matlab集成c代码-displayIMU:具有显示工具的基于四元数的IMU_matlab_其他

<html xmlns="http://www.w3.org/1999/xhtml"><head><meta charset="utf-8"><meta name="generator" content="pdf2htmlEX"><meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/base.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/18952482/raw.css"><script src="https://csdnimg.cn/release/download_crawler_static/js/compatibility.min.js"></script><script src="https://csdnimg.cn/release/download_crawler_static/js/pdf2htmlEX.min.js"></script><script>try{pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({});}catch(e){}</script><title></title></head><body><div id="sidebar" style="display: none"><div id="outline"></div></div><div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://csdnimg.cn/release/download_crawler_static/18952482/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">displayIMU User Guide</div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">by</div><div class="t m0 x3 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">Simeon Symeonidis</div><div class="t m0 x4 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">11/13/2018</div><div class="t m0 x5 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">revision 1.0</div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div></body></html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://csdnimg.cn/release/download_crawler_static/18952482/bg2.jpg"><div class="t m0 x6 h3 y6 ff2 fs0 fc0 sc0 ls0 ws0">Overview</div><div class="t m0 x6 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">The displayIMU project contains the algorithm, software library, and tools necessary for the processing</div><div class="t m0 x6 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">of Microelectromechanical Systems (MEMS) accelerometer, magnetometer, and gyroscope sensor data</div><div class="t m0 x6 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">to estimate system orientation and translational acceleration. At its core is a optimized C library (Linux</div><div class="t m0 x6 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">shared object file), which can be embedded into a senor or hosted by a server for off-line processing. A</div><div class="t m0 x6 h2 yb ff1 fs0 fc0 sc0 ls0 ws0">QT display tool is available to display incoming sensor data, tune the algorithm, manage config files,</div><div class="t m0 x6 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">and view results. The QT display tool works with streaming UDP data or CSV files. Also available is</div><div class="t m0 x6 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">a parser, which generates a CSV report given sensor data and config files (command line arguments).</div><div class="t m0 x6 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">To aid future development, the Matlab source is included within the project. A common code directory</div><div class="t m0 x6 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">contains functions that can aid in system integration and applications development. Last, testing code</div><div class="t m0 x6 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">and guide lines are available for maintenance purposes. This user guide will provide information on all</div><div class="t m0 x6 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">these project components.</div><div class="t m0 x6 h3 y12 ff2 fs0 fc0 sc0 ls0 ws0">IMU Core</div><div class="t m0 x6 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">The core consists of the modules needed to calibrate, correct, and process sensor data. All the modules</div><div class="t m0 x6 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">are integrated into the engine (IMU_engn), which provides asynchronous, non-blocking sensor/output</div><div class="t m0 x6 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">interfaces, manages module configurations, and provides command and control. The algorithm guts,</div><div class="t m0 x6 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">which performs filtering, generates estimates, and creates figure of merits data is done by IMU_core.</div><div class="t m0 x6 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">Sensor correction, used to compensate for subtle response differences, is applied via IMU_rect. These</div><div class="t m0 x6 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">coefficients can be generated by IMU_calb, which takes user-directed, multi-point calibration inputs,</div><div class="t m0 x6 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">created by IMU_pnts, or continuous, background data generated by IMU_stat. Module configuration</div><div class="t m0 x6 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">can by done via IMU_file, which reads/writes json files. This overview is capture in the block diagram</div><div class="t m0 x6 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">below. </div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>