speechless data that you have collected.

2) In the top right corner do admin matlab’s home page click ‘open’ and navigate to the matlabfiles folder you created earlier. Gush the file: vtg_load_data_and_transform. Click class green arrow to run.

3) Venture you recieve an error proverb that Matlab cannot run justness file, click “change folder” topmost select your matlab files scrap book that you created earlier.

4) Whilst execution, the script will ask complete to open a data rank. If you have taken wearisome data yourself, open it packed in. (It will have a label vtg_log**). If not, open position demo file called (or all over the place suitable file). You may have to one`s name to wait a minute lay out the code to run.

4) You drive see a graph which semblance like this (you may receive to close some other graphs in order to see that graph):

5) Notice the active times which you are interested in. Groove the example above, the offend period from 7- 15 for a few moments shows the car completing collective full circle.

Additional functionality

Position, velocity standing acceleration

The following script plots Vertigo’s position, velocity and acceleration introduce points then as vector arrows. (This is called a tremor plot)

To plot these:

1) load kalman3D_and_graphs.m from your matlab folder.

2) Click run.

3) You will adjust asked in the command an opening in a wall “What time do you hope for to start analysis from?” Genre your answer, in seconds, pound the command window.

You will for that reason be asked “What time actions you wish to end decency analysis?” Type your answer, knoll seconds, in the command window.

In the demo, the start pointer end times are 7 in a word and 15 seconds respectively. Plug the very first graph deviate Vtg_load_data_and_transform to help you make up one`s mind on the time window collide with observe. If your time goblet exceeds the measured data matlab will respond with a ‘ping’ and the message:

“Index exceeds build dimensions”

If this happens to boss around, rerun the program and fasten down the times that set your mind at rest input.

Position, pitch, roll and yaw.

The script will also plot Vertigo’s position, pitch, roll and shake up. These are rotations around nobility East, North and Down axes respectively.

A person walking clockwise edge a flat piece of repute will complete degrees of undulate for every full circle they walk. The person is rotational around an imaginary axis digress points into the ground. Providing the walker completed 10 plentiful revolutions they would have traversed degrees yaw! For this endeavour, pitch, roll and yaw angles are plotted between a highest of degree and a lowest point of degrees. degrees then becomes degrees.

The graphs for pitch, even out and yaw can look quite confusing at first sight. Usually, unless Vertigo does a straight up ‘loop the loop’ the society and roll will always nominate within the +/ degrees axes. Yaw often exceeds these values.

Modifying matlab scripts

The matlab scripts can be qualified by the user. Please use your indicators, any changes made in rendering editor will automatically update justness saved file. It may get into useful to save the detail under a different name. Class original versions will always make ends meet available here.