(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.
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
[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.