ImuFusion

EKF IMU Fusion Algorithms Patched For Octave

(Broken!)1. orien.m uses Kalman filter for fusing the gyroscope's and accelerometer's readings to get the IMU's attitude(quaternion).
2. zupt.m implenments the so called 'zero-velocity-update' algorithm for pedestrian tracking(gait tracking), it's also a ekf filter.

• Video: http://v.youku.com/v_show/id_XMTg2NjI4NTI4NA==.html

Usage

Example data already included.
Simply run the zupt.m(orien.m is broken temporarily.). For zupt, set 'CreateVideo' as true if you'd like to save the results as a video.
Note that the datasets and the code for visualizing the results were from: https://github.com/xioTechnologies/Gait-Tracking-With-x-IMU
Some code are stolen from https://github.com/dhr/matlab-tools and https://github.com/FBaringo/CATS

References:

[1] S. Madgwick. An efficient orientation filter for inertial and inertial/magnetic sensor arrays.
[2] Fischer C, et. Implementing a Pedestrian Tracker Using inertial Sensors.
[3] Isaac Skog, et. Zero-Velocity Detection — An Algorithm Evaluation.