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load_measures.m
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load_measures.m
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function [meas, meas_, timeline, Ts, Fs, HW_cutoff, SW_cutoff, info] = load_measures(selector)
%LOAD_MEASURES - Loads the experimental measurements set to characterize
% You can add your new data-set in this function. Just be sure to enter
% them in a new 'case' option in the code and to add the data set to the
% 'load_me_IMU.mat' file. Also add a line in the main.m experiment list
% with a brief description of your dataset.
% (e.g. % SET 0 : exp 0 - ACCELEROMETERS [ 42 Hz, 30 Hz, 200 Hz ]')
%
% Syntax: [meas, meas_, timeline, Ts, Fs, HW_cutoff, SW_cutoff, info] = load_measures(selector)
%
% Inputs:
% selector - Index of the experiment to load.
%
% Outputs:
% meas - experiment data-set - [nxm] matrix.
% meas_ - average removed data-set - [nxm] matrix.
% timeline - a time base for the measurements - [nx1] vector.
% Ts - sampling time - scalar.
% Fs - sampling frequency - scalar.
% HW_cutoff - cut-off frequency of the hardware low-pass filter - scalar.
% SW_cutoff - cut-off frequency of the software low-pass filter - scalar.
% info - information about the data-set - struct.
%
% Other m-files required: vline.m, hline.m (download these from
% http://www.mathworks.com/matlabcentral/fileexchange/1039-hline-and-vline)
% MAT-files required: load_me_IMU.mat
% Author: Antonio Toma
% email: antonio.toma@outlook.com
% November 2104; Last revision: 14-Nov-2014
%------------- BEGIN CODE --------------
load load_me_IMU.mat;
switch selector
case 0
%% SET 0 - ACCELEROMETERS
% 42 Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate
info.type = 'acc';
meas = [fieldlinear_accelerationx0(2:end,:), ...
fieldlinear_accelerationy0(2:end,:), ...
fieldlinear_accelerationz0(2:end,:)];
meas_ = [fieldlinear_accelerationx0(2:end,:) - mean(fieldlinear_accelerationx0(2:end,:)), ...
fieldlinear_accelerationy0(2:end,:) - mean(fieldlinear_accelerationy0(2:end,:)), ...
fieldlinear_accelerationz0(2:end,:) - mean(fieldlinear_accelerationz0(2:end,:))];
timeline = (timestamp0(2:end) - timestamp0(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 42;
case 1
%% SET 0 - GYROSCOPES
% 42 Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate
info.type = 'gyr';
meas = [fieldangular_velocityx0(2:end,:), ...
fieldangular_velocityy0(2:end,:), ...
fieldangular_velocityz0(2:end,:)];
meas_ = [fieldangular_velocityx0(2:end,:) - mean(fieldangular_velocityx0(2:end,:)), ...
fieldangular_velocityy0(2:end,:) - mean(fieldangular_velocityy0(2:end,:)), ...
fieldangular_velocityz0(2:end,:) - mean(fieldangular_velocityz0(2:end,:))];
timeline = (timestamp0(2:end) - timestamp0(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 42;
case 2
%% SET 1 - SHAKING IMU - ACCELEROMETERS
% 42 Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate
info.type = 'acc';
meas = [fieldlinear_accelerationx1(2:end,:), ...
fieldlinear_accelerationy1(2:end,:), ...
fieldlinear_accelerationz1(2:end,:)];
meas_ = [fieldlinear_accelerationx1(2:end,:) - mean(fieldlinear_accelerationx1(2:end,:)), ...
fieldlinear_accelerationy1(2:end,:) - mean(fieldlinear_accelerationy1(2:end,:)), ...
fieldlinear_accelerationz1(2:end,:) - mean(fieldlinear_accelerationz1(2:end,:))];
timeline = (timestamp1(2:end) - timestamp1(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 42;
case 3
%% SET 1 - SHAKING IMU - GYROSCOPES
% 42 Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate
info.type = 'gyr';
meas = [fieldangular_velocityx1(2:end,:), ...
fieldangular_velocityy1(2:end,:), ...
fieldangular_velocityz1(2:end,:)];
meas_ = [fieldangular_velocityx1(2:end,:) - mean(fieldangular_velocityx1(2:end,:)), ...
fieldangular_velocityy1(2:end,:) - mean(fieldangular_velocityy1(2:end,:)), ...
fieldangular_velocityz1(2:end,:) - mean(fieldangular_velocityz1(2:end,:))];
timeline = (timestamp1(2:end) - timestamp1(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 42;
case 4
%% SET 2 - ACCELEROMETERS
% 10Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate)
info.type = 'acc';
meas = [fieldlinear_accelerationx2(2:end,:), ...
fieldlinear_accelerationy2(2:end,:), ...
fieldlinear_accelerationz2(2:end,:)];
meas_ = [fieldlinear_accelerationx2(2:end,:) - mean(fieldlinear_accelerationx2(2:end,:)), ...
fieldlinear_accelerationy2(2:end,:) - mean(fieldlinear_accelerationy2(2:end,:)), ...
fieldlinear_accelerationz2(2:end,:) - mean(fieldlinear_accelerationz2(2:end,:))];
timeline = (timestamp2(2:end) - timestamp2(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 10;
case 5
%% SET 2 - GYROSCOPES
% 10Hz hardware low pass filter
% 30 Hz software low pass filter
% 200 Hz mavlink framerate)
info.type = 'gyr';
meas = [fieldangular_velocityx2(2:end,:), ...
fieldangular_velocityy2(2:end,:), ...
fieldangular_velocityz2(2:end,:)];
meas_ = [fieldangular_velocityx2(2:end,:) - mean(fieldangular_velocityx2(2:end,:)), ...
fieldangular_velocityy2(2:end,:) - mean(fieldangular_velocityy2(2:end,:)), ...
fieldangular_velocityz2(2:end,:) - mean(fieldangular_velocityz2(2:end,:))];
timeline = (timestamp2(2:end) - timestamp2(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = 30;
HW_cutoff = 10;
case 6
%% SET 3 - ACCELEROMETERS
% 10Hz hardware low pass filter
% raw (software unfiltered) sens measurements
% 200 Hz mavlink framerate
info.type = 'acc';
meas = [fieldlinear_accelerationx3(2:end,:), ...
fieldlinear_accelerationy3(2:end,:), ...
fieldlinear_accelerationz3(2:end,:)];
meas_ = [fieldlinear_accelerationx3(2:end,:) - mean(fieldlinear_accelerationx3(2:end,:)), ...
fieldlinear_accelerationy3(2:end,:) - mean(fieldlinear_accelerationy3(2:end,:)), ...
fieldlinear_accelerationz3(2:end,:) - mean(fieldlinear_accelerationz3(2:end,:))];
timeline = (timestamp3(2:end) - timestamp3(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = 10;
case 7
%% SET 4 - ACCELEROMETERS
% 10Hz hardware low pass filter
% raw (software unfiltered) sens measurements
% 500 Hz mavlink framerate
info.type = 'acc';
meas = [fieldlinear_accelerationx4(2:end,:), ...
fieldlinear_accelerationy4(2:end,:), ...
fieldlinear_accelerationz4(2:end,:)];
meas_ = [fieldlinear_accelerationx4(2:end,:) - mean(fieldlinear_accelerationx4(2:end,:)), ...
fieldlinear_accelerationy4(2:end,:) - mean(fieldlinear_accelerationy4(2:end,:)), ...
fieldlinear_accelerationz4(2:end,:) - mean(fieldlinear_accelerationz4(2:end,:))];
timeline = (timestamp4(2:end) - timestamp4(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = 10;
case 8
%% SET 5 - ACCELEROMETERS
% 98Hz hardware low pass filter
% 30 Hz software low pass filter (I forgot to change for acc, it's
% ok for gyro, for accs see SET 6)
% 200 Hz mavlink framerate
info.type = 'acc';
SW_cutoff = 30;
HW_cutoff = 98;
meas = [fieldlinear_accelerationx5(2:end,:), ...
fieldlinear_accelerationy5(2:end,:), ...
fieldlinear_accelerationz5(2:end,:)];
meas_ = [fieldlinear_accelerationx5(2:end,:) - mean(fieldlinear_accelerationx5(2:end,:)), ...
fieldlinear_accelerationy5(2:end,:) - mean(fieldlinear_accelerationy5(2:end,:)), ...
fieldlinear_accelerationz5(2:end,:) - mean(fieldlinear_accelerationz5(2:end,:))];
timeline = (timestamp5(2:end) - timestamp5(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
case 9
%% SET 5 - GYROSCOPES
% 98Hz hardware low pass filter
% raw (software unfiltered) sens measurements
% 200 Hz mavlink framerate
info.type = 'gyr';
meas = [fieldangular_velocityx5(2:end,:), ...
fieldangular_velocityy5(2:end,:), ...
fieldangular_velocityz5(2:end,:)];
meas_ = [fieldangular_velocityx5(2:end,:) - mean(fieldangular_velocityx5(2:end,:)), ...
fieldangular_velocityy5(2:end,:) - mean(fieldangular_velocityy5(2:end,:)), ...
fieldangular_velocityz5(2:end,:) - mean(fieldangular_velocityz5(2:end,:))];
timeline = (timestamp5(2:end) - timestamp5(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = 98;
case 10
%% SET 6 - ACCELEROMETERS
% 98Hz hardware low pass filter
% raw (software unfiltered) sens measurements
% 200 Hz mavlink framerate
info.type = 'acc';
meas = [fieldlinear_accelerationx6(2:end,:), ...
fieldlinear_accelerationy6(2:end,:), ...
fieldlinear_accelerationz6(2:end,:)];
meas_ = [fieldlinear_accelerationx6(2:end,:) - mean(fieldlinear_accelerationx6(2:end,:)), ...
fieldlinear_accelerationy6(2:end,:) - mean(fieldlinear_accelerationy6(2:end,:)), ...
fieldlinear_accelerationz6(2:end,:) - mean(fieldlinear_accelerationz6(2:end,:))];
timeline = (timestamp6(2:end) - timestamp6(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = 98;
case 11
%% SET 6 - GYROSCOPES
% 98Hz hardware low pass filter
% raw (software unfiltered) sens measurements
% 200 Hz mavlink framerate
info.type = 'gyr';
meas = [fieldangular_velocityx6(2:end,:), ...
fieldangular_velocityy6(2:end,:), ...
fieldangular_velocityz6(2:end,:)];
meas_ = [fieldangular_velocityx6(2:end,:) - mean(fieldangular_velocityx6(2:end,:)), ...
fieldangular_velocityy6(2:end,:) - mean(fieldangular_velocityy6(2:end,:)), ...
fieldangular_velocityz6(2:end,:) - mean(fieldangular_velocityz6(2:end,:))];
timeline = (timestamp6(2:end) - timestamp6(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = 98;
case 12
%% SET 7 - MAGNETOMETER
% unknown hardware low pass filter
% unknown software low pass filter
% 80 Hz mavlink framerate
info.type = 'mag';
meas = [fieldmagnetic_fieldx7(2:end), ...
fieldmagnetic_fieldy7(2:end), ...
fieldmagnetic_fieldz7(2:end)];
meas_ = [fieldmagnetic_fieldx7(2:end) - mean(fieldmagnetic_fieldx7(2:end)), ...
fieldmagnetic_fieldy7(2:end) - mean(fieldmagnetic_fieldy7(2:end)), ...
fieldmagnetic_fieldz7(2:end) - mean(fieldmagnetic_fieldz7(2:end))];
timeline = (timestamp7(2:end) - timestamp7(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = Fs/2;
case 13
%% SET 7 - GPS - ECEF
% unknown hardware low pass filter
% unknown software low pass filter
% 5 Hz mavlink framerate
info.type = 'gps_ecef';
lat = deg2rad(fieldlatitude7(2:end));
lon = deg2rad(fieldlongitude7(2:end));
alt = deg2rad(fieldaltitude7(2:end));
[meas(:,1), meas(:,2), meas(:,3)] = lla2ecef(lat,lon,alt);
meas = [meas(:,1) - meas(1,1), meas(:,2) - meas(1,2), meas(:,3) - meas(1,3)];
avg = mean(meas);
meas_(:,1) = (meas(:,1) - avg(1));
meas_(:,2) = (meas(:,2) - avg(2));
meas_(:,3) = (meas(:,3) - avg(3));
timeline = (timestamp7GPS(2:end) - timestamp7GPS(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = Fs/2;
case 14
%% SET 8 - GPS - ECEF
% unknown hardware low pass filter
% unknown software low pass filter
% 5 Hz mavlink framerate
info.type = 'gps_ecef';
lat = deg2rad(fieldlatitude8(2:end));
lon = deg2rad(fieldlongitude8(2:end));
alt = (fieldaltitude8(2:end));
[meas(:,1), meas(:,2), meas(:,3)] = lla2ecef(lat,lon,alt);
meas = [meas(:,1) - meas(1,1), meas(:,2) - meas(1,2), meas(:,3) - meas(1,3)];
avg = mean(meas);
meas_(:,1) = (meas(:,1) - avg(1));
meas_(:,2) = (meas(:,2) - avg(2));
meas_(:,3) = (meas(:,3) - avg(3));
timeline = (timestamp8(2:end) - timestamp8(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = Fs/2;
case 15
%% SET 8 - GPS - RADIANS
% unknown hardware low pass filter
% unknown software low pass filter
% 5 Hz mavlink framerate
info.type = 'gps_rad';
lat = deg2rad(fieldlatitude8(2:end));
lon = deg2rad(fieldlongitude8(2:end));
alt = (fieldaltitude8(2:end));
meas = [lat,lon,alt];
meas = [meas(:,1) - meas(1,1), meas(:,2) - meas(1,2), meas(:,3) - meas(1,3)];
avg = mean(meas);
meas_(:,1) = (meas(:,1) - avg(1));
meas_(:,2) = (meas(:,2) - avg(2));
meas_(:,3) = (meas(:,3) - avg(3));
timeline = (timestamp8(2:end) - timestamp8(2))/1000000000;
Ts = timeline(end)/length(timeline);
Fs = 1/Ts;
SW_cutoff = Fs/2;
HW_cutoff = Fs/2;
end
end
%------------- END OF CODE --------------
%Please send suggestions for improvement of the above template header
%to Denis Gilbert at this email address: gilbertd@dfo-mpo.gc.ca.
%Your contribution towards improving this template will be acknowledged in
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