init commit

2024-04-27 17:13:37 +08:00 · 2024-04-27 17:13:37 +08:00 · 218d1c92d6
commit 218d1c92d6
120 changed files with 59961 additions and 0 deletions
--- a/UWBAnimationShow/12.14.19.csv
+++ b/UWBAnimationShow/12.14.19.csv
--- a/UWBAnimationShow/12.14.22.csv
+++ b/UWBAnimationShow/12.14.22.csv
--- a/UWBAnimationShow/AHRS.m
+++ 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
--- a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/.gitignore
+++ 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/
--- a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/README.md
+++ 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.
+
+<img src="https://raw.github.com/xioTechnologies/Gait-Tracking-With-x-IMU/master/Screenshot%20-%20x-IMU%20Attached%20To%20Foot.png"/>
+
+<img src="https://raw.github.com/xioTechnologies/Gait-Tracking-With-x-IMU/master/Screenshot%20-%20MATLAB%20Animation%20Close-Up.png"/>
+
+<img src="https://raw.github.com/xioTechnologies/Gait-Tracking-With-x-IMU/master/Screenshot%20-%20MATLAB%20Animation%20Spiral%20Stairs.png"/>
--- a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
+++ b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
--- a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
+++ b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
--- a/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
+++ b/UWBAnimationShow/Gait-Tracking-With-x-IMU-master/Screenshot
--- a/UWBAnimationShow/Quaternions/TestScript.m
+++ b/UWBAnimationShow/Quaternions/TestScript.m
@ -0,0 +1,73 @@
+%% TestScript.m
+
+close all;                          % close all figures
+clear;                              % clear all variables
+clc;                                % clear the command terminal
+
+%% Axis-angle to rotation matrix
+
+axis = [1 2 3];
+axis = axis / norm(axis);
+angle = pi/2;
+
+R = axisAngle2rotMat(axis, angle);
+num = ' % 1.5f';
+a = sprintf('\rAxis-angle to rotation matrix:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num), R(1,:));
+c = sprintf(strcat('\r', num, '\t', num, '\t', num), R(2,:));
+d = sprintf(strcat('\r', num, '\t', num, '\t', num), R(3,:));
+disp(strcat(a,b,c,d));
+
+%% Axis-angle to quaternion
+
+q = axisAngle2quatern(axis, angle);
+num = ' % 1.5f';
+a = sprintf('\rAxis-angle to quaternion:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num, '\t', num), q);
+disp(strcat(a,b));
+
+%% Quaternion to rotation matrix
+
+R = quatern2rotMat(q);
+num = ' % 1.5f';
+a = sprintf('\rQuaternion to rotation matrix:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num), R(1,:));
+c = sprintf(strcat('\r', num, '\t', num, '\t', num), R(2,:));
+d = sprintf(strcat('\r', num, '\t', num, '\t', num), R(3,:));
+disp(strcat(a,b,c,d));
+
+%% Rotation matrix to quaternion
+
+q = rotMat2quatern(R);
+num = ' % 1.5f';
+a = sprintf('\rRotation matrix to quaternion:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num, '\t', num), q);
+disp(strcat(a,b));
+
+%% Rotation matrix to ZYX Euler angles
+
+euler = rotMat2euler(R);
+num = ' % 1.5f';
+a = sprintf('\rRotation matrix to ZYX Euler angles:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num), euler);
+disp(strcat(a,b));
+
+%% Quaternion to ZYX Euler angles
+
+euler = quatern2euler(q);
+num = ' % 1.5f';
+a = sprintf('\rQuaternion to ZYX Euler angles:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num), euler);
+disp(strcat(a,b));
+
+%% ZYX Euler angles to rotation matrix
+
+R = euler2rotMat(euler(1), euler(2), euler(3));
+num = ' % 1.5f';
+a = sprintf('\rZYX Euler angles to rotation matrix:');
+b = sprintf(strcat('\r', num, '\t', num, '\t', num), R(1,:));
+c = sprintf(strcat('\r', num, '\t', num, '\t', num), R(2,:));
+d = sprintf(strcat('\r', num, '\t', num, '\t', num), R(3,:));
+disp(strcat(a,b,c,d));
+
+%% End of file
--- a/UWBAnimationShow/Quaternions/axisAngle2quatern.m
+++ b/UWBAnimationShow/Quaternions/axisAngle2quatern.m
@ -0,0 +1,8 @@
+function q = axisAngle2quatern(axis, angle)
+    q0 = cos(angle./2);
+    q1 = -axis(:,1)*sin(angle./2);
+    q2 = -axis(:,2)*sin(angle./2);
+    q3 = -axis(:,3)*sin(angle./2); 
+    q = [q0 q1 q2 q3];
+end
+
--- a/UWBAnimationShow/Quaternions/axisAngle2rotMat.m
+++ b/UWBAnimationShow/Quaternions/axisAngle2rotMat.m
@ -0,0 +1,21 @@
+function R = axisAngle2rotMat(axis, angle)
+    kx = axis(:,1);
+    ky = axis(:,2);
+    kz = axis(:,3);
+    cT = cos(angle);
+    sT = sin(angle);
+    vT = 1 - cos(angle);
+    
+    R(1,1,:) = kx.*kx.*vT + cT;
+    R(1,2,:) = kx.*ky.*vT - kz.*sT;
+    R(1,3,:) = kx.*kz.*vT + ky.*sT;
+    
+    R(2,1,:) = kx.*ky.*vT + kz.*sT;
+    R(2,2,:) = ky.*ky.*vT + cT;
+    R(2,3,:) = ky.*kz.*vT - kx.*sT;
+    
+    R(3,1,:) = kx.*kz.*vT - ky.*sT;
+    R(3,2,:) = ky.*kz.*vT + kx.*sT;
+    R(3,3,:) = kz.*kz.*vT + cT;
+end
+
--- a/UWBAnimationShow/Quaternions/euler2rotMat.m
+++ b/UWBAnimationShow/Quaternions/euler2rotMat.m
@ -0,0 +1,14 @@
+function R = euler2rotMat(phi, theta, psi)
+    R(1,1,:) = cos(psi).*cos(theta);
+    R(1,2,:) = -sin(psi).*cos(phi) + cos(psi).*sin(theta).*sin(phi);
+    R(1,3,:) = sin(psi).*sin(phi) + cos(psi).*sin(theta).*cos(phi);
+    
+    R(2,1,:) = sin(psi).*cos(theta);
+    R(2,2,:) = cos(psi).*cos(phi) + sin(psi).*sin(theta).*sin(phi);
+    R(2,3,:) = -cos(psi).*sin(phi) + sin(psi).*sin(theta).*cos(phi);
+    
+    R(3,1,:) = -sin(theta);
+    R(3,2,:) = cos(theta).*sin(phi);
+    R(3,3,:) = cos(theta).*cos(phi);
+end
+
--- a/UWBAnimationShow/Quaternions/quatern2euler.m
+++ b/UWBAnimationShow/Quaternions/quatern2euler.m
@ -0,0 +1,17 @@
+function euler = quatern2euler(q)
+    % from paper: "Adaptive Filter for a Miniature MEMS Based Attitude and
+    % Heading Reference System" by Wang et al, IEEE.
+    
+    R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2;
+    R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4));
+    R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3));
+    R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2));
+    R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2;    
+    
+    phi = atan2(R(3,2,:), R(3,3,:) );
+    theta = -atan(R(3,1,:) ./ sqrt(1-R(3,1,:).^2) );    
+    psi = atan2(R(2,1,:), R(1,1,:) );
+
+    euler = [phi(1,:)' theta(1,:)' psi(1,:)']; 
+end
+
--- a/UWBAnimationShow/Quaternions/quatern2rotMat.m
+++ b/UWBAnimationShow/Quaternions/quatern2rotMat.m
@ -0,0 +1,14 @@
+function R = quatern2rotMat(q)
+    [rows cols] = size(q);
+    R = zeros(3,3, rows);
+    R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2;
+    R(1,2,:) = 2.*(q(:,2).*q(:,3)+q(:,1).*q(:,4));
+    R(1,3,:) = 2.*(q(:,2).*q(:,4)-q(:,1).*q(:,3));
+    R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4));
+    R(2,2,:) = 2.*q(:,1).^2-1+2.*q(:,3).^2;
+    R(2,3,:) = 2.*(q(:,3).*q(:,4)+q(:,1).*q(:,2));
+    R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3));
+    R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2));
+    R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2;
+end
+
--- a/UWBAnimationShow/Quaternions/quaternConj.m
+++ b/UWBAnimationShow/Quaternions/quaternConj.m
@ -0,0 +1,3 @@
+function qConj = quaternConj(q)
+    qConj = [q(:,1) -q(:,2) -q(:,3) -q(:,4)];
+end
--- a/UWBAnimationShow/Quaternions/quaternProd.m
+++ b/UWBAnimationShow/Quaternions/quaternProd.m
@ -0,0 +1,7 @@
+function ab = quaternProd(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
+
--- a/UWBAnimationShow/Quaternions/quaternRotate.m
+++ b/UWBAnimationShow/Quaternions/quaternRotate.m
@ -0,0 +1,6 @@
+function v = quaternRotate(v, q)
+    [row col] = size(v);
+    v0XYZ = quaternProd(quaternProd(q, [zeros(row, 1) v]), quaternConj(q));
+    v = v0XYZ(:, 2:4);
+end
+
--- a/UWBAnimationShow/Quaternions/rotMat2euler.m
+++ b/UWBAnimationShow/Quaternions/rotMat2euler.m
@ -0,0 +1,11 @@
+function euler = rotMat2euler(R)
+    % from paper: "Adaptive Filter for a Miniature MEMS Based Attitude and
+    % Heading Reference System" by Wang et al, IEEE.
+    
+    phi = atan2(R(3,2,:), R(3,3,:) );
+    theta = -atan(R(3,1,:) ./ sqrt(1-R(3,1,:).^2) );    
+    psi = atan2(R(2,1,:), R(1,1,:) );
+
+    euler = [phi(1,:)' theta(1,:)' psi(1,:)'];  
+end
+
--- a/UWBAnimationShow/Quaternions/rotMat2quatern.m
+++ b/UWBAnimationShow/Quaternions/rotMat2quatern.m
@ -0,0 +1,30 @@
+function q = rotMat2quatern(R)  
+    % wiki URL: http://en.wikipeRia.org/wiki/Quaternions_anR_spatial_rotation#Fitting_quaternions
+    % paper URL: http://www.aiaa.org/content.cfm?pageiR=406&gTable=japaperimport&gIR=4654 
+    [row col numR] = size(R);
+    q = zeros(numR, 4);
+	K = zeros(4,4);    
+    for i = 1:numR
+        K(1,1) = (1/3) * (R(1,1,i) - R(2,2,i) - R(3,3,i));
+        K(1,2) = (1/3) * (R(2,1,i) + R(1,2,i));
+        K(1,3) = (1/3) * (R(3,1,i) + R(1,3,i));
+        K(1,4) = (1/3) * (R(2,3,i) - R(3,2,i));  
+        K(2,1) = (1/3) * (R(2,1,i) + R(1,2,i));
+        K(2,2) = (1/3) * (R(2,2,i) - R(1,1,i) - R(3,3,i));
+        K(2,3) = (1/3) * (R(3,2,i) + R(2,3,i));
+        K(2,4) = (1/3) * (R(3,1,i) - R(1,3,i));   
+        K(3,1) = (1/3) * (R(3,1,i) + R(1,3,i));
+        K(3,2) = (1/3) * (R(3,2,i) + R(2,3,i));
+        K(3,3) = (1/3) * (R(3,3,i) - R(1,1,i) - R(2,2,i));
+        K(3,4) = (1/3) * (R(1,2,i) - R(2,1,i));    
+        K(4,1) = (1/3) * (R(2,3,i) - R(3,2,i));
+        K(4,2) = (1/3) * (R(3,1,i) - R(1,3,i));
+        K(4,3) = (1/3) * (R(1,2,i) - R(2,1,i));
+        K(4,4) = (1/3) * (R(1,1,i) + R(2,2,i) + R(3,3,i)); 
+        [V,D] = eig(K);
+        %p = find(max(D));
+        %q = V(:,p)';    
+        q(i,:) = V(:,4)';
+        q(i,:) = [q(i,4) q(i,1) q(i,2) q(i,3)];
+    end
+end
--- a/UWBAnimationShow/Script.m
+++ b/UWBAnimationShow/Script.m
@ -0,0 +1,234 @@
+clear;
+close all;
+clc;
+addpath('Quaternions');
+addpath('ximu_matlab_library');
+
+% -------------------------------------------------------------------------
+% Select dataset (comment in/out)
+
+filePath = 'Datasets/straightLine';
+startTime = 6;
+stopTime = 26;
+
+% filePath = 'Datasets/stairsAndCorridor';
+% startTime = 5;
+% stopTime = 53;
+
+% filePath = 'Datasets/spiralStairs';
+% startTime = 4;
+% stopTime = 47;
+
+% -------------------------------------------------------------------------
+% Import data
+
+samplePeriod = 1/256;
+xIMUdata = xIMUdataClass(filePath, 'InertialMagneticSampleRate', 1/samplePeriod);
+time = xIMUdata.CalInertialAndMagneticData.Time;
+gyrX = xIMUdata.CalInertialAndMagneticData.Gyroscope.X;
+gyrY = xIMUdata.CalInertialAndMagneticData.Gyroscope.Y;
+gyrZ = xIMUdata.CalInertialAndMagneticData.Gyroscope.Z;
+accX = xIMUdata.CalInertialAndMagneticData.Accelerometer.X;
+accY = xIMUdata.CalInertialAndMagneticData.Accelerometer.Y;
+accZ = xIMUdata.CalInertialAndMagneticData.Accelerometer.Z;
+clear('xIMUdata');
+
+% -------------------------------------------------------------------------
+% Manually frame data
+
+% startTime = 0;
+% stopTime = 10;
+
+indexSel = find(sign(time-startTime)+1, 1) : find(sign(time-stopTime)+1, 1);
+time = time(indexSel);
+gyrX = gyrX(indexSel, :);
+gyrY = gyrY(indexSel, :);
+gyrZ = gyrZ(indexSel, :);
+accX = accX(indexSel, :);
+accY = accY(indexSel, :);
+accZ = accZ(indexSel, :);
+
+% -------------------------------------------------------------------------
+% Detect stationary periods
+
+% Compute accelerometer magnitude
+acc_mag = sqrt(accX.*accX + accY.*accY + accZ.*accZ);
+
+% HP filter accelerometer data
+filtCutOff = 0.001;
+[b, a] = butter(1, (2*filtCutOff)/(1/samplePeriod), 'high');
+acc_magFilt = filtfilt(b, a, acc_mag);
+
+% Compute absolute value
+acc_magFilt = abs(acc_magFilt);
+
+% LP filter accelerometer data
+filtCutOff = 5;
+[b, a] = butter(1, (2*filtCutOff)/(1/samplePeriod), 'low');
+acc_magFilt = filtfilt(b, a, acc_magFilt);
+
+% Threshold detection
+stationary = acc_magFilt < 0.05;
+
+% -------------------------------------------------------------------------
+% Plot data raw sensor data and stationary periods
+
+figure('Position', [9 39 900 600], 'NumberTitle', 'off', 'Name', 'Sensor Data');
+ax(1) = subplot(2,1,1);
+    hold on;
+    plot(time, gyrX, 'r');
+    plot(time, gyrY, 'g');
+    plot(time, gyrZ, 'b');
+    title('Gyroscope');
+    xlabel('Time (s)');
+    ylabel('Angular velocity (^\circ/s)');
+    legend('X', 'Y', 'Z');
+    hold off;
+ax(2) = subplot(2,1,2);
+    hold on;
+    plot(time, accX, 'r');
+    plot(time, accY, 'g');
+    plot(time, accZ, 'b');
+    plot(time, acc_magFilt, ':k');
+    plot(time, stationary, 'k', 'LineWidth', 2);
+    title('Accelerometer');
+    xlabel('Time (s)');
+    ylabel('Acceleration (g)');
+    legend('X', 'Y', 'Z', 'Filtered', 'Stationary');
+    hold off;
+linkaxes(ax,'x');
+
+% -------------------------------------------------------------------------
+% Compute orientation
+
+quat = zeros(length(time), 4);
+AHRSalgorithm = AHRS('SamplePeriod', 1/256, 'Kp', 1, 'KpInit', 1);
+
+% Initial convergence
+initPeriod = 2;
+indexSel = 1 : find(sign(time-(time(1)+initPeriod))+1, 1);
+for i = 1:2000
+    AHRSalgorithm.UpdateIMU([0 0 0], [mean(accX(indexSel)) mean(accY(indexSel)) mean(accZ(indexSel))]);
+end
+
+% For all data
+for t = 1:length(time)
+    if(stationary(t))
+        AHRSalgorithm.Kp = 0.5;
+    else
+        AHRSalgorithm.Kp = 0;
+    end
+    AHRSalgorithm.UpdateIMU(deg2rad([gyrX(t) gyrY(t) gyrZ(t)]), [accX(t) accY(t) accZ(t)]);
+    quat(t,:) = AHRSalgorithm.Quaternion;
+end
+
+% -------------------------------------------------------------------------
+% Compute translational accelerations
+
+% Rotate body accelerations to Earth frame
+acc = quaternRotate([accX accY accZ], quaternConj(quat));
+
+% % Remove gravity from measurements
+% acc = acc - [zeros(length(time), 2) ones(length(time), 1)];     % unnecessary due to velocity integral drift compensation
+
+% Convert acceleration measurements to m/s/s
+acc = acc * 9.81;
+
+% Plot translational accelerations
+figure('Position', [9 39 900 300], 'NumberTitle', 'off', 'Name', 'Accelerations');
+hold on;
+plot(time, acc(:,1), 'r');
+plot(time, acc(:,2), 'g');
+plot(time, acc(:,3), 'b');
+title('Acceleration');
+xlabel('Time (s)');
+ylabel('Acceleration (m/s/s)');
+legend('X', 'Y', 'Z');
+hold off;
+
+% -------------------------------------------------------------------------
+% Compute translational velocities
+
+acc(:,3) = acc(:,3) - 9.81;
+
+% Integrate acceleration to yield velocity
+vel = zeros(size(acc));
+for t = 2:length(vel)
+    vel(t,:) = vel(t-1,:) + acc(t,:) * samplePeriod;
+    if(stationary(t) == 1)
+        vel(t,:) = [0 0 0];     % force zero velocity when foot stationary
+    end
+end
+
+
+% Compute integral drift during non-stationary periods
+velDrift = zeros(size(vel));
+stationaryStart = find([0; diff(stationary)] == -1);
+stationaryEnd = find([0; diff(stationary)] == 1);
+for i = 1:numel(stationaryEnd)
+    driftRate = vel(stationaryEnd(i)-1, :) / (stationaryEnd(i) - stationaryStart(i));
+    enum = 1:(stationaryEnd(i) - stationaryStart(i));
+    drift = [enum'*driftRate(1) enum'*driftRate(2) enum'*driftRate(3)];
+    velDrift(stationaryStart(i):stationaryEnd(i)-1, :) = drift;
+end
+
+% Remove integral drift
+vel = vel - velDrift;
+
+% Plot translational velocity
+figure('Position', [9 39 900 300], 'NumberTitle', 'off', 'Name', 'Velocity');
+hold on;
+plot(time, vel(:,1), 'r');
+plot(time, vel(:,2), 'g');
+plot(time, vel(:,3), 'b');
+title('Velocity');
+xlabel('Time (s)');
+ylabel('Velocity (m/s)');
+legend('X', 'Y', 'Z');
+hold off;
+
+% -------------------------------------------------------------------------
+% Compute translational position
+
+% Integrate velocity to yield position
+pos = zeros(size(vel));
+for t = 2:length(pos)
+    pos(t,:) = pos(t-1,:) + vel(t,:) * samplePeriod;    % integrate velocity to yield position
+end
+
+% Plot translational position
+figure('Position', [9 39 900 600], 'NumberTitle', 'off', 'Name', 'Position');
+hold on;
+plot(time, pos(:,1), 'r');
+plot(time, pos(:,2), 'g');
+plot(time, pos(:,3), 'b');
+title('Position');
+xlabel('Time (s)');
+ylabel('Position (m)');
+legend('X', 'Y', 'Z');
+hold off;
+
+% -------------------------------------------------------------------------
+% Plot 3D foot trajectory
+
+% % Remove stationary periods from data to plot
+% posPlot = pos(find(~stationary), :);
+% quatPlot = quat(find(~stationary), :);
+posPlot = pos;
+quatPlot = quat;
+
+% Extend final sample to delay end of animation
+extraTime = 20;
+onesVector = ones(extraTime*(1/samplePeriod), 1);
+posPlot = [posPlot; [posPlot(end, 1)*onesVector, posPlot(end, 2)*onesVector, posPlot(end, 3)*onesVector]];
+quatPlot = [quatPlot; [quatPlot(end, 1)*onesVector, quatPlot(end, 2)*onesVector, quatPlot(end, 3)*onesVector, quatPlot(end, 4)*onesVector]];
+
+% Create 6 DOF animation
+SamplePlotFreq = 4;
+Spin = 120;
+SixDofAnimation(posPlot, quatern2rotMat(quatPlot), ...
+                'SamplePlotFreq', SamplePlotFreq, 'Trail', 'All', ...
+                'Position', [9 39 1280 768], 'View', [(100:(Spin/(length(posPlot)-1)):(100+Spin))', 10*ones(length(posPlot), 1)], ...
+                'AxisLength', 0.1, 'ShowArrowHead', false, ...
+                'Xlabel', 'X (m)', 'Ylabel', 'Y (m)', 'Zlabel', 'Z (m)', 'ShowLegend', false, ...
+                'CreateAVI', false, 'AVIfileNameEnum', false, 'AVIfps', ((1/samplePeriod) / SamplePlotFreq));
--- a/UWBAnimationShow/SixDofAnimation.m
+++ b/UWBAnimationShow/SixDofAnimation.m
@ -0,0 +1,255 @@
+function fig = SixDOFanimation(varargin)
+
+    %% Create local variables
+
+    % Required arguments
+    p = varargin{1};                % position of body
+    R = varargin{2};                % rotation matrix of body
+    [numSamples dummy] = size(p);
+
+    % Default values of optional arguments
+    SamplePlotFreq = 1;
+    Trail = 'Off';
+    LimitRatio = 1;
+    Position = [];
+    FullScreen = false;
+    View = [30 20];
+    AxisLength = 1;
+    ShowArrowHead = 'on';
+    Xlabel = 'X';
+    Ylabel = 'Y';
+    Zlabel = 'Z';
+    Title = '6DOF Animation';
+    ShowLegend = true;
+    CreateAVI = false;
+    AVIfileName = '6DOF Animation';
+    AVIfileNameEnum = true;
+    AVIfps = 30;
+
+    for i = 3:2:nargin
+        if  strcmp(varargin{i}, 'SamplePlotFreq'), SamplePlotFreq = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Trail')
+            Trail = varargin{i+1};
+            if(~strcmp(Trail, 'Off') && ~strcmp(Trail, 'DotsOnly') && ~strcmp(Trail, 'All'))
+                error('Invalid argument.  Trail must be ''Off'', ''DotsOnly'' or ''All''.');
+            end
+        elseif  strcmp(varargin{i}, 'LimitRatio'), LimitRatio = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Position'), Position = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'FullScreen'), FullScreen = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'View'), View = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'AxisLength'), AxisLength = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'ShowArrowHead'), ShowArrowHead = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Xlabel'), Xlabel = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Ylabel'), Ylabel = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Zlabel'), Zlabel = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'Title'), Title = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'ShowLegend'), ShowLegend = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'CreateAVI'), CreateAVI = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'AVIfileName'), AVIfileName = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'AVIfileNameEnum'), AVIfileNameEnum = varargin{i+1};
+        elseif  strcmp(varargin{i}, 'AVIfps'), AVIfps = varargin{i+1};
+        else error('Invalid argument.');
+        end
+    end;
+
+    %% Reduce data to samples to plot only
+
+    p = p(1:SamplePlotFreq:numSamples, :);
+    R = R(:, :, 1:SamplePlotFreq:numSamples) * AxisLength;
+    if(numel(View) > 2)
+        View = View(1:SamplePlotFreq:numSamples, :);
+    end
+    [numPlotSamples dummy] = size(p);
+
+    %% Setup AVI file
+
+    aviobj = [];                                                            	% create null object
+    if(CreateAVI)
+        fileName = strcat(AVIfileName, '.avi');
+        if(exist(fileName, 'file'))
+            if(AVIfileNameEnum)                                              	% if file name exists and enum enabled
+                i = 0;
+                while(exist(fileName, 'file'))                                  % find un-used file name by appending enum
+                    fileName = strcat(AVIfileName, sprintf('%i', i), '.avi');
+                    i = i + 1;
+                end
+            else                                                                % else file name exists and enum disabled
+                fileName = [];                                                  % file will not be created
+            end
+        end
+        if(isempty(fileName))
+            sprintf('AVI file not created as file already exists.')
+        else
+            aviobj = avifile(fileName, 'fps', AVIfps, 'compression', 'Cinepak', 'quality', 100);
+        end
+    end
+
+    %% Setup figure and plot
+
+    % Create figure
+    fig = figure('NumberTitle', 'off', 'Name', '6DOF Animation');
+    if(FullScreen)
+        screenSize = get(0, 'ScreenSize');
+        set(fig, 'Position', [0 0 screenSize(3) screenSize(4)]);
+    elseif(~isempty(Position))
+        set(fig, 'Position', Position);
+    end
+    set(gca, 'drawmode', 'fast');
+    lighting phong;
+    set(gcf, 'Renderer', 'zbuffer');
+    hold on;
+    axis equal;
+    grid on;
+    view(View(1, 1), View(1, 2));
+    title(i);
+    xlabel(Xlabel);
+    ylabel(Ylabel);
+    zlabel(Zlabel);
+
+    % Create plot data arrays
+    if(strcmp(Trail, 'DotsOnly') || strcmp(Trail, 'All'))
+        x = zeros(numPlotSamples, 1);
+        y = zeros(numPlotSamples, 1);
+        z = zeros(numPlotSamples, 1);
+    end
+    if(strcmp(Trail, 'All'))
+        ox = zeros(numPlotSamples, 1);
+        oy = zeros(numPlotSamples, 1);
+        oz = zeros(numPlotSamples, 1);
+        ux = zeros(numPlotSamples, 1);
+        vx = zeros(numPlotSamples, 1);
+        wx = zeros(numPlotSamples, 1);
+        uy = zeros(numPlotSamples, 1);
+        vy = zeros(numPlotSamples, 1);
+        wy = zeros(numPlotSamples, 1);
+        uz = zeros(numPlotSamples, 1);
+        vz = zeros(numPlotSamples, 1);
+        wz = zeros(numPlotSamples, 1);
+    end
+    x(1) = p(1,1);
+    y(1) = p(1,2);
+    z(1) = p(1,3);
+    ox(1) = x(1);
+    oy(1) = y(1);
+    oz(1) = z(1);
+    ux(1) = R(1,1,1:1);
+    vx(1) = R(2,1,1:1);
+    wx(1) = R(3,1,1:1);
+    uy(1) = R(1,2,1:1);
+    vy(1) = R(2,2,1:1);
+    wy(1) = R(3,2,1:1);
+    uz(1) = R(1,3,1:1);
+    vz(1) = R(2,3,1:1);
+    wz(1) = R(3,3,1:1);
+
+    % Create graphics handles
+    orgHandle = plot3(x, y, z, 'k.');
+    if(ShowArrowHead)
+        ShowArrowHeadStr = 'on';
+    else
+        ShowArrowHeadStr = 'off';
+    end
+    quivXhandle = quiver3(ox, oy, oz, ux, vx, wx,  'r', 'ShowArrowHead', ShowArrowHeadStr, 'MaxHeadSize', 0.999999, 'AutoScale', 'off');
+    quivYhandle = quiver3(ox, oy, oz, uy, vy, wy,  'g', 'ShowArrowHead', ShowArrowHeadStr, 'MaxHeadSize', 0.999999, 'AutoScale', 'off');
+    quivZhandle = quiver3(ox, ox, oz, uz, vz, wz,  'b', 'ShowArrowHead', ShowArrowHeadStr, 'MaxHeadSize', 0.999999, 'AutoScale', 'off');
+
+    % Create legend
+    if(ShowLegend)
+        legend('Origin', 'X', 'Y', 'Z');
+    end
+    
+    % Set initial limits
+    Xlim = [x(1)-AxisLength x(1)+AxisLength] * LimitRatio;
+    Ylim = [y(1)-AxisLength y(1)+AxisLength] * LimitRatio;
+    Zlim = [z(1)-AxisLength z(1)+AxisLength] * LimitRatio;
+    set(gca, 'Xlim', Xlim, 'Ylim', Ylim, 'Zlim', Zlim);
+    
+    % Set initial view
+    view(View(1, :));
+
+    %% Plot one sample at a time
+
+    for i = 1:numPlotSamples
+
+        % Update graph title
+        if(strcmp(Title, ''))
+            titleText = sprintf('Sample %i of %i', 1+((i-1)*SamplePlotFreq), numSamples);
+        else
+            titleText = strcat(Title, ' (', sprintf('Sample %i of %i', 1+((i-1)*SamplePlotFreq), numSamples), ')');
+        end
+        title(titleText);
+
+        % Plot body x y z axes
+        if(strcmp(Trail, 'DotsOnly') || strcmp(Trail, 'All'))
+            x(1:i) = p(1:i,1);
+            y(1:i) = p(1:i,2);
+            z(1:i) = p(1:i,3);
+        else
+            x = p(i,1);
+            y = p(i,2);
+            z = p(i,3);
+        end
+        if(strcmp(Trail, 'All'))
+            ox(1:i) = p(1:i,1);
+            oy(1:i) = p(1:i,2);
+            oz(1:i) = p(1:i,3);
+            ux(1:i) = R(1,1,1:i);
+            vx(1:i) = R(2,1,1:i);
+            wx(1:i) = R(3,1,1:i);
+            uy(1:i) = R(1,2,1:i);
+            vy(1:i) = R(2,2,1:i);
+            wy(1:i) = R(3,2,1:i);
+            uz(1:i) = R(1,3,1:i);
+            vz(1:i) = R(2,3,1:i);
+            wz(1:i) = R(3,3,1:i);
+        else
+            ox = p(i,1);
+            oy = p(i,2);
+            oz = p(i,3);
+            ux = R(1,1,i);
+            vx = R(2,1,i);
+            wx = R(3,1,i);
+            uy = R(1,2,i);
+            vy = R(2,2,i);
+            wy = R(3,2,i);
+            uz = R(1,3,i);
+            vz = R(2,3,i);
+            wz = R(3,3,i);
+        end
+        set(orgHandle, 'xdata', x, 'ydata', y, 'zdata', z);
+        set(quivXhandle, 'xdata', ox, 'ydata', oy, 'zdata', oz,'udata', ux, 'vdata', vx, 'wdata', wx);
+        set(quivYhandle, 'xdata', ox, 'ydata', oy, 'zdata', oz,'udata', uy, 'vdata', vy, 'wdata', wy);
+        set(quivZhandle, 'xdata', ox, 'ydata', oy, 'zdata', oz,'udata', uz, 'vdata', vz, 'wdata', wz);
+
+        % Adjust axes for snug fit and draw
+        axisLimChanged = false;
+        if((p(i,1) - AxisLength) < Xlim(1)), Xlim(1) = p(i,1) - LimitRatio*AxisLength; axisLimChanged = true; end
+        if((p(i,2) - AxisLength) < Ylim(1)), Ylim(1) = p(i,2) - LimitRatio*AxisLength; axisLimChanged = true; end
+        if((p(i,3) - AxisLength) < Zlim(1)), Zlim(1) = p(i,3) - LimitRatio*AxisLength; axisLimChanged = true; end
+        if((p(i,1) + AxisLength) > Xlim(2)), Xlim(2) = p(i,1) + LimitRatio*AxisLength; axisLimChanged = true; end
+        if((p(i,2) + AxisLength) > Ylim(2)), Ylim(2) = p(i,2) + LimitRatio*AxisLength; axisLimChanged = true; end
+        if((p(i,3) + AxisLength) > Zlim(2)), Zlim(2) = p(i,3) + LimitRatio*AxisLength; axisLimChanged = true; end
+        if(axisLimChanged), set(gca, 'Xlim', Xlim, 'Ylim', Ylim, 'Zlim', Zlim); end
+        drawnow;
+
+        % Adjust view
+        if(numel(View) > 2)
+            view(View(i, :));
+        end
+
+        % Add frame to AVI object
+        if(~isempty(aviobj))
+            frame = getframe(fig);
+            aviobj = addframe(aviobj, frame);
+        end
+
+    end
+
+    hold off;
+
+    % Close AVI file
+    if(~isempty(aviobj))
+        aviobj = close(aviobj);
+    end
+
+end
--- a/UWBAnimationShow/UWBIns.mat
+++ b/UWBAnimationShow/UWBIns.mat
--- a/UWBAnimationShow/UWBIns2.mat
+++ b/UWBAnimationShow/UWBIns2.mat
--- a/UWBAnimationShow/script1.m
+++ b/UWBAnimationShow/script1.m
@ -0,0 +1,28 @@
+clc;
+clear;
+load UWBIns.mat
+
+  
+x =  lightHousePosX * 100;
+y = -lightHousePosZ * 100;
+
+
+
+theta = -1 / pi;
+% Ðý×ª×ø±ê
+xt = x * cos(theta) - y * sin(theta);
+yt = x * sin(theta) + y * cos(theta);
+
+x0 = xt(1) - imuPosX(1);
+y0 = yt(1) - imuPosY(1);
+
+xt = xt - x0 + 20;
+yt = yt - y0 - 10;
+
+plot(xt,yt);
+hold on;
+plot(imuPosX,imuPosY);
+hold on;
+plot(uwbPosX,uwbPosY,'.');
+hold on;
+plot(syncPosX,syncPosY,'.');
--- a/UWBAnimationShow/script2.m
+++ b/UWBAnimationShow/script2.m
@ -0,0 +1,60 @@
+clc;
+clear;
+load UWBIns2.mat
+
+  
+x =  lightHousePosX * 100;
+y = -lightHousePosZ * 100;
+
+
+theta = -1 / pi;
+% 旋转坐标
+xt = x * cos(theta) - y * sin(theta);
+yt = x * sin(theta) + y * cos(theta);
+
+x0 = xt(1) - imuPosX(1);
+y0 = yt(1) - imuPosY(1);
+
+xt = xt - x0;
+yt = yt - y0;
+
+% plot(xt,yt,'r');
+% hold on;
+% plot(imuPosX,imuPosY,'g');
+% plot(uwbPosX,uwbPosY,'b.');
+% plot(syncPosX,syncPosY,'k.');
+
+% --------------------- 水平显示  ---------------------------
+% % 
+for i = 1:10:length(xt)
+
+    plot(xt(1:i),yt(1:i),'r');
+    %set(gcf,'Position',[100 100 260 220]);
+    hold on;
+    %plot(imuPosX(1:i),imuPosY(1:i),'g');
+    plot(uwbPosX(1:i),uwbPosY(1:i),'b.');
+    plot(syncPosX(1:i),syncPosY(1:i),'k.');
+    legend('参考系统', '原始UWB定位','多传感器融合定位');
+    pause(0.05);
+    clf;
+end
+
+
+
+% posPlot = [xt, yt, zeros(1,length(xt))'];
+% quatPlot = [ones(1,length(xt))',zeros(1,length(xt))',zeros(1,length(xt))',zeros(1,length(xt))'];
+% samplePeriod = 1/256;
+% SamplePlotFreq = 4;
+% Spin = 120;
+% SixDofAnimation(posPlot, quatern2rotMat(quatPlot), ...
+%                 'SamplePlotFreq', SamplePlotFreq, 'Trail', 'All', ...
+%                 'Position', [9 39 1280 768], 'View', [(100:(Spin/(length(posPlot)-1)):(100+Spin))', 10*ones(length(posPlot), 1)], ...
+%                 'AxisLength', 0.1, 'ShowArrowHead', false, ...
+%                 'Xlabel', 'X (m)', 'Ylabel', 'Y (m)', 'Zlabel', 'Z (m)', 'ShowLegend', false, ...
+%                 'CreateAVI', false, 'AVIfileNameEnum', false, 'AVIfps', ((1/samplePeriod) / SamplePlotFreq));
+
+% ----------------- 单独显示X轴情况 -------------------------
+% plot(xt);
+% hold on;
+% plot(imuPosX);
+%plot(uwbPosX,'.');
--- a/UWBAnimationShow/ximu_matlab_library/ADXL345busDataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/ADXL345busDataBaseClass.m
@ -0,0 +1,97 @@
+classdef ADXL345busDataBaseClass < TimeSeriesDataBaseClass
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        ADXL345A = struct('X', [], 'Y', [], 'Z', []);
+        ADXL345B = struct('X', [], 'Y', [], 'Z', []);
+        ADXL345C = struct('X', [], 'Y', [], 'Z', []);
+        ADXL345D = struct('X', [], 'Y', [], 'Z', []);
+    end
+
+    %% Abstract protected properties
+    properties (Access = protected)
+        AccelerometerUnits;
+    end
+
+    %% Protected methods
+    methods (Access = protected)
+        function obj = Import(obj, fileNamePrefix)
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.ADXL345A.X = data(:,2);
+            obj.ADXL345A.Y = data(:,3);
+            obj.ADXL345A.Z = data(:,4);
+            obj.ADXL345B.X = data(:,5);
+            obj.ADXL345B.Y = data(:,6);
+            obj.ADXL345B.Z = data(:,7);
+            obj.ADXL345C.X = data(:,8);
+            obj.ADXL345C.Y = data(:,9);
+            obj.ADXL345C.Z = data(:,10);
+            obj.ADXL345D.X = data(:,11);
+            obj.ADXL345D.Y = data(:,12);
+            obj.ADXL345D.Z = data(:,13);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                ax(1) = subplot(4,1,1);
+                hold on;
+                plot(time, obj.ADXL345A.X, 'r');
+                plot(time, obj.ADXL345A.Y, 'g');
+                plot(time, obj.ADXL345A.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Acceleration (', obj.AccelerometerUnits, ')'));
+                title('ADXL345 A');
+                hold off;
+                ax(2) = subplot(4,1,2);
+                hold on;
+                plot(time, obj.ADXL345B.X, 'r');
+                plot(time, obj.ADXL345B.Y, 'g');
+                plot(time, obj.ADXL345B.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Acceleration (', obj.AccelerometerUnits, ')'));
+                title('ADXL345 B');
+                hold off;
+                ax(3) = subplot(4,1,3);
+                hold on;
+                plot(time, obj.ADXL345C.X, 'r');
+                plot(time, obj.ADXL345C.Y, 'g');
+                plot(time, obj.ADXL345C.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Acceleration (', obj.AccelerometerUnits, ')'));
+                title('ADXL345 C');
+                hold off;
+                ax(4) = subplot(4,1,4);
+                hold on;
+                plot(time, obj.ADXL345D.X, 'r');
+                plot(time, obj.ADXL345D.Y, 'g');
+                plot(time, obj.ADXL345D.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Acceleration (', obj.AccelerometerUnits, ')'));
+                title('ADXL345 D');
+                hold off;
+                linkaxes(ax,'x');
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/AnalogueInputDataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/AnalogueInputDataBaseClass.m
@ -0,0 +1,69 @@
+classdef AnalogueInputDataBaseClass < TimeSeriesDataBaseClass
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        AX0 = [];
+        AX1 = [];
+        AX2 = [];
+        AX3 = [];
+        AX4 = [];
+        AX5 = [];
+        AX6 = [];
+        AX7 = [];
+    end
+
+    %% Abstract protected properties
+    properties (Access = protected)
+        ADCunits;
+    end
+
+    %% Protected methods
+    methods (Access = protected)
+        function obj = Import(obj, fileNamePrefix)
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.AX0 = data(:,2);
+            obj.AX1 = data(:,3);
+            obj.AX2 = data(:,4);
+            obj.AX3 = data(:,5);
+            obj.AX4 = data(:,6);
+            obj.AX5 = data(:,7);
+            obj.AX6 = data(:,8);
+            obj.AX7 = data(:,9);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                hold on;
+                plot(time, obj.AX0, 'r');
+                plot(time, obj.AX1, 'g');
+                plot(time, obj.AX2, 'b');
+                plot(time, obj.AX3, 'k');
+                plot(time, obj.AX4, ':r');
+                plot(time, obj.AX5, ':g');
+                plot(time, obj.AX6, ':b');
+                plot(time, obj.AX7, ':k');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Voltage (', obj.ADCunits, ')'));
+                title('Analogue Input');
+                hold off;
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
@ -0,0 +1,60 @@
+classdef BatteryAndThermometerDataBaseClass < TimeSeriesDataBaseClass
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        Battery = [];
+        Thermometer = [];
+    end
+
+    %% Abstract protected properties
+    properties (Access = protected)
+        ThermometerUnits;
+        BatteryUnits;
+    end
+
+    %% Protected methods
+    methods (Access = protected)
+        function obj = Import(obj, fileNamePrefix)
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Battery = data(:,2);
+            obj.Thermometer = data(:,3);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                ax(1) = subplot(2,1,1);
+                hold on;
+                plot(time, obj.Battery);
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Voltage (', obj.BatteryUnits, ')'));
+                title('Battery Voltmeter');
+                hold off;
+                ax(2) = subplot(2,1,2);
+                hold on;
+                plot(time, obj.Thermometer);
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Temperature (', obj.ThermometerUnits, ')'));
+                title('Thermometer');
+                hold off;
+                linkaxes(ax,'x');
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/CalADXL345busDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/CalADXL345busDataClass.m
@ -0,0 +1,23 @@
+classdef CalADXL345busDataClass < ADXL345busDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_CalADXL345bus.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = CalADXL345busDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.AccelerometerUnits = 'g';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/CalAnalogueInputDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/CalAnalogueInputDataClass.m
@ -0,0 +1,23 @@
+classdef CalAnalogueInputDataClass < AnalogueInputDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_CalAnalogueInput.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = CalAnalogueInputDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.ADCunits = 'V';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/CalBatteryAndThermometerDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/CalBatteryAndThermometerDataClass.m
@ -0,0 +1,24 @@
+classdef CalBatteryAndThermometerDataClass < BatteryAndThermometerDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_CalBattAndTherm.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = CalBatteryAndThermometerDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.ThermometerUnits = '^\circC';
+            obj.BatteryUnits = 'G';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/CalInertialAndMagneticDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/CalInertialAndMagneticDataClass.m
@ -0,0 +1,25 @@
+classdef CalInertialAndMagneticDataClass < InertialAndMagneticDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_CalInertialAndMag.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = CalInertialAndMagneticDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.GyroscopeUnits = '^\circ/s';
+            obj.AccelerometerUnits = 'g';
+            obj.MagnetometerUnits = 'G';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/CommandDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/CommandDataClass.m
@ -0,0 +1,18 @@
+classdef CommandDataClass < DataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_Commands.csv';
+        Code = [];
+        Message = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = CommandDataClass(fileNamePrefix)
+            data = obj.ImportCSVmixed(fileNamePrefix, '%f %f %s');
+            obj.Code = data{2};
+            obj.Message = data{3};
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/DataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/DataBaseClass.m
@ -0,0 +1,44 @@
+classdef DataBaseClass < handle
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        NumPackets = 0;
+        PacketNumber = [];
+    end
+
+    %% Protected methods
+    methods (Access = protected)
+        function data = ImportCSVnumeric(obj, fileNamePrefix)
+            data = dlmread(obj.CreateFileName(fileNamePrefix), ',', 1, 0);
+            obj.PacketNumber = data(:,1);
+            obj.NumPackets = length(obj.PacketNumber);
+        end
+        function data = ImportCSVmixed(obj, fileNamePrefix, fieldSpecifier)
+            fid = fopen(obj.CreateFileName(fileNamePrefix));
+            fgets(fid);     % disregard column headings
+            data = textscan(fid, fieldSpecifier, 'Delimiter', ',');
+            fclose(fid);
+            obj.PacketNumber = data{1};
+            obj.NumPackets = length(obj.PacketNumber);
+        end
+        function figName = CreateFigName(obj)
+            [pathstr, name , ext, versn] = fileparts(obj.FileNameAppendage);
+            figName = name(2:end);
+        end
+    end
+
+    %% Private methods
+    methods (Access = private)
+        function fileName = CreateFileName(obj, fileNamePrefix)
+            fileName = strcat(fileNamePrefix, obj.FileNameAppendage);
+            if(~exist(fileName, 'file'))
+                error('File not found. No data was imported.');
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/DateTimeDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/DateTimeDataClass.m
@ -0,0 +1,30 @@
+classdef DateTimeDataClass < TimeSeriesDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_DateTime.csv';
+        String = [];
+        Vector = [];
+        Serial = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = DateTimeDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Vector = data(:,2:7);
+            obj.String = cellstr(datestr(obj.Vector));
+            obj.Serial = datenum(obj.Vector);
+            obj.SampleRate = obj.SampleRate;	% call set method to create time vector
+        end
+        function obj = Plot(obj)
+            error('This method is unimplemented.');
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/DigitalIODataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/DigitalIODataClass.m
@ -0,0 +1,65 @@
+classdef DigitalIODataClass < TimeSeriesDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_DigitalIO.csv';
+        Direction = struct('AX0', [], 'AX1', [], 'AX2', [], 'AX3', [], 'AX4', [], 'AX5', [], 'AX6', [], 'AX7', []);
+        State = struct('AX0', [], 'AX1', [], 'AX2', [], 'AX3', [], 'AX4', [], 'AX5', [], 'AX6', [], 'AX7', []);
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = DigitalIOdataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Direction.AX0 = data(:,2);
+            obj.Direction.AX1  = data(:,3);
+            obj.Direction.AX2  = data(:,4);
+            obj.Direction.AX3  = data(:,5);
+            obj.Direction.AX4  = data(:,6);
+            obj.Direction.AX5  = data(:,7);
+            obj.Direction.AX6  = data(:,8);
+            obj.Direction.AX7  = data(:,9);
+            obj.State.AX0 = data(:,10);
+            obj.State.AX1  = data(:,11);
+            obj.State.AX2  = data(:,12);
+            obj.State.AX3  = data(:,13);
+            obj.State.AX4  = data(:,14);
+            obj.State.AX5  = data(:,15);
+            obj.State.AX6  = data(:,16);
+            obj.State.AX7  = data(:,17);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                hold on;
+                plot(time, obj.State.AX0, 'r');
+                plot(time, obj.State.AX1, 'g');
+                plot(time, obj.State.AX2, 'b');
+                plot(time, obj.State.AX3, 'k');
+                plot(time, obj.State.AX4, ':r');
+                plot(time, obj.State.AX5, ':g');
+                plot(time, obj.State.AX6, ':b');
+                plot(time, obj.State.AX7, ':k');
+                title('Digital I/O');
+                xlabel(obj.TimeAxis);
+                ylabel('State (Binary)');
+                legend('AX0', 'AX1', 'AX2', 'AX3', 'AX4', 'AX5', 'AX6', 'AX7');
+                hold off;
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/ErrorDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/ErrorDataClass.m
@ -0,0 +1,18 @@
+classdef ErrorDataClass < DataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_Errors.csv';
+        Code = [];
+        Message = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = ErrorDataClass(fileNamePrefix)
+            data = obj.ImportCSVmixed(fileNamePrefix, '%f %f %s');
+            obj.Code = data{2};
+            obj.Message = data{3};
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/EulerAnglesDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/EulerAnglesDataClass.m
@ -0,0 +1,48 @@
+classdef EulerAnglesDataClass < TimeSeriesDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_EulerAngles.csv';
+        Phi = [];
+        Theta = [];
+        Psi = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = EulerAnglesDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Phi = data(:,2);
+            obj.Theta = data(:,3);
+            obj.Psi = data(:,4);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                hold on;
+                plot(time, obj.Phi, 'r');
+                plot(time, obj.Theta, 'g');
+                plot(time, obj.Psi, 'b');
+                title('Euler angles');
+                xlabel(obj.TimeAxis);
+                ylabel('Angle (degrees)');
+                legend('\phi', '\theta', '\psi');
+                hold off;
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/ImportDirectory.m
+++ b/UWBAnimationShow/ximu_matlab_library/ImportDirectory.m
@ -0,0 +1,38 @@
+function xIMUdataStruct = ImportDirectory(directory)
+%IMPORTDIRECTORY Imports all x-IMU data CSV files within directory
+%
+%   xIMUdataStruct = ImportDirectory(directory)
+%
+%   Automatically imports x-IMU CSV files within specified directly.
+%   Imported data is returned as a structure of xIMUdataClass objects.  The
+%   name of each member will "ID_ABCD" where "ABCD" if the x-IMU device ID
+%   if available (i.e. if *_Registers.csv file present) or "FILE_00000"
+%   where "00000" is the file name prefix of the CSV files.
+
+    %% Import CSV files
+    listing = dir(strcat(directory, '\*_*.csv'));				% list all *_*.csv files in directory
+    fileNamePrefixes = unique(strtok({listing.name}, '_'));     % list unique file name prefixes (e.g. name_*.csv)
+    xIMUdataObjs = cell(length(fileNamePrefixes), 1);
+    for i = 1:length(fileNamePrefixes)
+        try xIMUdataObjs{i} = xIMUdataClass(strcat(directory, '\', fileNamePrefixes{i})); catch e, end
+    end
+    fileNamePrefixes(cellfun(@isempty,xIMUdataObjs)) = [];      % remove failures from lists
+    xIMUdataObjs(cellfun(@isempty,xIMUdataObjs)) = [];
+    if(numel(xIMUdataObjs) == 0)
+        error('No data was imported.');
+    end
+
+    %% Organise data in structure
+    fieldNames = cell(numel(xIMUdataObjs), 1);
+    try                                                         % try using device IDs as structure field names
+        for i = 1:numel(xIMUdataObjs)
+            fieldNames{i} = strcat('ID_', dec2hex(xIMUdataObjs{i}.RegisterData.GetValueAtAddress(2)));
+        end
+        xIMUdataStruct = orderfields(cell2struct(xIMUdataObjs, fieldNames, 1));
+    catch e                                                     % otherwise use file name prefix (alpha-numeric characters only)
+        for i = 1:numel(xIMUdataObjs)
+            fieldNames{i} = strcat('FILE_', fileNamePrefixes{i}(isstrprop(fileNamePrefixes{i}, 'alphanum')));
+        end
+        xIMUdataStruct = orderfields(cell2struct(xIMUdataObjs, fieldNames, 1));
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/InertialAndMagneticDataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/InertialAndMagneticDataBaseClass.m
@ -0,0 +1,85 @@
+classdef InertialAndMagneticDataBaseClass < TimeSeriesDataBaseClass
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        Gyroscope = struct('X', [], 'Y', [], 'Z', []);
+        Accelerometer = struct('X', [], 'Y', [], 'Z', []);
+        Magnetometer = struct('X', [], 'Y', [], 'Z', []);
+    end
+
+    %% Abstract protected properties
+    properties (Access = protected)
+        GyroscopeUnits;
+        AccelerometerUnits;
+        MagnetometerUnits;
+    end
+
+    %% Protected methods
+    methods (Access = protected)
+        function obj = Import(obj, fileNamePrefix)
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Gyroscope.X = data(:,2);
+            obj.Gyroscope.Y = data(:,3);
+            obj.Gyroscope.Z = data(:,4);
+            obj.Accelerometer.X = data(:,5);
+            obj.Accelerometer.Y = data(:,6);
+            obj.Accelerometer.Z = data(:,7);
+            obj.Magnetometer.X = data(:,8);
+            obj.Magnetometer.Y = data(:,9);
+            obj.Magnetometer.Z = data(:,10);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function fig = Plot(obj)
+            if(obj.NumPackets == 0)
+                error('No data to plot.');
+            else
+                if(isempty(obj.Time))
+                    time = 1:obj.NumPackets;
+                else
+                    time = obj.Time;
+                end
+                fig = figure('Name', obj.CreateFigName());
+                ax(1) = subplot(3,1,1);
+                hold on;
+                plot(time, obj.Gyroscope.X, 'r');
+                plot(time, obj.Gyroscope.Y, 'g');
+                plot(time, obj.Gyroscope.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Angular rate (', obj.GyroscopeUnits, ')'));
+                title('Gyroscope');
+                hold off;
+                ax(2) = subplot(3,1,2);
+                hold on;
+                plot(time, obj.Accelerometer.X, 'r');
+                plot(time, obj.Accelerometer.Y, 'g');
+                plot(time, obj.Accelerometer.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Acceleration (', obj.AccelerometerUnits, ')'));
+                title('Accelerometer');
+                hold off;
+                ax(3) = subplot(3,1,3);
+                hold on;
+                plot(time, obj.Magnetometer.X, 'r');
+                plot(time, obj.Magnetometer.Y, 'g');
+                plot(time, obj.Magnetometer.Z, 'b');
+                legend('X', 'Y', 'Z');
+                xlabel(obj.TimeAxis);
+                ylabel(strcat('Flux (', obj.MagnetometerUnits, ')'));
+                title('Magnetometer');
+                hold off;
+                linkaxes(ax,'x');
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/PWMoutputDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/PWMoutputDataClass.m
@ -0,0 +1,22 @@
+classdef PWMoutputDataClass < DataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_PWMoutput.csv';
+        AX0 = [];
+        AX2 = [];
+        AX4 = [];
+        AX6 = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = PWMoutputDataClass(fileNamePrefix)
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.AX0 = data(:,2);
+            obj.AX2 = data(:,3);
+            obj.AX4 = data(:,4);
+            obj.AX6 = data(:,5);
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/QuaternionDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/QuaternionDataClass.m
@ -0,0 +1,26 @@
+classdef QuaternionDataClass < TimeSeriesDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_Quaternion.csv';
+        Quaternion = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = QuaternionDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Quaternion = data(:,2:5);
+            obj.SampleRate = obj.SampleRate;	% call set method to create time vector
+        end
+        function obj = Plot(obj)
+            error('This method is unimplemented.');
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RawADXL345busDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RawADXL345busDataClass.m
@ -0,0 +1,23 @@
+classdef RawADXL345busDataClass < ADXL345busDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_RawADXL345bus.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RawADXL345busDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.AccelerometerUnits = 'g';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RawAnalogueInputDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RawAnalogueInputDataClass.m
@ -0,0 +1,23 @@
+classdef RawAnalogueInputDataClass < AnalogueInputDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_RawAnalogueInput.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RawAnalogueInputDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.ADCunits = 'lsb';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RawBatteryAndThermometerDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RawBatteryAndThermometerDataClass.m
@ -0,0 +1,24 @@
+classdef RawBatteryAndThermometerDataClass < BatteryAndThermometerDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_RawBattAndTherm.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RawBatteryAndThermometerDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.ThermometerUnits = 'lsb';
+            obj.BatteryUnits = 'lsb';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RawInertialAndMagneticDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RawInertialAndMagneticDataClass.m
@ -0,0 +1,25 @@
+classdef RawInertialAndMagneticDataClass < InertialAndMagneticDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_RawInertialAndMag.csv';
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RawInertialAndMagneticDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            obj.Import(fileNamePrefix);
+
+            % Set protected parent class variables
+            obj.GyroscopeUnits = 'lsb';
+            obj.AccelerometerUnits = 'lsb';
+            obj.MagnetometerUnits = 'lsb';
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RegisterDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RegisterDataClass.m
@ -0,0 +1,62 @@
+classdef RegisterDataClass < DataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_Registers.csv';
+        Address = [];
+        Value = [];
+        FloatValue = [];
+        Name = {};
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RegisterDataClass(fileNamePrefix)
+            data = obj.ImportCSVmixed(fileNamePrefix, '%f %f %f %f %s');
+            obj.Address = data{2};
+            obj.Value = data{3};
+            obj.FloatValue = data{4};
+            obj.Name = data{5};
+        end
+        function value = GetValueAtAddress(obj, address)
+            value = obj.ValueAtIndexes(obj.IndexesOfAddress(address));
+        end
+        function floatValue = GetFloatValueAtAddress(obj, address)
+            floatValue = obj.FloatValueAtIndexes(obj.IndexesOfAddress(address));
+        end
+        function value = GetValueAtName(obj, name)
+            value = obj.ValueAtIndexes(obj.IndexesOfName(name));
+        end
+        function floatValue = GetFloatValueAtName(obj, name)
+            floatValue = obj.FloatValueAtIndexes(obj.IndexesOfName(name));
+        end
+    end
+
+    %% Private methods
+    methods (Access = private)
+        function indexes = IndexesOfAddress(obj, address)
+            indexes = find(obj.Address == address);
+            if(isempty(indexes))
+                error('Register address not found.');
+            end
+        end
+        function indexes = IndexesOfName(obj, name)
+            indexes = find(ismember(obj.Name, name));
+            if(isempty(indexes))
+                error('Register name not found.');
+            end
+        end
+        function value = ValueAtIndexes(obj, indexes)
+            if(numel(unique(obj.Value(indexes))) > 1)
+                error('Conflicting register values exist.');
+            end
+            value = obj.Value(indexes(1));
+        end
+        function floatValue = FloatValueAtIndexes(obj, indexes)
+            if(numel(unique(obj.FloatValue(indexes))) > 1)
+                error('Conflicting register values exist.');
+            end
+            floatValue = obj.FloatValue(indexes(1));
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/RotationMatrixDataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/RotationMatrixDataClass.m
@ -0,0 +1,35 @@
+classdef RotationMatrixDataClass < TimeSeriesDataBaseClass
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        FileNameAppendage = '_RotationMatrix.csv';
+        RotationMatrix = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = RotationMatrixDataClass(varargin)
+            fileNamePrefix = varargin{1};
+            for i = 2:2:nargin
+                if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
+                else error('Invalid argument.');
+                end
+            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.RotationMatrix = zeros(3, 3, obj.NumPackets);
+            obj.RotationMatrix(1,1,:) = data(:,2);
+            obj.RotationMatrix(1,2,:) = data(:,3);
+            obj.RotationMatrix(1,3,:) = data(:,4);
+            obj.RotationMatrix(2,1,:) = data(:,5);
+            obj.RotationMatrix(2,2,:) = data(:,6);
+            obj.RotationMatrix(2,3,:) = data(:,7);
+            obj.RotationMatrix(3,1,:) = data(:,8);
+            obj.RotationMatrix(3,2,:) = data(:,9);
+            obj.RotationMatrix(3,3,:) = data(:,10);
+            obj.SampleRate = obj.SampleRate;    % call set method to create time vector
+        end
+        function obj = Plot(obj)
+            error('This method is unimplemented.');
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/SyncroniseData.m
+++ b/UWBAnimationShow/ximu_matlab_library/SyncroniseData.m
@ -0,0 +1,101 @@
+function SyncroniseData(varargin)
+%SYNCRONISEDATA Syncronises time series data between xIMUdataClass objects
+%
+%   SyncroniseData(xIMUdataStruct, StartEventTimes)
+%   SyncroniseData(xIMUdataStruct, StartEventTimes, EndEventTimes)
+%   SyncroniseData(xIMUdataStruct, 'UseAX0fallingEdge')
+%
+%   This fuction syncronises time series data between xIMUdataClass objects
+%   by adjusting the StartTime and SampleRate properties of each data
+%   class.
+%
+%   StartEventTimes is vector of values representing the time at which a
+%   'start synchronisation event' common to all xIMUdataClass objects is
+%   known to occur within each xIMUdataClass object's time series data. The
+%   length of this vector must equal the number of xIMUdataClass objects
+%   in xIMUdataStruct.
+%
+%   EndEventTimes is vector of values representing the time at which a
+%   'end synchronisation event' common to all xIMUdataClass objects is
+%   known to occur within each xIMUdataClass object's time series data. The
+%   length of this vector must equal the number of xIMUdataClass objects
+%   in xIMUdataStruct.
+%
+%   'UseAX0fallingEdge' should be specified if a falling edge of the
+%   auxilary port (configured in digital I/O mode) channel AX0 represents
+%   the 'start synchronisation event' or 'start synchronisation event' and
+%   'end synchronisation event'.
+
+    %% Apply arguments
+    xIMUdata = varargin{1};
+    xIMUdataObjs = struct2cell(xIMUdata);
+    StartEventTimes = [];
+    EndEventTimes = [];
+    UseAX0fallingEdge = false;
+    if(ischar(varargin{2}))
+        if strcmp(varargin{2}, 'UseAX0fallingEdge'), UseAX0fallingEdge = true;
+        else error('Invalid argument.');
+        end
+    else
+        StartEventTimes = varargin{2};
+        if(nargin == 3)
+            EndEventTimes = varargin{3};
+        end
+    end
+
+    %% Use AX0 falling edge of auxiliary port in Digital I/O mode
+    if(UseAX0fallingEdge)
+        for i = 1:numel(xIMUdataObjs)
+            fallingEdgeIndexes = [0; diff(xIMUdataObjs{i}.DigitalIOdata.State.AX0)] == -1;
+            fallingEdgeTimes = xIMUdataObjs{i}.DigitalIOdata.Time(fallingEdgeIndexes);
+            StartEventTimes = [StartEventTimes; fallingEdgeTimes(1)];
+            if(numel(fallingEdgeTimes) > 1)
+                EndEventTimes = [EndEventTimes; fallingEdgeTimes(end)];
+            end
+        end
+    end
+
+    %% Modify start times to synchronise start of window
+    if(numel(StartEventTimes) ~= numel(xIMUdataObjs))
+        error('Length of StartEventTimes vector must equal number of xIMUdataClass objects');
+    end
+    for i = 1:numel(xIMUdataObjs)
+        try h = xIMUdataObjs{i}.DateTimeData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawBatteryAndThermometerData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalBatteryAndThermometerData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawInertialAndMagneticData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalInertialAndMagneticData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.QuaternionData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RotationMatrixData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.EulerAnglesData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.DigitalIOdata; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawADXL345busData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalADXL345busData; h.StartTime = -StartEventTimes(i); catch e, end
+    end
+
+    %% Modify sample rate to synchronise end of window
+    if(numel(EndEventTimes) == 0)
+        return;
+    end
+    if(numel(EndEventTimes) ~= numel(xIMUdataObjs))
+        error('Length of EndEventTimes vector must equal number of xIMUdataClass objects');
+    end
+    scalers = (EndEventTimes - StartEventTimes) * (1/((EndEventTimes(1)-StartEventTimes(1))));
+    for i = 2:numel(xIMUdataObjs)
+        try h = xIMUdataObjs{i}.DateTimeData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawBatteryAndThermometerData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalBatteryAndThermometerData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawInertialAndMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalInertialAndMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = -StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.QuaternionData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RotationMatrixData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.EulerAnglesData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.DigitalIOdata; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/TimeSeriesDataBaseClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/TimeSeriesDataBaseClass.m
@ -0,0 +1,54 @@
+classdef TimeSeriesDataBaseClass < DataBaseClass
+
+    %% Abstract public 'read-only' properties
+    properties (Abstract, SetAccess = private)
+        FileNameAppendage;
+    end
+
+    %% Public 'read-only' properties
+    properties (SetAccess = private)
+        Time = [];
+        SamplePeriod = 0;
+    end
+
+    %% Public properties
+    properties (Access = public)
+        SampleRate = 0;
+        StartTime = 0;
+    end
+
+    %% Protected properties
+    properties (Access = protected)
+        TimeAxis;
+    end
+
+    %% Abstract public methods
+    methods (Abstract, Access = public)
+        Plot(obj);
+    end
+
+    %% Get/set methods
+    methods
+        function obj = set.SampleRate(obj, sampleRate)
+            obj.SampleRate = sampleRate;
+            if(obj.SampleRate == 0)
+                obj.Time = [];
+                obj.TimeAxis = 'Sample';
+            elseif(obj.NumPackets ~= 0)
+                obj.Time = (0:obj.NumPackets-1)' * (1/obj.SampleRate) + obj.StartTime;
+                obj.TimeAxis = 'Time (s)';
+            end
+        end
+        function obj = set.StartTime(obj, startTime)
+            obj.StartTime = startTime;
+            obj.SampleRate = obj.SampleRate;
+        end
+        function samplePeriod = get.SamplePeriod(obj)
+            if(obj.SampleRate == 0)
+                samplePeriod = 0;
+            else
+                samplePeriod = 1 / obj.SampleRate;
+            end
+        end
+    end
+end
--- a/UWBAnimationShow/ximu_matlab_library/xIMUdataClass.m
+++ b/UWBAnimationShow/ximu_matlab_library/xIMUdataClass.m
@ -0,0 +1,116 @@
+classdef xIMUdataClass < handle
+
+    %% Public properties
+    properties (SetAccess = private)
+        FileNamePrefix = '';
+        ErrorData = [];
+        CommandData = [];
+        RegisterData = [];
+        DateTimeData = [];
+        RawBatteryAndThermometerData = [];
+        CalBatteryAndThermometerData = [];
+        RawInertialAndMagneticData = [];
+        CalInertialAndMagneticData = [];
+        QuaternionData = [];
+        RotationMatrixData = [];
+        EulerAnglesData = [];
+        DigitalIOdata = [];
+        RawAnalogueInputData = [];
+        CalAnalogueInputData = [];
+        PWMoutputData = [];
+        RawADXL345busData = [];
+        CalADXL345busData = [];
+    end
+
+    %% Public methods
+    methods (Access = public)
+        function obj = xIMUdataClass(varargin)
+            % Create data objects from files
+            obj.FileNamePrefix = varargin{1};
+            dataImported = false;
+            try obj.ErrorData = ErrorDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CommandData = CommandDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RegisterData = RegisterDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.DateTimeData = DateTimeDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawBatteryAndThermometerData = RawBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalBatteryAndThermometerData = CalBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawInertialAndMagneticData = RawInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalInertialAndMagneticData = CalInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.QuaternionData = QuaternionDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.EulerAnglesData = EulerAnglesDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RotationMatrixData = RotationMatrixDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.DigitalIOdata = DigitalIOdataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawAnalogueInputData = RawAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalAnalogueInputData = CalAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.PWMoutputData = PWMoutputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawADXL345busData = RawADXL345busDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalADXL345busData = CalADXL345busDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            if(~dataImported)
+                error('No data was imported.');
+            end
+
+            % Apply SampleRate from register data
+            try h = obj.DateTimeData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(67)); catch e, end
+            try h = obj.RawBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
+            try h = obj.CalBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
+            try h = obj.RawInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
+            try h = obj.CalInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
+            try h = obj.QuaternionData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
+            try h = obj.RotationMatrixData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
+            try h = obj.EulerAnglesData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
+            try h = obj.DigitalIOdata; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(78)); catch e, end
+            try h = obj.RawAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
+            try h = obj.CalAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
+            try h = obj.RawADXL345busData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(85)); catch e, end
+            try h = obj.CalADXL345busData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(85)); catch e, end
+
+            % Apply SampleRate if specified as argument
+            for i = 2:2:(nargin)
+                if strcmp(varargin{i}, 'DateTimeSampleRate')
+                    try h = obj.DateTimeData; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'BattThermSampleRate')
+                    try h = obj.RawBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'InertialMagneticSampleRate')
+                    try h = obj.RawInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'QuaternionSampleRate')
+                    try h = obj.QuaternionData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.RotationMatrixData.SampleRate; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.EulerAnglesData; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'DigitalIOSampleRate')
+                    try h = obj.DigitalIOdata; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'AnalogueInputSampleRate')
+                    try h = obj.RawAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end
+                elseif strcmp(varargin{i}, 'ADXL345SampleRate')
+                    try h = obj.RawADXL345busData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalADXL345busData; h.SampleRate = varargin{i+1}; catch e, end
+                else
+                    error('Invalid argument.');
+                end
+            end
+        end
+        function obj = Plot(obj)
+            try obj.RawBatteryAndThermometerData.Plot(); catch e, end
+            try obj.CalBatteryAndThermometerData.Plot(); catch e, end
+            try obj.RawInertialAndMagneticData.Plot(); catch e, end
+            try obj.CalInertialAndMagneticData.Plot(); catch e, end
+            try obj.QuaternionData.Plot(); catch e, end
+            try obj.EulerAnglesData.Plot(); catch e, end
+            try obj.RotationMatrixDataClass.Plot(); catch e, end
+            try obj.DigitalIOdata.Plot(); catch e, end
+            try obj.RawAnalogueInputData.Plot(); catch e, end
+            try obj.CalAnalogueInputData.Plot(); catch e, end
+            try obj.RawADXL345busData.Plot(); catch e, end
+            try obj.CalADXL345busData.Plot(); catch e, end
+        end
+    end
+
+    %% Private methods
+    methods (Access = private)
+        function sampleRate = SampleRateFromRegValue(obj, value)
+            sampleRate = floor(2^(value-1));
+        end
+    end
+end
--- a/UWBFilter/C++/Src/UWBFilter.cpp
+++ b/UWBFilter/C++/Src/UWBFilter.cpp
@ -0,0 +1,30 @@
+#include "UWBFilter.h"
+#include "math.h"
+
+UWBFilter::UWBFilter() {
+}
+
+void UWBFilter::update(float& x, float& y,float& vo) {
+	if (initFlag == false) {
+		lastX = x;
+		lastY = y;
+		lastXf = x;
+		lastYf = y;
+		initFlag = true;
+	}
+
+	float d2 = (x - lastX) * (x - lastX) + (y - lastY) * (y - lastY);
+	lastX = x;
+	lastY = y;
+	// 判断速度是否有效，遇到重复值，速度为0
+	float v = d2 == 0 ? lastV : sqrtf(d2);
+	// 根据速度参数选择不同滤波器参数
+	float alpha = v < 50 ? 0.98f : 0.999f;
+	x = lastXf * alpha + (1 - alpha) * x;
+	y = lastYf * alpha + (1 - alpha) * y;
+	// 记录上一次的滤波值
+	lastXf = x;
+	lastYf = y;
+	lastV = v;
+	vo = v;
+;}
--- a/UWBFilter/C++/Src/UWBFilter.h
+++ b/UWBFilter/C++/Src/UWBFilter.h
@ -0,0 +1,14 @@
+#pragma once
+class UWBFilter {
+public:
+	UWBFilter();
+	void update(float& x, float& y, float& vo);
+private:
+	float lastX;
+	float lastY;
+	float lastXf;
+	float lastYf;
+	float lastV = 0.0f;
+	int   thres = 50;
+	bool  initFlag = false;
+};
--- a/UWBFilter/C++/Src/main.cpp
+++ b/UWBFilter/C++/Src/main.cpp
@ -0,0 +1,46 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include "UWBFilter.h"
+struct Point {
+    float x;
+    float y;
+};
+
+int main() {
+    std::ifstream file("a3.txt"); // 假设数据保存在名为 data.txt 的文件中
+    std::ofstream fileOut("a3_out.txt");
+    std::vector<Point> points;
+    UWBFilter filter;
+    if (file.is_open() && fileOut.is_open()) {
+        std::string line;
+        // 逐行读取数据
+        while (std::getline(file, line)) {
+            std::stringstream ss(line);
+            Point p;
+            char delimiter;
+            // 从每行中读取 x 和 y 值，并用逗号分隔
+            if (ss >> p.x >> delimiter >> p.y) {
+                float xf = p.x;
+                float yf = p.y;
+                float v = 0.0f;
+                filter.update(xf, yf, v);
+                fileOut << p.x << "," << p.y << "," << xf << "," << yf << "," << v << std::endl;
+            }
+        }
+        file.close();
+        fileOut.close();
+    }
+    else {
+        std::cerr << "无法打开文件!" << std::endl;
+        return 1;
+    }
+
+    // 打印读取到的数据
+    for (const auto& point : points) {
+        std::cout << "x: " << point.x << ", y: " << point.y << std::endl;
+    }
+
+    return 0;
+}
--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.exe
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.exe
--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.pdb
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/UWBFIlter.pdb
--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/a3.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/a3.txt
--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/a3_out.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/a3_out.txt
--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/data.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/data.txt
@ -0,0 +1,614 @@
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/data_filter.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/data_filter.txt
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/data_out.txt
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/f1.txt
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/f2.txt
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/f3_out.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/f3_out.txt
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--- a/UWBFilter/C++/VS2019/UWBFIlter/Debug/show_c_res.m
+++ b/UWBFilter/C++/VS2019/UWBFIlter/Debug/show_c_res.m
@ -0,0 +1,15 @@
+clc;
+clear;
+% 读取数据文件
+data = csvread('a3_out.txt');
+figure;
+for i = 1:length(data(:,1))
+    % 分别提取 x、y、xf 和 yf 列
+    x = data(1:i, 1);
+    y = data(1:i, 2);
+    xf = data(1:i, 3);
+    yf = data(1:i, 4);
+    %plot(x,y,'b+');
+    hold on;
+    plot(xf,yf,'r.');
+end
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter.sln
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter.sln
@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.32106.194
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "UWBFIlter", "UWBFIlter\UWBFIlter.vcxproj", "{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Debug|x64.ActiveCfg = Debug|x64
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Debug|x64.Build.0 = Debug|x64
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Debug|x86.ActiveCfg = Debug|Win32
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Debug|x86.Build.0 = Debug|Win32
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Release|x64.ActiveCfg = Release|x64
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Release|x64.Build.0 = Release|x64
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Release|x86.ActiveCfg = Release|Win32
+		{1EE3EC3B-52C0-45F2-886D-B4BEF5B55C3F}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {84E6EAE7-D9EA-4986-8C9D-95A2E4002DA7}
+	EndGlobalSection
+EndGlobal
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.exe.recipe
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.exe.recipe
@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project>
+  <ProjectOutputs>
+    <ProjectOutput>
+      <FullPath>D:\UWBLoc\Filter\UWBFIlter\Debug\UWBFIlter.exe</FullPath>
+    </ProjectOutput>
+  </ProjectOutputs>
+  <ContentFiles />
+  <SatelliteDlls />
+  <NonRecipeFileRefs />
+</Project>
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.ilk
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.ilk
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.log
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.log
@ -0,0 +1,2 @@
+  main.cpp
+  UWBFIlter.vcxproj -> D:\UWBLoc\Filter\UWBFIlter\Debug\UWBFIlter.exe
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.command.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.command.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.read.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.read.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.write.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/CL.write.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
@ -0,0 +1,2 @@
+PlatformToolSet=v142:VCToolArchitecture=Native32Bit:VCToolsVersion=14.29.30133:VCServicingVersionMFC=14.29.30136:VCServicingVersionCrtHeaders=14.29.30136:TargetPlatformVersion=10.0.20348.0:
+Debug|Win32|D:\UWBLoc\Filter\UWBFIlter\|
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.command.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.command.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.read.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.read.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.write.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFIlter.tlog/link.write.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFilter.obj
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/UWBFilter.obj
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/main.obj
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/main.obj
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/vc142.idb
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/vc142.idb
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/vc142.pdb
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/Debug/vc142.pdb
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj
@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>16.0</VCProjectVersion>
+    <Keyword>Win32Proj</Keyword>
+    <ProjectGuid>{1ee3ec3b-52c0-45f2-886d-b4bef5b55c3f}</ProjectGuid>
+    <RootNamespace>UWBFIlter</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="main.cpp" />
+    <ClCompile Include="UWBFilter.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="UWBFilter.h" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj.filters
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj.filters
@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="源文件">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="头文件">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="资源文件">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="main.cpp">
+      <Filter>源文件</Filter>
+    </ClCompile>
+    <ClCompile Include="UWBFilter.cpp">
+      <Filter>源文件</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="UWBFilter.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj.user
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFIlter.vcxproj.user
@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFilter.cpp
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFilter.cpp
@ -0,0 +1,30 @@
+#include "UWBFilter.h"
+#include "math.h"
+
+UWBFilter::UWBFilter() {
+}
+
+void UWBFilter::update(float& x, float& y,float& vo) {
+	if (initFlag == false) {
+		lastX = x;
+		lastY = y;
+		lastXf = x;
+		lastYf = y;
+		initFlag = true;
+	}
+
+	float d2 = (x - lastX) * (x - lastX) + (y - lastY) * (y - lastY);
+	lastX = x;
+	lastY = y;
+	// 判断速度是否有效，遇到重复值，速度为0
+	float v = d2 == 0 ? lastV : sqrtf(d2);
+	// 根据速度参数选择不同滤波器参数
+	float alpha = v < 50 ? 0.98f : 0.999f;
+	x = lastXf * alpha + (1 - alpha) * x;
+	y = lastYf * alpha + (1 - alpha) * y;
+	// 记录上一次的滤波值
+	lastXf = x;
+	lastYf = y;
+	lastV = v;
+	vo = v;
+;}
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFilter.h
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/UWBFilter.h
@ -0,0 +1,14 @@
+#pragma once
+class UWBFilter {
+public:
+	UWBFilter();
+	void update(float& x, float& y, float& vo);
+private:
+	float lastX;
+	float lastY;
+	float lastXf;
+	float lastYf;
+	float lastV = 0.0f;
+	int   thres = 50;
+	bool  initFlag = false;
+};
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/main.cpp
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/main.cpp
@ -0,0 +1,46 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include "UWBFilter.h"
+struct Point {
+    float x;
+    float y;
+};
+
+int main() {
+    std::ifstream file("a3.txt"); // 假设数据保存在名为 data.txt 的文件中
+    std::ofstream fileOut("a3_out.txt");
+    std::vector<Point> points;
+    UWBFilter filter;
+    if (file.is_open() && fileOut.is_open()) {
+        std::string line;
+        // 逐行读取数据
+        while (std::getline(file, line)) {
+            std::stringstream ss(line);
+            Point p;
+            char delimiter;
+            // 从每行中读取 x 和 y 值，并用逗号分隔
+            if (ss >> p.x >> delimiter >> p.y) {
+                float xf = p.x;
+                float yf = p.y;
+                float v = 0.0f;
+                filter.update(xf, yf, v);
+                fileOut << p.x << "," << p.y << "," << xf << "," << yf << "," << v << std::endl;
+            }
+        }
+        file.close();
+        fileOut.close();
+    }
+    else {
+        std::cerr << "无法打开文件!" << std::endl;
+        return 1;
+    }
+
+    // 打印读取到的数据
+    for (const auto& point : points) {
+        std::cout << "x: " << point.x << ", y: " << point.y << std::endl;
+    }
+
+    return 0;
+}
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.Build.CppClean.log
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.Build.CppClean.log
@ -0,0 +1,13 @@
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\vc142.pdb
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\vc142.idb
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.obj
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\main.obj
+d:\uwbloc\filter\uwbfilter\x64\debug\uwbfilter.exe
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.ilk
+d:\uwbloc\filter\uwbfilter\x64\debug\uwbfilter.pdb
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\cl.command.1.tlog
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\cl.read.1.tlog
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\cl.write.1.tlog
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\link.command.1.tlog
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\link.read.1.tlog
+d:\uwbloc\filter\uwbfilter\uwbfilter\x64\debug\uwbfilter.tlog\link.write.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.exe.recipe
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.exe.recipe
@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project>
+  <ProjectOutputs>
+    <ProjectOutput>
+      <FullPath>D:\UWBLoc\Filter\UWBFIlter\x64\Debug\UWBFIlter.exe</FullPath>
+    </ProjectOutput>
+  </ProjectOutputs>
+  <ContentFiles />
+  <SatelliteDlls />
+  <NonRecipeFileRefs />
+</Project>
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.ilk
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.ilk
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.log
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.log
@ -0,0 +1,4 @@
+  main.cpp
+  UWBFilter.cpp
+  正在生成代码...
+  UWBFIlter.vcxproj -> D:\UWBLoc\Filter\UWBFIlter\x64\Debug\UWBFIlter.exe
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.command.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.command.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.read.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.read.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.write.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/CL.write.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/UWBFIlter.lastbuildstate
@ -0,0 +1,2 @@
+PlatformToolSet=v142:VCToolArchitecture=Native32Bit:VCToolsVersion=14.29.30133:VCServicingVersionMFC=14.29.30136:VCServicingVersionCrtHeaders=14.29.30136:TargetPlatformVersion=10.0.20348.0:
+Debug|x64|D:\UWBLoc\Filter\UWBFIlter\|
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.command.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.command.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.read.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.read.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.write.1.tlog
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.tlog/link.write.1.tlog
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.vcxproj.FileListAbsolute.txt
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFIlter.vcxproj.FileListAbsolute.txt
--- a/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFilter.obj
+++ b/UWBFilter/C++/VS2019/UWBFIlter/UWBFIlter/x64/Debug/UWBFilter.obj
--- a/Show More
+++ b/Show More