R2024b cannot reproduce documented example result
When I am ready to use imufilter, "Tune imufilter to Optimize Orientation Estimate",the current latest version R2024b cannot reproduce the documented example results? Please fix it in time!
TEST in MATLAB online and desktop MATLAB
ld = load(‘imufilterTuneData.mat’);
qTrue = ld.groundTruth.Orientation; % true orientation
fuse = imufilter;
qEstUntuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
% reset(fuse);
cfg = tunerconfig(‘imufilter’);
tune(fuse, ld.sensorData, ld.groundTruth, cfg)
qEstTuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
dUntuned = rad2deg(dist(qEstUntuned, qTrue));
dTuned = rad2deg(dist(qEstTuned, qTrue));
rmsUntuned = sqrt(mean(dUntuned.^2))
rmsTuned = sqrt(mean(dTuned.^2))
N = numel(dUntuned);
t = (0:N-1)./ fuse.SampleRate;
plot(t, dUntuned, ‘r’, t, dTuned, ‘b’);
legend(‘Untuned’, ‘Tuned’);
title(‘imufilter – Tuned vs Untuned Error’)
xlabel(‘Time (s)’);
ylabel(‘Orientation Error (degrees)’);When I am ready to use imufilter, "Tune imufilter to Optimize Orientation Estimate",the current latest version R2024b cannot reproduce the documented example results? Please fix it in time!
TEST in MATLAB online and desktop MATLAB
ld = load(‘imufilterTuneData.mat’);
qTrue = ld.groundTruth.Orientation; % true orientation
fuse = imufilter;
qEstUntuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
% reset(fuse);
cfg = tunerconfig(‘imufilter’);
tune(fuse, ld.sensorData, ld.groundTruth, cfg)
qEstTuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
dUntuned = rad2deg(dist(qEstUntuned, qTrue));
dTuned = rad2deg(dist(qEstTuned, qTrue));
rmsUntuned = sqrt(mean(dUntuned.^2))
rmsTuned = sqrt(mean(dTuned.^2))
N = numel(dUntuned);
t = (0:N-1)./ fuse.SampleRate;
plot(t, dUntuned, ‘r’, t, dTuned, ‘b’);
legend(‘Untuned’, ‘Tuned’);
title(‘imufilter – Tuned vs Untuned Error’)
xlabel(‘Time (s)’);
ylabel(‘Orientation Error (degrees)’); When I am ready to use imufilter, "Tune imufilter to Optimize Orientation Estimate",the current latest version R2024b cannot reproduce the documented example results? Please fix it in time!
TEST in MATLAB online and desktop MATLAB
ld = load(‘imufilterTuneData.mat’);
qTrue = ld.groundTruth.Orientation; % true orientation
fuse = imufilter;
qEstUntuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
% reset(fuse);
cfg = tunerconfig(‘imufilter’);
tune(fuse, ld.sensorData, ld.groundTruth, cfg)
qEstTuned = fuse(ld.sensorData.Accelerometer, …
ld.sensorData.Gyroscope);
dUntuned = rad2deg(dist(qEstUntuned, qTrue));
dTuned = rad2deg(dist(qEstTuned, qTrue));
rmsUntuned = sqrt(mean(dUntuned.^2))
rmsTuned = sqrt(mean(dTuned.^2))
N = numel(dUntuned);
t = (0:N-1)./ fuse.SampleRate;
plot(t, dUntuned, ‘r’, t, dTuned, ‘b’);
legend(‘Untuned’, ‘Tuned’);
title(‘imufilter – Tuned vs Untuned Error’)
xlabel(‘Time (s)’);
ylabel(‘Orientation Error (degrees)’); sensorfusion, imu MATLAB Answers — New Questions
