https://github.com/priseborough/InertialNav

Instructions To Run Simulink Model

Note : Simulink models are only available for 21 and 24 state architecture, and do not include range finder or optical flow measurements.

You will need Matlab + Simulink 2012a or later to run this model

Instructions to run:

  1. Add 'plots', 'scripts' and 'TestData' directories to your Matlab path
  2. Make 'models' your working directory
  3. Run the RunNavFilterTestHarness24.m script file to run the 24-state filter, or RunNavFilterTestHarness21.m to run the 21-state filter
  4. Test data will be loaded and the model will be built, run and plots generated.

You can load other test data by modifying the file load command at the top of the LoadNavFilterTestData.m script file.

Instructions To Run C++ code test harness

  1. Go to the code directory and run make
  2. Make sure the ATT, GPS, IMU, MAG and NTUN.txt files are in the directory with the executable (unzip one of the data ZIP files)
  3. Run: ./estimator_closed_loop_test
  4. The program will put the results into the following space deliminted data files
  5. Run make plots to generate Python plots
  • CovDataOut.txt
  • EulDataOut.txt
  • MagFuse.txt
  • RefVelPosDataOut.txt
  • StateDataOut.txt
  • TasFuse.txt
  • VelPosFuse.txt

InertialNav的更多相关文章

  1. APM程序分析-ArduCopter.cpp

    该文件是APM的主文件. #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Copter, &copter ...

随机推荐

  1. git rebase 合并提交 解决超过100M文件的提交不能推送问题

    git log 现在可以看到有3个提交: change 1.mp4 size to small //发现不能推送,又改回小于100M add 1.mp4 big 改变为超过100M add 1.mp4 ...

  2. git reset 版本回退

    git log 查看所有提交信息. commit 67692318180bed6b2a17db0708cfbe0231e33db3 (HEAD -> master) Author: kingBo ...

  3. Windows查看指定端口是否占用和查看进程

    Winodows上查看指定端口号的使用情况和占用进程以及终止所占用端口进程进程用到.下面主要描述如何操作. 1.查看所有端口占用情况 C:\Users\Administrator>netstat ...

  4. 遍历DOM树，获取子节点

    获取子节点的方法有:  方法  说明  children()  选取子节点,可以带过滤参数.但只能选择子节点,不能选择孙子节点.  find()  选取子节点,可以带过滤参数.可以选择子节点及孙子节点 ...

  5. httpClient服务端编写

    以前用过HttpClient,给你说几个关键的地方吧: 1. 首先,发送的时候 HttpClient client = new HttpClient(); PostMethod method = ne ...

  6. QuickSand图片点击后分裂成几份消失效果《IT蓝豹》

    QuickSand图片点击后分裂成几份消失效果 QuickSand图片点击后分裂成几份消失效果,适合做图片退出和剪切效果.同时也可以学习android动画. demo中都封装好几个功能类,主要动画实现 ...

  7. unity3d API知识点随记

    1.transform.translate是增加transform面板相应的数值x,y,z是以本地坐标系为方向:transform.transformdirection是以世界坐标系为方向,可以去测试 ...

  8. jQuery之dom操作（取赋值方法）

    取赋值相关方法:                   .html() .text() .size()                   .addClass() .removeClass() .has ...

  9. js高级-函数变量提升

    var a = 10; function f1(){ console.log(a) //undefined  函数变量提升了 函数执行之前想创建了函数的EC 把函数里面声明的变量初始化undefine ...

  10. location search的中文加密

    最近项目中遇到一个这样问题,在页面跳转时,追加了location.search,有中文字符,但是在分享第二次时,这个链接无法获取中文字段,变成乱码. 仔细对比,发现在页面分享时,浏览器自动对中文进行了 ...