Plot trajectory based on position/acceleration data

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JB105
JB105 2021-12-14
移动：Voss 2022-8-19
I have acceleration data (a_x a_y a_z) and would like to plot the trajectory. After integration, I have the way (s_x s_y s_z) as well as the velocity. Is there an easy way to plot the traveled way based on this data?
Like geoscatter does with lat and long data from a gps. Due to the fact that I do not have waypoints, I struggle to use the trajectory commands.
Thanks!
hold on
%Read Data from Excel file
%Acceleration
[Time_acc a_x a_y a_z] = readvars('auto_accel.xls');
%GPS Data
[Time_gps lat long height ] = readvars('auto_gps.xls');
%Smooth
iN = 20; % Length of filter
glatt_ax = filter(ones(1,iN)/iN, 1, a_x);
glatt_ay = filter(ones(1,iN)/iN, 1, a_y);
glatt_az = filter(ones(1,iN)/iN, 1, a_z);
%Calculate velocity
v_x = cumtrapz(glatt_ax, Time_acc);
v_y = cumtrapz(glatt_ay, Time_acc);
v_z = cumtrapz(glatt_az, Time_acc);
%Calculate Way
s_x = cumtrapz(v_x, Time_acc);
s_y = cumtrapz(v_y, Time_acc);
s_z = cumtrapz(v_z, Time_acc);
figure;
geoscatter(lat, long)
  1 个评论
Cletus Donkor
Cletus Donkor 2022-8-18
移动：Voss 2022-8-19
Hi all, i am currently facing a similar challenge. Is there an existing solution for this?
Thank you.

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回答（1 个）

Voss
Voss 2021-12-14
How about using plot3?
figure();
plot3(s_x,s_y,s_z);
  1 个评论
JB105
JB105 2021-12-14
移动：Voss 2022-8-19
Thank you, however, this does not give correct results.
If I plot the three path vectors (s_x,s_y,s_z), I do not get a "path" on which I drove with my vehicle.
The correct path would look like this. I know that the data from the accelerometer may not be as perfect as from the GPS, but I think the problem is not there.

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