exp_240213_allanDeviationComparison.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;
 
%% analyze actual recorded data (recorded in the damping chamber at around 20.2 °C)
datapath = getDataPath();
datapath = fullfile(datapath, "self_captured/240205_allan_deviation_2");
data(1)  = jumpReadData(fullfile(datapath, "S-24-A-13026_000.BIN"));
data(2)  = jumpReadData(fullfile(datapath, "S-24-A-13036_000.BIN"));
data(3)  = jumpReadData(fullfile(datapath, "S-24-A-13169_000.BIN"));
 
% remove start because of temperature decrease and end because of me
% walking
data(1).tt = data(1).tt(2e6:end - 200 * 60,:);
data(2).tt = data(2).tt(2e6:end - 200 * 60,:);
data(3).tt = data(3).tt(2e6:end - 200 * 60,:);
 
% analyze the data
params(1) = jumpNoiseAnalysis(data(1), "plot", false);
params(2) = jumpNoiseAnalysis(data(2), "plot", false);
params(3) = jumpNoiseAnalysis(data(3), "plot", false);
 
num_measurements = 3;
 
%% JUMP sensor models and simulate data
 
num_simulations = 3;
assert(num_simulations >= num_measurements, "num_simulations must be greater or equal than num_measurements");
 
% get ground truth (laying still for 24 h)
numsamples = 24 * 60 * 60 * 200;
acc        = zeros(numsamples,3);
gyr        = zeros(numsamples,3);
ori        = quaternion.ones(numsamples, 1);
tmp        = linspace(20.2, 20.2, numsamples);
 
for i = 1:num_simulations
    
    % simulator instance
    js(i) = JumpSensor();
    
    % simulate data
    data_sim(i) = js(i).generate(acc, gyr, ori, "tmp_true",tmp);
    
    % analyze the simulated data
    params_sim(i) = jumpNoiseAnalysis(data_sim(i), "plot", false);
    
    disp(".");
    
end
 
%% plot the results
figure("Name", "Allan deviation comparison between simulated and measured data","ToolBar","none", "NumberTitle","off")
for i = 1:num_simulations
    subplot(231); % accelerometer
    loglog(params_sim(i).acc.tau, params_sim(i).acc.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).acc.tau, params(i).acc.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [m/s^2]");
        title("accelerometer");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end
    
    subplot(232); % gyroscope
    loglog(params_sim(i).gyr.tau, params_sim(i).gyr.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).gyr.tau, params(i).gyr.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [rad/s]");
        title("gyroscope");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end
        
    subplot(233); % temperature
    loglog(params_sim(i).tmp.tau, params_sim(i).tmp.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).tmp.tau, params(i).tmp.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [°C]");
        title("temperature");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end
    
    subplot(234); % high g accelerometer
    loglog(params_sim(i).hig.tau, params_sim(i).hig.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).hig.tau, params(i).hig.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [m/s^2]");
        title("high g accelerometer");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end
    
    subplot(235); % magnetometer
    loglog(params_sim(i).mag.tau, params_sim(i).mag.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).mag.tau, params(i).mag.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [uT]");
        title("magnetometer");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end
    
    subplot(236); % pressure
    loglog(params_sim(i).prs.tau, params_sim(i).prs.adev, '-b'); hold on;
    if i < num_measurements
        loglog(params(i).prs.tau, params(i).prs.adev, '--r');
    end
    if i == 1
        grid on;
        xlabel("tau [s]");
        ylabel("Allan deviation [Pa]");
        title("pressure");
    elseif i == num_simulations
        hold off;
        legend("simulated", "measured", "Location", "best");
    end    
end