main.m

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%>
%> @file Main.m
%>                                                                           
%> @brief This is the skeleton file for processing data from a foot mounted
%> IMU. The data is processed using a Kalman filter based zero-velocity 
%> aided inertial navigation system algorithm.
%> 
%> @details This is the skeleton file for processing data data from a foot
%> mounted inertial measurement unit (IMU). The data is processed using a 
%> Kalman filter based zero-velocity aided inertial navigation system. The
%> processing is done in the following order. 
%> 
%> \li The IMU data and the settings controlling the Kalman filter is loaded.
%> \li The zero-velocity detector process all the IMU data.
%> \li The filter algorithm is processed.
%> \li The in data and results of the processing is plotted.
%>
%> @authors Isaac Skog, John-Olof Nilsson
%> @copyright Copyright (c) 2011 OpenShoe, ISC License (open source)
%>
%
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%% Loads the algorithm settings and the IMU data
addpath("src/")
disp('Loads the algorithm settings and the IMU data')
simdata = mysettings();

% Load data. Measurements contained in variable u.   
load square2

%% Run the zero-velocity detector 
disp('Runs the zero velocity detector')
[zupt,T]=zero_velocity_detector(u, simdata);

%% Run the Kalman filter
disp('Runs the filter')
posupt = nan(3, size(u,2));
[x_h,cov_h]=ZUPTaidedINS(u,zupt, posupt, simdata);

%% View the result 
disp('Views the data')
view_data;