R2024b cannot reproduce documented example result

Question

cui,xingxing 2024-10-7

1
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2157830-r2024b-cannot-reproduce-documented-example-result

评论： Paul 2024-10-10

When I am ready to use imufilter, "Tune imufilter to Optimize Orientation Estimate",the current latest version R2024b cannot reproduce the documented example results? Please fix it in time!

TEST in MATLAB online and desktop MATLAB

ld = load('imufilterTuneData.mat');
qTrue = ld.groundTruth.Orientation; % true orientation
fuse = imufilter;
qEstUntuned = fuse(ld.sensorData.Accelerometer, ...
    ld.sensorData.Gyroscope);
% reset(fuse);
cfg = tunerconfig('imufilter');
tune(fuse, ld.sensorData, ld.groundTruth, cfg)
qEstTuned = fuse(ld.sensorData.Accelerometer, ...
    ld.sensorData.Gyroscope);
dUntuned = rad2deg(dist(qEstUntuned, qTrue));
dTuned = rad2deg(dist(qEstTuned, qTrue));
rmsUntuned = sqrt(mean(dUntuned.^2))
rmsTuned = sqrt(mean(dTuned.^2))
N = numel(dUntuned);
t = (0:N-1)./ fuse.SampleRate;
plot(t, dUntuned, 'r', t, dTuned, 'b');
legend('Untuned', 'Tuned');
title('imufilter - Tuned vs Untuned Error')
xlabel('Time (s)');
ylabel('Orientation Error (degrees)');

9 个评论
显示 7更早的评论隐藏 7更早的评论

Aquatris 2024-10-7

编辑：Aquatris 2024-10-7

在 MATLAB Online 中打开

The problem seems to be the default objective limit is too high for this example. Set it to a low value and it works fine. Basically this means the initial imufilter parameters in the newer Matlab versions are a lot better then the previous implementations :P

ld = load('imufilterTuneData.mat');

qTrue = ld.groundTruth.Orientation; % true orientation

fuse = imufilter;

qEstUntuned = fuse(ld.sensorData.Accelerometer, ...

ld.sensorData.Gyroscope);

reset(fuse);

cfg = tunerconfig('imufilter');

cfg.ObjectiveLimit = 0.01; % HERE set objective limit so that it can do more iterations

tune(fuse, ld.sensorData, ld.groundTruth, cfg)

Iteration Parameter Metric _________ _________ ______ 1 AccelerometerNoise 0.0857 1 GyroscopeNoise 0.0855 1 GyroscopeDriftNoise 0.0855 1 LinearAccelerationNoise 0.0851 1 LinearAccelerationDecayFactor 0.0844 2 AccelerometerNoise 0.0844 2 GyroscopeNoise 0.0842 2 GyroscopeDriftNoise 0.0842 2 LinearAccelerationNoise 0.0840 2 LinearAccelerationDecayFactor 0.0836 3 AccelerometerNoise 0.0836 3 GyroscopeNoise 0.0834 3 GyroscopeDriftNoise 0.0834 3 LinearAccelerationNoise 0.0834 3 LinearAccelerationDecayFactor 0.0831 4 AccelerometerNoise 0.0831 4 GyroscopeNoise 0.0829 4 GyroscopeDriftNoise 0.0829 4 LinearAccelerationNoise 0.0829 4 LinearAccelerationDecayFactor 0.0827 5 AccelerometerNoise 0.0827 5 GyroscopeNoise 0.0824 5 GyroscopeDriftNoise 0.0824 5 LinearAccelerationNoise 0.0824 5 LinearAccelerationDecayFactor 0.0822 6 AccelerometerNoise 0.0822 6 GyroscopeNoise 0.0819 6 GyroscopeDriftNoise 0.0819 6 LinearAccelerationNoise 0.0819 6 LinearAccelerationDecayFactor 0.0818 7 AccelerometerNoise 0.0818 7 GyroscopeNoise 0.0814 7 GyroscopeDriftNoise 0.0814 7 LinearAccelerationNoise 0.0814 7 LinearAccelerationDecayFactor 0.0813 8 AccelerometerNoise 0.0813 8 GyroscopeNoise 0.0808 8 GyroscopeDriftNoise 0.0808 8 LinearAccelerationNoise 0.0808 8 LinearAccelerationDecayFactor 0.0807 9 AccelerometerNoise 0.0807 9 GyroscopeNoise 0.0802 9 GyroscopeDriftNoise 0.0802 9 LinearAccelerationNoise 0.0802 9 LinearAccelerationDecayFactor 0.0801 10 AccelerometerNoise 0.0801 10 GyroscopeNoise 0.0794 10 GyroscopeDriftNoise 0.0794 10 LinearAccelerationNoise 0.0794 10 LinearAccelerationDecayFactor 0.0794 11 AccelerometerNoise 0.0794 11 GyroscopeNoise 0.0785 11 GyroscopeDriftNoise 0.0785 11 LinearAccelerationNoise 0.0785 11 LinearAccelerationDecayFactor 0.0785 12 AccelerometerNoise 0.0785 12 GyroscopeNoise 0.0775 12 GyroscopeDriftNoise 0.0775 12 LinearAccelerationNoise 0.0775 12 LinearAccelerationDecayFactor 0.0774 13 AccelerometerNoise 0.0774 13 GyroscopeNoise 0.0762 13 GyroscopeDriftNoise 0.0762 13 LinearAccelerationNoise 0.0762 13 LinearAccelerationDecayFactor 0.0761 14 AccelerometerNoise 0.0761 14 GyroscopeNoise 0.0746 14 GyroscopeDriftNoise 0.0746 14 LinearAccelerationNoise 0.0746 14 LinearAccelerationDecayFactor 0.0745 15 AccelerometerNoise 0.0745 15 GyroscopeNoise 0.0727 15 GyroscopeDriftNoise 0.0727 15 LinearAccelerationNoise 0.0727 15 LinearAccelerationDecayFactor 0.0726 16 AccelerometerNoise 0.0726 16 GyroscopeNoise 0.0706 16 GyroscopeDriftNoise 0.0706 16 LinearAccelerationNoise 0.0705 16 LinearAccelerationDecayFactor 0.0705 17 AccelerometerNoise 0.0705 17 GyroscopeNoise 0.0684 17 GyroscopeDriftNoise 0.0684 17 LinearAccelerationNoise 0.0683 17 LinearAccelerationDecayFactor 0.0683 18 AccelerometerNoise 0.0683 18 GyroscopeNoise 0.0662 18 GyroscopeDriftNoise 0.0662 18 LinearAccelerationNoise 0.0662 18 LinearAccelerationDecayFactor 0.0662 19 AccelerometerNoise 0.0662 19 GyroscopeNoise 0.0644 19 GyroscopeDriftNoise 0.0644 19 LinearAccelerationNoise 0.0644 19 LinearAccelerationDecayFactor 0.0644 20 AccelerometerNoise 0.0644 20 GyroscopeNoise 0.0630 20 GyroscopeDriftNoise 0.0630 20 LinearAccelerationNoise 0.0630 20 LinearAccelerationDecayFactor 0.0630

qEstTuned = fuse(ld.sensorData.Accelerometer, ...

ld.sensorData.Gyroscope);

dUntuned = rad2deg(dist(qEstUntuned, qTrue));

dTuned = rad2deg(dist(qEstTuned, qTrue));

rmsUntuned = sqrt(mean(dUntuned.^2))

rmsUntuned = 4.9108

rmsTuned = sqrt(mean(dTuned.^2))

rmsTuned = 3.6116

N = numel(dUntuned);

t = (0:N-1)./ fuse.SampleRate;

plot(t, dUntuned, 'r', t, dTuned, 'b');

legend('Untuned', 'Tuned');

title('imufilter - Tuned vs Untuned Error')

xlabel('Time (s)');

ylabel('Orientation Error (degrees)');

Aquatris 2024-10-7

在 MATLAB Online 中打开

I only ran the code here, which uses the latest version of matlab, 2024b. From my experience, it is hard to get the default parameters used in a function in version history.

If you have access to previous versions, check what the default parameters imufilter is using via running the below command in previous versions. That might give an idea on whether the initial parameters are changed or the implementation is changed.

a = imufilter
a = 
  imufilter with properties:

                       SampleRate: 100             Hz      
                 DecimationFactor: 1                       
               AccelerometerNoise: 0.00019247      (m/s²)² 
                   GyroscopeNoise: 9.1385e-05      (rad/s)²
              GyroscopeDriftNoise: 3.0462e-13      (rad/s)²
          LinearAccelerationNoise: 0.0096236       (m/s²)² 
    LinearAccelerationDecayFactor: 0.5                     
              InitialProcessNoise: [9⨯9 double]            
                OrientationFormat: 'quaternion'            
a.InitialProcessNoise
ans = 9×9
    0.0000         0         0         0         0         0         0         0         0
         0    0.0000         0         0         0         0         0         0         0
         0         0    0.0000         0         0         0         0         0         0
         0         0         0    0.0001         0         0         0         0         0
         0         0         0         0    0.0001         0         0         0         0
         0         0         0         0         0    0.0001         0         0         0
         0         0         0         0         0         0    0.0096         0         0
         0         0         0         0         0         0         0    0.0096         0
         0         0         0         0         0         0         0         0    0.0096
<mw-icon class=""></mw-icon>
<mw-icon class=""></mw-icon>

cui,xingxing 2024-10-9

Another issue I'd like to complain about is that whenever I ask this question, I can never seem to display the output results below the code. I just can't find the right adjustment button.

Paul 2024-10-10

If tune doesn't reset the filter on input and again on output, then I'd question the code snippet in the example. Seems like that would cause the tuning to be corrupted by the state of the filter on the call to tune, and subsquent use of the filter will be corrupted by its state after tune completes. That doesn't sound like a good system, and it should be documented in bold that that's how the function works.

As for displaying the output on Answers, what happens after you enter code (using cod formatting as you've done) and the click the green triangle in the Run section of the ribbon?

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Brian Fanous 2024-10-9

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2157830-r2024b-cannot-reproduce-documented-example-result#answer_1529720

编辑：Brian Fanous 2024-10-9

A bug in the imufilter and ahrsfilter that had a minor affect on the output was fixed in R2021b. For the setup in the code above the filter reached the ObjectiveLimit faster once the bug was addressed. This doc page was not updated after the fix. I have let our documentation group know.

Set the ObjectiveLimit to 0.03 and you'll see the filter tune itself for several iterations.

I would suggest always resetting the filter prior to tuning.

1 个评论
显示 -1更早的评论隐藏 -1更早的评论

cui,xingxing 2024-10-10

@Brian Fanous Thanks for the clarification, clear and accurate documentation is important!

请先登录，再进行评论。

R2024b cannot reproduce documented example result

9 个评论
显示 7更早的评论隐藏 7更早的评论

采纳的回答

1 个评论
显示 -1更早的评论隐藏 -1更早的评论

更多回答（0 个）

另请参阅

类别

标签

产品

版本

Community Treasure Hunt

R2024b cannot reproduce documented example result

9 个评论 显示 7更早的评论隐藏 7更早的评论

采纳的回答

1 个评论 显示 -1更早的评论隐藏 -1更早的评论

更多回答（0 个）

另请参阅

类别

标签

产品

版本

Community Treasure Hunt

9 个评论
显示 7更早的评论隐藏 7更早的评论

1 个评论
显示 -1更早的评论隐藏 -1更早的评论