From 218d1c92d6a68b2b3d695f68f1d69a626372a4b4 Mon Sep 17 00:00:00 2001
From: logzhan <719901725@qq.com>
Date: Sat, 27 Apr 2024 17:13:37 +0800
Subject: [PATCH] init commit
---
UWBAnimationShow/12.14.19.csv | 11686 ++++++++++++++++
UWBAnimationShow/12.14.22.csv | 11668 +++++++++++++++
UWBAnimationShow/AHRS.m | 111 +
.../.gitignore | 169 +
.../Gait-Tracking-With-x-IMU-master/README.md | 14 +
...Screenshot - MATLAB Animation Close-Up.png | Bin 0 -> 492601 bytes
...nshot - MATLAB Animation Spiral Stairs.png | Bin 0 -> 403494 bytes
.../Screenshot - x-IMU Attached To Foot.png | Bin 0 -> 1003257 bytes
UWBAnimationShow/Quaternions/TestScript.m | 73 +
.../Quaternions/axisAngle2quatern.m | 8 +
.../Quaternions/axisAngle2rotMat.m | 21 +
UWBAnimationShow/Quaternions/euler2rotMat.m | 14 +
UWBAnimationShow/Quaternions/quatern2euler.m | 17 +
UWBAnimationShow/Quaternions/quatern2rotMat.m | 14 +
UWBAnimationShow/Quaternions/quaternConj.m | 3 +
UWBAnimationShow/Quaternions/quaternProd.m | 7 +
UWBAnimationShow/Quaternions/quaternRotate.m | 6 +
UWBAnimationShow/Quaternions/rotMat2euler.m | 11 +
UWBAnimationShow/Quaternions/rotMat2quatern.m | 30 +
UWBAnimationShow/Script.m | 234 +
UWBAnimationShow/SixDofAnimation.m | 255 +
UWBAnimationShow/UWBIns.mat | Bin 0 -> 192383 bytes
UWBAnimationShow/UWBIns2.mat | Bin 0 -> 191055 bytes
UWBAnimationShow/script1.m | 28 +
UWBAnimationShow/script2.m | 60 +
.../ADXL345busDataBaseClass.m | 97 +
.../AnalogueInputDataBaseClass.m | 69 +
.../BatteryAndThermometerDataBaseClass.m | 60 +
.../CalADXL345busDataClass.m | 23 +
.../CalAnalogueInputDataClass.m | 23 +
.../CalBatteryAndThermometerDataClass.m | 24 +
.../CalInertialAndMagneticDataClass.m | 25 +
.../ximu_matlab_library/CommandDataClass.m | 18 +
.../ximu_matlab_library/DataBaseClass.m | 44 +
.../ximu_matlab_library/DateTimeDataClass.m | 30 +
.../ximu_matlab_library/DigitalIODataClass.m | 65 +
.../ximu_matlab_library/ErrorDataClass.m | 18 +
.../EulerAnglesDataClass.m | 48 +
.../ximu_matlab_library/ImportDirectory.m | 38 +
.../InertialAndMagneticDataBaseClass.m | 85 +
.../ximu_matlab_library/PWMoutputDataClass.m | 22 +
.../ximu_matlab_library/QuaternionDataClass.m | 26 +
.../RawADXL345busDataClass.m | 23 +
.../RawAnalogueInputDataClass.m | 23 +
.../RawBatteryAndThermometerDataClass.m | 24 +
.../RawInertialAndMagneticDataClass.m | 25 +
.../ximu_matlab_library/RegisterDataClass.m | 62 +
.../RotationMatrixDataClass.m | 35 +
.../ximu_matlab_library/SyncroniseData.m | 101 +
.../TimeSeriesDataBaseClass.m | 54 +
.../ximu_matlab_library/xIMUdataClass.m | 116 +
UWBFilter/C++/Src/UWBFilter.cpp | 30 +
UWBFilter/C++/Src/UWBFilter.h | 14 +
UWBFilter/C++/Src/main.cpp | 46 +
.../C++/VS2019/UWBFIlter/Debug/UWBFIlter.exe | Bin 0 -> 121344 bytes
.../C++/VS2019/UWBFIlter/Debug/UWBFIlter.pdb | Bin 0 -> 1839104 bytes
UWBFilter/C++/VS2019/UWBFIlter/Debug/a3.txt | 1267 ++
.../C++/VS2019/UWBFIlter/Debug/a3_out.txt | 1267 ++
UWBFilter/C++/VS2019/UWBFIlter/Debug/data.txt | 614 +
.../VS2019/UWBFIlter/Debug/data_filter.txt | 409 +
.../C++/VS2019/UWBFIlter/Debug/data_out.txt | 613 +
UWBFilter/C++/VS2019/UWBFIlter/Debug/f1.txt | 410 +
UWBFilter/C++/VS2019/UWBFIlter/Debug/f2.txt | 207 +
UWBFilter/C++/VS2019/UWBFIlter/Debug/f3.txt | 203 +
.../C++/VS2019/UWBFIlter/Debug/f3_out.txt | 203 +
.../C++/VS2019/UWBFIlter/Debug/show_c_res.m | 15 +
UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter.sln | 31 +
.../UWBFIlter/Debug/UWBFIlter.exe.recipe | 11 +
.../UWBFIlter/UWBFIlter/Debug/UWBFIlter.ilk | Bin 0 -> 938320 bytes
.../UWBFIlter/UWBFIlter/Debug/UWBFIlter.log | 2 +
.../Debug/UWBFIlter.tlog/CL.command.1.tlog | Bin 0 -> 1494 bytes
.../Debug/UWBFIlter.tlog/CL.read.1.tlog | Bin 0 -> 20984 bytes
.../Debug/UWBFIlter.tlog/CL.write.1.tlog | Bin 0 -> 1494 bytes
.../UWBFIlter.tlog/UWBFIlter.lastbuildstate | 2 +
.../Debug/UWBFIlter.tlog/link.command.1.tlog | Bin 0 -> 1300 bytes
.../Debug/UWBFIlter.tlog/link.read.1.tlog | Bin 0 -> 3456 bytes
.../Debug/UWBFIlter.tlog/link.write.1.tlog | Bin 0 -> 532 bytes
.../UWBFIlter/UWBFIlter/Debug/UWBFilter.obj | Bin 0 -> 6559 bytes
.../VS2019/UWBFIlter/UWBFIlter/Debug/main.obj | Bin 0 -> 340047 bytes
.../UWBFIlter/UWBFIlter/Debug/vc142.idb | Bin 0 -> 175104 bytes
.../UWBFIlter/UWBFIlter/Debug/vc142.pdb | Bin 0 -> 454656 bytes
.../UWBFIlter/UWBFIlter/UWBFIlter.vcxproj | 151 +
.../UWBFIlter/UWBFIlter.vcxproj.filters | 30 +
.../UWBFIlter/UWBFIlter.vcxproj.user | 4 +
.../VS2019/UWBFIlter/UWBFIlter/UWBFilter.cpp | 30 +
.../VS2019/UWBFIlter/UWBFIlter/UWBFilter.h | 14 +
.../C++/VS2019/UWBFIlter/UWBFIlter/main.cpp | 46 +
.../x64/Debug/UWBFIlter.Build.CppClean.log | 13 +
.../UWBFIlter/x64/Debug/UWBFIlter.exe.recipe | 11 +
.../UWBFIlter/x64/Debug/UWBFIlter.ilk | Bin 0 -> 999320 bytes
.../UWBFIlter/x64/Debug/UWBFIlter.log | 4 +
.../Debug/UWBFIlter.tlog/CL.command.1.tlog | Bin 0 -> 1430 bytes
.../x64/Debug/UWBFIlter.tlog/CL.read.1.tlog | Bin 0 -> 20244 bytes
.../x64/Debug/UWBFIlter.tlog/CL.write.1.tlog | Bin 0 -> 1104 bytes
.../UWBFIlter.tlog/UWBFIlter.lastbuildstate | 2 +
.../Debug/UWBFIlter.tlog/link.command.1.tlog | Bin 0 -> 1364 bytes
.../x64/Debug/UWBFIlter.tlog/link.read.1.tlog | Bin 0 -> 3574 bytes
.../Debug/UWBFIlter.tlog/link.write.1.tlog | Bin 0 -> 572 bytes
.../UWBFIlter.vcxproj.FileListAbsolute.txt | 0
.../UWBFIlter/x64/Debug/UWBFilter.obj | Bin 0 -> 5966 bytes
.../UWBFIlter/UWBFIlter/x64/Debug/main.obj | Bin 0 -> 429509 bytes
.../UWBFIlter/UWBFIlter/x64/Debug/vc142.idb | Bin 0 -> 183296 bytes
.../UWBFIlter/UWBFIlter/x64/Debug/vc142.pdb | Bin 0 -> 446464 bytes
.../VS2019/UWBFIlter/x64/Debug/UWBFIlter.exe | Bin 0 -> 152064 bytes
.../VS2019/UWBFIlter/x64/Debug/UWBFIlter.pdb | Bin 0 -> 1355776 bytes
UWBFilter/Matlab/data.csv | 3612 +++++
UWBFilter/Matlab/data.mat | Bin 0 -> 3053 bytes
UWBFilter/Matlab/data_out.csv | 3611 +++++
UWBFilter/Matlab/data_out.txt | 2036 +++
UWBFilter/Matlab/script2.m | 32 +
UWBFilter/Matlab/show_c_res.m | 12 +
UWBFilter/Matlab/uwb_filter.m | 44 +
UWBFilter/TestResult/1.txt | 2037 +++
UWBFilter/TestResult/2.txt | 1524 ++
UWBFilter/TestResult/data1.txt | 4802 +++++++
UWBFilter/TestResult/data2.txt | 6635 +++++++++
UWBFilter/TestResult/data3.txt | 2790 ++++
UWBFilter/TestResult/data4.txt | 1505 ++
UWBFilter/TestResult/filter2.m | 50 +
UWBFilter/TestResult/show_result.m | 15 +
120 files changed, 59961 insertions(+)
create mode 100644 UWBAnimationShow/12.14.19.csv
create mode 100644 UWBAnimationShow/12.14.22.csv
create mode 100644 UWBAnimationShow/AHRS.m
create mode 100644 UWBAnimationShow/Gait-Tracking-With-x-IMU-master/.gitignore
create mode 100644 UWBAnimationShow/Gait-Tracking-With-x-IMU-master/README.md
create mode 100644 UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot - MATLAB Animation Close-Up.png
create mode 100644 UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot - MATLAB Animation Spiral Stairs.png
create mode 100644 UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot - x-IMU Attached To Foot.png
create mode 100644 UWBAnimationShow/Quaternions/TestScript.m
create mode 100644 UWBAnimationShow/Quaternions/axisAngle2quatern.m
create mode 100644 UWBAnimationShow/Quaternions/axisAngle2rotMat.m
create mode 100644 UWBAnimationShow/Quaternions/euler2rotMat.m
create mode 100644 UWBAnimationShow/Quaternions/quatern2euler.m
create mode 100644 UWBAnimationShow/Quaternions/quatern2rotMat.m
create mode 100644 UWBAnimationShow/Quaternions/quaternConj.m
create mode 100644 UWBAnimationShow/Quaternions/quaternProd.m
create mode 100644 UWBAnimationShow/Quaternions/quaternRotate.m
create mode 100644 UWBAnimationShow/Quaternions/rotMat2euler.m
create mode 100644 UWBAnimationShow/Quaternions/rotMat2quatern.m
create mode 100644 UWBAnimationShow/Script.m
create mode 100644 UWBAnimationShow/SixDofAnimation.m
create mode 100644 UWBAnimationShow/UWBIns.mat
create mode 100644 UWBAnimationShow/UWBIns2.mat
create mode 100644 UWBAnimationShow/script1.m
create mode 100644 UWBAnimationShow/script2.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/ADXL345busDataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/AnalogueInputDataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/CalADXL345busDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/CalAnalogueInputDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/CalBatteryAndThermometerDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/CalInertialAndMagneticDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/CommandDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/DataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/DateTimeDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/DigitalIODataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/ErrorDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/EulerAnglesDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/ImportDirectory.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/InertialAndMagneticDataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/PWMoutputDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/QuaternionDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RawADXL345busDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RawAnalogueInputDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RawBatteryAndThermometerDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RawInertialAndMagneticDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RegisterDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/RotationMatrixDataClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/SyncroniseData.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/TimeSeriesDataBaseClass.m
create mode 100644 UWBAnimationShow/ximu_matlab_library/xIMUdataClass.m
create mode 100644 UWBFilter/C++/Src/UWBFilter.cpp
create mode 100644 UWBFilter/C++/Src/UWBFilter.h
create mode 100644 UWBFilter/C++/Src/main.cpp
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.exe
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.pdb
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/a3.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/a3_out.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/data.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/data_filter.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/data_out.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/f1.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/f2.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/f3.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/f3_out.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/Debug/show_c_res.m
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter.sln
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.exe.recipe
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.ilk
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.log
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.command.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.read.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.write.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
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create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.write.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFilter.obj
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create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFilter.h
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/main.cpp
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.Build.CppClean.log
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.exe.recipe
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.ilk
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.log
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.command.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.read.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.write.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.command.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.read.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.write.1.tlog
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.vcxproj.FileListAbsolute.txt
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFilter.obj
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/main.obj
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/vc142.idb
create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/vc142.pdb
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create mode 100644 UWBFilter/C++/VS2019/UWBFIlter/x64/Debug/UWBFIlter.pdb
create mode 100644 UWBFilter/Matlab/data.csv
create mode 100644 UWBFilter/Matlab/data.mat
create mode 100644 UWBFilter/Matlab/data_out.csv
create mode 100644 UWBFilter/Matlab/data_out.txt
create mode 100644 UWBFilter/Matlab/script2.m
create mode 100644 UWBFilter/Matlab/show_c_res.m
create mode 100644 UWBFilter/Matlab/uwb_filter.m
create mode 100644 UWBFilter/TestResult/1.txt
create mode 100644 UWBFilter/TestResult/2.txt
create mode 100644 UWBFilter/TestResult/data1.txt
create mode 100644 UWBFilter/TestResult/data2.txt
create mode 100644 UWBFilter/TestResult/data3.txt
create mode 100644 UWBFilter/TestResult/data4.txt
create mode 100644 UWBFilter/TestResult/filter2.m
create mode 100644 UWBFilter/TestResult/show_result.m
diff --git a/UWBAnimationShow/12.14.19.csv b/UWBAnimationShow/12.14.19.csv
new file mode 100644
index 0000000..b801cee
--- /dev/null
+++ b/UWBAnimationShow/12.14.19.csv
@@ -0,0 +1,11686 @@
+timeNow,imuPosX,imuPosY,uwbPosX,uwbPosY,syncPosX,syncPosY,lightHousePosX,lightHousePosY,lightHousePosZ
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\ No newline at end of file
diff --git a/UWBAnimationShow/12.14.22.csv b/UWBAnimationShow/12.14.22.csv
new file mode 100644
index 0000000..5641e5f
--- /dev/null
+++ b/UWBAnimationShow/12.14.22.csv
@@ -0,0 +1,11668 @@
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\ No newline at end of file
diff --git a/UWBAnimationShow/AHRS.m b/UWBAnimationShow/AHRS.m
new file mode 100644
index 0000000..78d4089
--- /dev/null
+++ b/UWBAnimationShow/AHRS.m
@@ -0,0 +1,111 @@
+classdef AHRS < handle
+
+ %% Public properties
+ properties (Access = public)
+ SamplePeriod = 1/256;
+ Quaternion = [1 0 0 0]; % output quaternion describing the sensor relative to the Earth
+ Kp = 2; % proportional gain
+ Ki = 0; % integral gain
+ KpInit = 200; % proportional gain used during initialisation
+ InitPeriod = 5; % initialisation period in seconds
+ end
+
+ %% Private properties
+ properties (Access = private)
+ q = [1 0 0 0]; % internal quaternion describing the Earth relative to the sensor
+ IntError = [0 0 0]'; % integral error
+ KpRamped; % internal proportional gain used to ramp during initialisation
+ end
+
+ %% Public methods
+ methods (Access = public)
+ function obj = AHRS(varargin)
+ for i = 1:2:nargin
+ if strcmp(varargin{i}, 'SamplePeriod'), obj.SamplePeriod = varargin{i+1};
+ elseif strcmp(varargin{i}, 'Quaternion')
+ obj.Quaternion = varargin{i+1};
+ obj.q = quaternConj(obj.Quaternion);
+ elseif strcmp(varargin{i}, 'Kp'), obj.Kp = varargin{i+1};
+ elseif strcmp(varargin{i}, 'Ki'), obj.Ki = varargin{i+1};
+ elseif strcmp(varargin{i}, 'KpInit'), obj.KpInit = varargin{i+1};
+ elseif strcmp(varargin{i}, 'InitPeriod'), obj.InitPeriod = varargin{i+1};
+ else error('Invalid argument');
+ end
+ obj.KpRamped = obj.KpInit;
+ end;
+ end
+ function obj = Update(obj, Gyroscope, Accelerometer, Magnetometer)
+ error('This method is unimplemented');
+ end
+ function obj = UpdateIMU(obj, Gyroscope, Accelerometer)
+
+ % Normalise accelerometer measurement
+ if(norm(Accelerometer) == 0) % handle NaN
+ warning(0, 'Accelerometer magnitude is zero. Algorithm update aborted.');
+ return;
+ else
+ Accelerometer = Accelerometer / norm(Accelerometer); % normalise measurement
+ end
+
+ % Compute error between estimated and measured direction of gravity
+ v = [2*(obj.q(2)*obj.q(4) - obj.q(1)*obj.q(3))
+ 2*(obj.q(1)*obj.q(2) + obj.q(3)*obj.q(4))
+ obj.q(1)^2 - obj.q(2)^2 - obj.q(3)^2 + obj.q(4)^2]; % estimated direction of gravity
+ error = cross(v, Accelerometer');
+
+% % Compute ramped Kp value used during init period
+% if(obj.KpRamped > obj.Kp)
+% obj.IntError = [0 0 0]';
+% obj.KpRamped = obj.KpRamped - (obj.KpInit - obj.Kp) / (obj.InitPeriod / obj.SamplePeriod);
+% else % init period complete
+% obj.KpRamped = obj.Kp;
+ obj.IntError = obj.IntError + error; % compute integral feedback terms (only outside of init period)
+% end
+
+ % Apply feedback terms
+ Ref = Gyroscope - (obj.Kp*error + obj.Ki*obj.IntError)';
+
+ % Compute rate of change of quaternion
+ pDot = 0.5 * obj.quaternProd(obj.q, [0 Ref(1) Ref(2) Ref(3)]); % compute rate of change of quaternion
+ obj.q = obj.q + pDot * obj.SamplePeriod; % integrate rate of change of quaternion
+ obj.q = obj.q / norm(obj.q); % normalise quaternion
+
+ % Store conjugate
+ obj.Quaternion = obj.quaternConj(obj.q);
+ end
+ function obj = Reset(obj)
+ obj.KpRamped = obj.KpInit; % start Kp ramp-down
+ obj.IntError = [0 0 0]'; % reset integral terms
+ obj.q = [1 0 0 0]; % set quaternion to alignment
+ end
+% function obj = StepDownKp(obj, Kp)
+% obj.KpRamped = Kp;
+% obj.Kp = Kp;
+% end
+ end
+
+ %% Get/set methods
+ methods
+ function obj = set.Quaternion(obj, value)
+ if(norm(value) == 0)
+ error('Quaternion magnitude cannot be zero.');
+ end
+ value = value / norm(value);
+ obj.Quaternion = value;
+ obj.q = obj.quaternConj(value);
+ end
+ end
+
+ %% Private methods
+ methods (Access = private)
+ function ab = quaternProd(obj, a, b)
+ ab(:,1) = a(:,1).*b(:,1)-a(:,2).*b(:,2)-a(:,3).*b(:,3)-a(:,4).*b(:,4);
+ ab(:,2) = a(:,1).*b(:,2)+a(:,2).*b(:,1)+a(:,3).*b(:,4)-a(:,4).*b(:,3);
+ ab(:,3) = a(:,1).*b(:,3)-a(:,2).*b(:,4)+a(:,3).*b(:,1)+a(:,4).*b(:,2);
+ ab(:,4) = a(:,1).*b(:,4)+a(:,2).*b(:,3)-a(:,3).*b(:,2)+a(:,4).*b(:,1);
+ end
+ function qConj = quaternConj(obj, q)
+ qConj = [q(:,1) -q(:,2) -q(:,3) -q(:,4)];
+ end
+ end
+end
\ No newline at end of file
diff --git a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/.gitignore b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/.gitignore
new file mode 100644
index 0000000..0249726
--- /dev/null
+++ b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/.gitignore
@@ -0,0 +1,169 @@
+#################
+## Eclipse
+#################
+
+*.pydevproject
+.project
+.metadata
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.classpath
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+
+#################
+## Visual Studio
+#################
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+
+# Build results
+[Dd]ebug/
+[Rr]elease/
+*_i.c
+*_p.c
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.vspscc
+.builds
+*.dotCover
+
+## TODO: If you have NuGet Package Restore enabled, uncomment this
+#packages/
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+
+# Visual Studio profiler
+*.psess
+*.vsp
+
+# ReSharper is a .NET coding add-in
+_ReSharper*
+
+# Installshield output folder
+[Ee]xpress
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish
+
+# Others
+[Bb]in
+[Oo]bj
+sql
+TestResults
+*.Cache
+ClientBin
+stylecop.*
+~$*
+*.dbmdl
+Generated_Code #added for RIA/Silverlight projects
+
+# Backup & report files from converting an old project file to a newer
+# Visual Studio version. Backup files are not needed, because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+
+
+
+############
+## Windows
+############
+
+# Windows image file caches
+Thumbs.db
+
+# Folder config file
+Desktop.ini
+
+
+#############
+## Python
+#############
+
+*.py[co]
+
+# Packages
+*.egg
+*.egg-info
+dist
+build
+eggs
+parts
+bin
+var
+sdist
+develop-eggs
+.installed.cfg
+
+# Installer logs
+pip-log.txt
+
+# Unit test / coverage reports
+.coverage
+.tox
+
+#Translations
+*.mo
+
+#Mr Developer
+.mr.developer.cfg
+
+# Mac crap
+.DS_Store
+
+##################
+# Binary archive
+##################
+
+bin-archive/
\ No newline at end of file
diff --git a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/README.md b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/README.md
new file mode 100644
index 0000000..bdd84b2
--- /dev/null
+++ b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/README.md
@@ -0,0 +1,14 @@
+# Gait-Tracking-With-x-IMU
+
+> [!WARNING]
+> This repository is no longer maintained and has been superseded by [Gait-Tracking](https://github.com/xioTechnologies/Gait-Tracking).
+
+This is the source code for the foot tracking algorithm demonstrated in Seb Madgwick's "[3D Tracking with IMU"](http://www.youtube.com/watch?v=6ijArKE8vKU) video, originally uploaded to YouTube in March 2011. An [x-IMU](http://www.x-io.co.uk/x-imu) attached to a foot is be used to track position through [dead reckoning](http://en.wikipedia.org/wiki/Dead_reckoning) and integral drift corrected for each time the foot hit the ground.
+
+See the [original post](http://www.x-io.co.uk/gait-tracking-with-x-imu/) for more information.
+
+
+
+
+
+
diff --git a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot - MATLAB Animation Close-Up.png b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot - MATLAB Animation Close-Up.png
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