OpenShoe

Exam­ple of Mat­lab tool­box output

Note that the Mat­lab imple­men­ta­tion is cur­rently not very up-to-date. It works fine but non of the lat­est updates to the  embed­ded code has been ported to this implementation.

As a part of the Open­Shoe project a ZUPT aided INS algo­rithm frame­work for data pro­cess­ing in Mat­lab has been released. The frame­work allows the user to eas­ily process data from a foot-mounted IMU in a Kalman fil­ter based zero-velocity aided iner­tial nav­i­ga­tion sys­tem frame­work. The user can choose between dif­fer­ent state space (error) mod­els, zero-velocity detec­tors, etc. The main fea­tures the user can choose between in the frame­work are:

• 4 dif­fer­ent error state space models.
• 4 dif­fer­ent zero-velocity detec­tion algorithms.
• 13 IMU datasets recorded at nor­mal and fast gait.

The Mat­lab frame­work can be down­loaded from Open­Shoe at source­forge or as zip-folder here Open­Shoe Mat­lab Frame­work. The online doc­u­men­ta­tion for the frame­work is found at Open­Shoe Mat­lab Frame­work Doc­u­men­ta­tion.