openshoe-ZUPT 基于零速校正的行人定位代码

基于零速校正的行人定位代码，本人自己编写，有数据，运行通过，精度较高，可参考。

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%>
%> @file Main.m
%>                                                                           
%> @brief This is the skeleton file for processing data from a foot mounted
%> IMU. The data is processed using a Kalman filter based zero-velocity 
%> aided inertial navigation system algorithm.
%> 
%> @details This is the skeleton file for processing data data from a foot
%> mounted inertial measurement unit （IMU）. The data is processed using a 
%> Kalman filter based zero-velocity aided inertial navigation system. The
%> processing is done in the following order. 
%> 
%> \li The IMU data and the settings controlling the Kalman filter is loaded.
%> \li The zero-velocity detector process all the IMU data.
%> \li The fi

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2016-04-06 08:20  openshoe-ZUPT\
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\
     文件           6  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\.gitignore
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_2\
     文件     3842541  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_2\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_3\
     文件     3746601  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_3\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_30\
     文件     3780063  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_30\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_31\
     文件     3928073  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_31\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_32\
     文件     3813384  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_32\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_33\
     文件     3891208  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_33\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_34\
     文件     3870728  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_34\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_35\
     文件     3775149  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_35\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_36\
     文件     3919294  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_36\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_37\
     文件     3863835  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_37\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_38\
     文件     3874824  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_38\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_39\
     文件     3776520  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_39\data_inert.txt
     目录           0  2016-04-06 08:20  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_44\
     文件     3842541  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\Measurement_100521_44\data_inert.txt
     文件       23044  2016-04-03 16:38  openshoe-ZUPT\openshoe-ZUPT\ZUPTaidedINS.m
     文件        1660  2011-12-15 19:39  openshoe-ZUPT\openshoe-ZUPT\main.m
............此处省略4个文件信息