Now that we're getting bigger and sharing more code on this site, I'd like to find something better than putting random files in discussion responses. Has anyone had enough experience with the various code repositories out there to recommend one that would work for our purposes? Most of the ones I've seen require you to use gnarly *nix command-line software tracking tools like QVC and git, which are too complicated for our purposes. Anything simple with a web interface that will just let us upload code and track versions, etc?

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wow I wish I had read the other responses before I put mine in ;)
We could have one discussion area that is JUST for posting code. Each should have a BRIEF description of what it is and on what platform.
I think you should just get a pastebin setup running. Easy as pie.
http://pastebin.com/
Good points,

And i think a bulletin forum would be good to have to. much better forum functions and then we could have some good threads to post in.

better control, but this Ning thing is good but limited.
Hi everyone,
I have this nagging problem I've been trying to solve for the past 6 weeks. And that is how to simulate the optimisation of the integrated GPS/INS system with a Kalman using MATLAB. That is to demonstrate that the Kalman filter bounds the individual errors of the sensors (ie GPS and INS). Can anyone deliver me from this nightmare please!!!!
Hey,
something like that?

% Simulation time limits------------------------
imax=length(time1);
jmax=length(time3);
tmax=Te*imax;

% Sensor errors---------------------------------


Acorrx=0.21472;
Acorry=0.50494;
Acorrz=0.009923;

Mcorrx=-0.021394;
Mcorry=0.019784;
Mcorrz=-0.03047;

% Initial magnetic and gravity reference vectors--
ref = 'avion';
% ref = 'model';
Init_references

% Initial state and covariances--------------------
Init_state
Init_covariances

%Initialisation of Kalman variables--------------
x=x0;
P=P0;
K=zeros(10,1);

%Temporal vectors and arrays for plotting----------
tt=[];
xx=[];
PP=[];
KK=[];

i=1; %index for acc and gyro updates
j=1; %index for magnetic updates
k=1; %index for gps updates

% Simulation----------------------------------------
for i=1:imax, %index for acc and gyro updates

t=(i-1)*Te;
[x,P]=prediction(x,P,Q,Te);
tt=[tt t];

% Angular rate measurements--------------------
pm=(Gyrox(i))*pi/180;
qm=(Gyroy(i))*pi/180;
rm=(Gyroz(i))*pi/180;
[x,P,K]=correction(x,P,R, 5,pm);
[x,P,K]=correction(x,P,R, 6,qm);
[x,P,K]=correction(x,P,R, 7,rm);

% Gravity measurements----------------------------
ax=Accx(i)-Acorrx; % Gravity measurements in body frame
ay=Accy(i)-Acorry;
az=Accz(i)-Acorrz;
[x,P,K]=correction(x,P,R,11,ax);
[x,P,K]=correction(x,P,R,12,ay);
[x,P,K]=correction(x,P,R,13,az);

% Magnetic measurements-------------------------
if j<=length(time3)
t_magn=time3(j)/1000;
if t_magn<=t+Te/2 & t_magn>=t-Te/2 % Nearest time coincidence into Te grid
mx=Magx(j)-Mcorrx; % Magnetic measurements in body frame
my=Magy(j)-Mcorry;
mz=Magz(j)-Mcorrz;
M=unity([mx my mz]');
mx=M(1);
my=M(2);
mz=M(3);
[x,P,K]=correction(x,P,R, 8,mx);
[x,P,K]=correction(x,P,R, 9,my);
[x,P,K]=correction(x,P,R,10,mz);
j=j+1;
end
end

xx=[xx x];
PP=[PP diag(P)];
KK=[KK K];

end

% Figures---------------------------------------------
% Raw_plots
Time_plots
Evol_plot



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