PostPDR

PostPDR is a MATLAB-based project designed to implement Pedestrian Dead Reckoning (PDR) for accurate positioning. This system leverages sensors' data to estimate the position of a pedestrian over time.

Features

• Utilizes IMU data for PDR
• Implements various algorithms for position estimation
• Provides functions for footstep detection and orientation calculation

Prerequisites

• MATLAB

Installation

1. Clone the repository:

   
   git clone https://github.com/akui1321/PostPDR.git

2. Navigate to the project directory and open MATLAB:

   
   cd PostPDR

Usage

1. Open MATLAB.
2. Add the project directory to the MATLAB path:

   
   addpath('path_to_PostPDR')

3. Run the main script or function to start processing IMU data.

Project Structure

• Cnb.m: Function for coordinate transformation.
• PSR.m: Entry point of the application.
• att2q.m: Function for attitude to quaternion conversion.
• detectFoot.m: Function for footstep detection.
• estInitHead.m: Function for initial heading estimation.
• getQuatW.m: Function for quaternion calculation.
• getQuatWfour.m: Alternate function for quaternion calculation.
• gyrohead.m: Function for heading calculation using gyroscope data.
• maghead.m: Function for heading calculation using magnetometer data.
• nineFilt.m: Function for nine-axis filter.
• posCal.m: Function for position calculation.
• sixFilt.m: Function for six-axis filter.

Contact

For any inquiries or feedback, please contact akui1321.