exp_240205_allanDeviation2.m

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%
% For LICENSE / TERMS OF USE, see the file LICENSE in the root directory of the repository.
 
clear; close all; clc;
 
%% add functions path and get data path
datapath = getDataPath();
datapath = fullfile(datapath, "self_captured/240205_allan_deviation_2");
 
%% load data
data1 = jumpReadData(fullfile(datapath, "S-24-A-13026_000.BIN"), "time_correction",false);
data2 = jumpReadData(fullfile(datapath, "S-24-A-13036_000.BIN"), "time_correction",false);
data3 = jumpReadData(fullfile(datapath, "S-24-A-13169_000.BIN"), "time_correction",false);
 
% remove start because of temperature decrease and end because of me
% walking
data1.tt = data1.tt(2e6:end - 200 * 60,:);
data2.tt = data2.tt(2e6:end - 200 * 60,:);
data3.tt = data3.tt(2e6:end - 200 * 60,:);
 
 
%% parameter analysis
param1 = jumpNoiseAnalysis(data1, "plot", true);
param2 = jumpNoiseAnalysis(data2, "plot", true);
param3 = jumpNoiseAnalysis(data3, "plot", true);
 
%% average parameters
%accelerometer
acc.N = median([param1.acc.N, param2.acc.N, param3.acc.N]); % NoiseDensity [(m/s^2)/sqrt(Hz)]
acc.K = median([param1.acc.K, param2.acc.K, param3.acc.K]); % RandomWalk [m/s^2 * sqrt(Hz)]
acc.B = median([param1.acc.B, param2.acc.B, param3.acc.B]); % BiasInstability [m/s^2]
acc.tau_B = median([param1.acc.tau_B, param2.acc.tau_B, param3.acc.tau_B]); % BiasInstability time [s]
 
%gyroscope
gyr.N = median([param1.gyr.N, param2.gyr.N, param3.gyr.N]); % NoiseDensity [(°/s)/sqrt(Hz)]
gyr.K = median([param1.gyr.K, param2.gyr.K, param3.gyr.K]); % RandomWalk [°/s * sqrt(Hz)]
gyr.B = median([param1.gyr.B, param2.gyr.B, param3.gyr.B]); % BiasInstability [°/s]
gyr.tau_B = median([param1.gyr.tau_B, param2.gyr.tau_B, param3.gyr.tau_B]); % BiasInstability time [s]
 
%magnetometer
mag.N = median([param1.mag.N, param2.mag.N, param3.mag.N]); % NoiseDensity [uT/sqrt(Hz)]
mag.K = median([param1.mag.K, param2.mag.K, param3.mag.K]); % RandomWalk [uT * sqrt(Hz)]
mag.B = median([param1.mag.B, param2.mag.B, param3.mag.B]); % BiasInstability [uT]
mag.tau_B = median([param1.mag.tau_B, param2.mag.tau_B, param3.mag.tau_B]); % BiasInstability time [s]
 
%high-g accelerometer
hig.N = median([param1.hig.N, param2.hig.N, param3.hig.N]); % NoiseDensity [(m/s^2)/sqrt(Hz)]
hig.K = median([param1.hig.K, param2.hig.K, param3.hig.K]); % RandomWalk [m/s^2 * sqrt(Hz)]
hig.B = median([param1.hig.B, param2.hig.B, param3.hig.B]); % BiasInstability [m/s^2]
hig.tau_B = median([param1.hig.tau_B, param2.hig.tau_B, param3.hig.tau_B]); % BiasInstability time [s]
 
%temperature
tmp.N = median([param1.tmp.N, param2.tmp.N, param3.tmp.N]); % NoiseDensity [°C/sqrt(Hz)]
tmp.K = median([param1.tmp.K, param2.tmp.K, param3.tmp.K]); % RandomWalk [°C * sqrt(Hz)]
tmp.B = median([param1.tmp.B, param2.tmp.B, param3.tmp.B]); % BiasInstability [°C]
tmp.tau_B = median([param1.tmp.tau_B, param2.tmp.tau_B, param3.tmp.tau_B]); % BiasInstability time [s]
 
%pressure
prs.N = median([param1.prs.N, param2.prs.N, param3.prs.N]); % NoiseDensity [mbar/sqrt(Hz)]
prs.K = median([param1.prs.K, param2.prs.K, param3.prs.K]); % RandomWalk [mbar * sqrt(Hz)]
prs.B = median([param1.prs.B, param2.prs.B, param3.prs.B]); % BiasInstability [mbar]
prs.tau_B = median([param1.prs.tau_B, param2.prs.tau_B, param3.prs.tau_B]); % BiasInstability time [s]
 
%% save the average parameters to a file
fid = fopen('res_240205_allanResults.txt', 'w');
fprintf(fid, "*********** Results 2nd Allan Deviation Experiment ***********\n");
fprintf(fid, "Accelerometer:\n");
fprintf(fid, "NoiseDensity: %f [(m/s^2)/sqrt(Hz)]\n", acc.N);
fprintf(fid, "RandomWalk: %f [m/s^2 *sqrt(Hz)]\n", acc.K);
fprintf(fid, "BiasInstability: %f [m/s^2] @ %f [s]\n\n", acc.B, acc.tau_B);
fprintf(fid, "NoiseDensity: %f [(°/s)/sqrt(Hz)]\n", gyr.N);
fprintf(fid, "RandomWalk: %f [°/s*sqrt(Hz)]\n", gyr.K);
fprintf(fid, "BiasInstability: %f [°/s] @ %f [s]\n\n", gyr.B, gyr.tau_B);
fprintf(fid, "Magnetometer:\n");
fprintf(fid, "NoiseDensity: %f [uT/sqrt(Hz)]\n", mag.N);
fprintf(fid, "RandomWalk: %f [uT*sqrt(Hz)]\n", mag.K);
fprintf(fid, "BiasInstability: %f [uT] @ %f [s]\n\n", mag.B, mag.tau_B);
fprintf(fid, "High-g Accelerometer:\n");
fprintf(fid, "NoiseDensity: %f [(m/s^2)/sqrt(Hz)]\n", hig.N);
fprintf(fid, "RandomWalk: %f [m/s^2*sqrt(Hz)]\n", hig.K);
fprintf(fid, "BiasInstability: %f [m/s^2] @ %f [s]\n\n", hig.B, hig.tau_B);
fprintf(fid, "Temperature:\n");
fprintf(fid, "NoiseDensity: %f [°C/sqrt(Hz)]\n", tmp.N);
fprintf(fid, "RandomWalk: %f [°C*sqrt(Hz)]\n", tmp.K);
fprintf(fid, "BiasInstability: %f [°C] @ %f [s]\n\n", tmp.B, tmp.tau_B);
fprintf(fid, "Pressure:\n");
fprintf(fid, "NoiseDensity: %f [mbar/sqrt(Hz)]\n", prs.N);
fprintf(fid, "RandomWalk: %f [mbar*sqrt(Hz)]\n", prs.K);
fprintf(fid, "BiasInstability: %f [mbar] @ %f [s]\n\n", prs.B, prs.tau_B);
fprintf(fid, "*************************************************************\n");
fclose(fid);