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SensorFusion

This project performs sensor fusion to track a mobile device's orientation. The data utilised are from three sensors: a) Accelerometer, b) Magnetic Field, c) Gyroscope. The sensor fusion is executed off-line.

This project basically ports code developed by Paul Lawitzki from Android to Matlab/Octave.The Matlab/Octave code imports a CSV file with a given structure. Then, a strapdown integration system is developed by computing the orientation from two different components:

a) Accelerometer - Magnetic Field and b) Gravity tracking through Gyroscope.

Finally, the orientations from the two components are fused. (http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/)

The developer should note that testSensorFusion imports the data from a CSV file that follows a particular structure; the import method should be modified otherwise.

How-to

  1. Clone the project in a directory and navigate Matlab/Octave to the particular directory.

  2. Run the test file: source-code/sensor_fusion/testSensorFusion.m