Allan_Standard_Deviation_Analysis

AD Analysis For IMU Stochastic Noise Models Two functions are offered to:

calculate the allan variance(allan.m) 

and

get the relevant stochastic noise process parameters(curvefitting.m).

Usage:

Please refer to calib_6050_gyro.m or any other calib files.

Note:

the dataset is too big to upload so one can download in the following links: loitor_mpu6050.mat Static_3DM.mat.

When finished, put them into the 'data' folder. (Warning, loitor_mpu6050's gyro output unit is degree/s while the Static_3DM's is rad/s, please be careful when dealing with the unit transformation.)

data format for each line in the .mat file:

timestamp ax ay az gx gy gz