From 8a68139a5ada810bc4836daf979cb80a86a5b57b Mon Sep 17 00:00:00 2001
From: "Claudio (xjobb Martina)" <claudio@neumann.control.lth.se>
Date: Fri, 21 Sep 2018 14:58:29 +0200
Subject: [PATCH] sensor fusion start
---
matlab/GPSaidedINS.m | 2 +-
paper/main.bib | 2 +-
paper/sections/04-fusion.tex | 6 ++++++
3 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/matlab/GPSaidedINS.m b/matlab/GPSaidedINS.m
index db8a4ce..863cbd6 100644
--- a/matlab/GPSaidedINS.m
+++ b/matlab/GPSaidedINS.m
@@ -81,7 +81,7 @@ for k=2:N
sv=5;
%control action
a=[a,sum(sqrt(out_data.diag_P(1:3,k-1)))];
- if sum(sqrt(out_data.diag_P(1:3,k-1)))<15.0
+ if sum(sqrt(out_data.diag_P(1:3,k-1)))<20.0
turn=false;
else
turn=true;
diff --git a/paper/main.bib b/paper/main.bib
index 47eeba2..44b7b49 100644
--- a/paper/main.bib
+++ b/paper/main.bib
@@ -292,7 +292,7 @@ month={Sept},}
}
%libro su GPS+inertial navigation
-@book{Grewal:2007:GPS:1237963,
+@book{bib:gps-imu,
author = {Grewal, Mohinder S. and Weill, Lawrence R. and Andrews, Angus P.},
title = {Global Positioning Systems, Inertial Navigation, and Integration},
year = {2007},
diff --git a/paper/sections/04-fusion.tex b/paper/sections/04-fusion.tex
index bac54a4..acc5d7a 100644
--- a/paper/sections/04-fusion.tex
+++ b/paper/sections/04-fusion.tex
@@ -5,3 +5,9 @@
\item Spiega come lo fai (equazioni). rifrasa dal tast del corso AS1
\end{itemize}
+
+It is now discussed an implementation of the presented model. We will use to discuss some of the different types of analysis that can be done with this abstarction an implementation of GPS-IMU sensor fusion. Sensor fusion is the technique of merging the measurements that come from different sensors. If well made, it enhances the advantages of the different sensors while compensating for the disadvantages.
+
+Inertial measurement units (IMUs) are sensors that measure accelerations and angular velocities of the device. Such sensors are usually carachterized by relatively low power consumption \todo{find reference}, providing relative measurements and continuous availability.
+
+
--
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