IMU_Calibration/FindFixData.m at master · ZhangPeike/IMU_Calibration · GitHub

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function [fix_point, rotation] = FindFixData(cal, threshold)

    n = size(cal, 1);
    j = 1;

    for i = 1:n
        norm_gyro(i, 1) = norm(cal(i, 5:7));

        if i == 1

            if norm_gyro(i) < threshold
                P(j, 1) = i;
            end

        else

            if norm_gyro(i) <= threshold && norm_gyro(i - 1) > threshold
                P(j, 1) = i;
            end

            if norm_gyro(i) > threshold && norm_gyro(i - 1) <= threshold
                P(j, 2) = i - 1;
                j = j + 1;
            end

        end

    end

    j = 1;
    PP = [];

    for i = 1:size(P, 1) - 1
        % if P(i,2)-P(i,1)>20
        if P(i, 2) - P(i, 1) > 300
            PP(j, 1) = P(i, 1);
            PP(j, 2) = P(i, 2);
            fix_point(j, :) = mean(cal(PP(j, 1):PP(j, 2), 2:7), 1);

            if j >= 2
                rotation{j - 1, 1} = cal(PP(j - 1, 2) - 50:PP(j, 1) + 50, :);
            end

            j = j + 1;
        end

    end

    figure
    plot(1:n, norm_gyro, 'b')

    for j = 1:size(PP, 1)
        hold on
        plot(PP(j, 1), norm_gyro(PP(j, 1)), 'ro');
        hold on
        plot(PP(j, 2), norm_gyro(PP(j, 2)), 'b*');
    end
    legend('gyro norm', 'start', 'end');


end