ESP/imu_data_20260701_171025.csv at b4739362a5f6dc21758c62c8297c8edf950c8bd2

Files

Brunsmeier e0f777837b Add linear velocity calculation and visualization to IMU data processing

- Implemented Euler to rotation matrix conversion for IMU data.
- Added function to compute linear velocity from accelerometer data with gravity compensation.
- Enhanced CSV and PNG saving functionality to automatically create directories.
- Updated statistics printing to include linear acceleration and velocity metrics.
- Expanded plotting functionality to visualize linear acceleration and velocity alongside existing data.
- Added new PNG files for IMU quality visualization.

2026-07-01 17:29:58 +08:00

81 KiB

Raw Blame History

1	t_s	acc_x_g	acc_y_g	acc_z_g	gyro_x_dps	gyro_y_dps	angle_x_deg	angle_y_deg	angle_z_deg	temp_c	freq_hz	lin_acc_x_ms2	lin_acc_y_ms2	lin_acc_z_ms2	vel_x_ms	vel_y_ms	vel_z_ms
2	0.0	-0.00439	0.00781	0.98535	0.0	0.0	0.3955	0.2362	-70.686	26.84	0.0	0.0	0.0	0.0	0.0	0.0	0.0
3	0.02	-0.00391	0.00732	0.98535	0.0	0.0	0.3955	0.2362	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
4	0.04	-0.00488	0.00684	0.98633	0.0	0.0	0.3955	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
5	0.06	-0.00391	0.00684	0.98633	0.0	0.0	0.3955	0.2362	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
6	0.08	-0.00439	0.0083	0.98535	0.0	0.0	0.3955	0.2362	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
7	0.1	-0.00439	0.00635	0.98633	0.0	0.0	0.3955	0.2362	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
8	0.12000000000000001	-0.00342	0.00732	0.98584	0.0	0.0	0.3955	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
9	0.14	-0.00342	0.00684	0.98584	0.0	0.0	0.3955	0.2362	-70.686	26.87	50.0	0.0	0.0	0.0	0.0	0.0	0.0
10	0.16	-0.00391	0.00635	0.98486	0.0	0.0	0.3955	0.2362	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
11	0.18	-0.00244	0.00732	0.98584	0.0	0.0	0.3955	0.2362	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
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99	1.9400000000000013	-0.00342	0.00732	0.98633	0.0	0.0	0.39	0.2362	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
100	1.9600000000000013	-0.00488	0.00781	0.98535	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
101	1.9800000000000013	-0.00439	0.00732	0.98828	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
102	2.0000000000000013	-0.00391	0.00732	0.98584	0.0	0.0	0.3955	0.2362	-70.686	26.79	50.0	0.0	0.0	0.0	0.0	0.0	0.0
103	2.0200000000000014	-0.00342	0.00586	0.98584	0.0	0.0	0.3955	0.2362	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
104	2.0400000000000014	-0.00391	0.00635	0.98438	0.0	0.0	0.3955	0.2362	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
105	2.0600000000000014	-0.00439	0.00635	0.98682	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
106	2.0800000000000014	-0.00342	0.00684	0.98486	0.0	0.0	0.39	0.2362	-70.686	26.89	50.0	0.0	0.0	0.0	0.0	0.0	0.0
107	2.1000000000000014	-0.00391	0.00732	0.98535	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
108	2.1200000000000014	-0.00439	0.00684	0.98535	0.0	0.0	0.39	0.2362	-70.686	26.92	50.0	0.0	0.0	0.0	0.0	0.0	0.0
109	2.1400000000000015	-0.00391	0.00635	0.98535	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
110	2.1600000000000015	-0.00391	0.00684	0.98389	0.0	0.0	0.39	0.2362	-70.686	26.87	50.0	0.0	0.0	0.0	0.0	0.0	0.0
111	2.1800000000000015	-0.00391	0.00586	0.98389	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
112	2.2000000000000015	-0.00439	0.00684	0.98779	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
113	2.2200000000000015	-0.00439	0.00684	0.98535	0.0	0.0	0.39	0.2362	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
114	2.2400000000000015	-0.00342	0.00684	0.98633	0.0	0.0	0.39	0.2362	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
115	2.2600000000000016	-0.00391	0.00732	0.98584	0.0	0.0	0.39	0.2307	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
116	2.2800000000000016	-0.00391	0.00684	0.98682	0.0	0.0	0.39	0.2307	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
117	2.3000000000000016	-0.00439	0.00635	0.98535	0.0	0.0	0.39	0.2307	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
118	2.3200000000000016	-0.00439	0.00781	0.98633	0.0	0.0	0.39	0.2307	-70.686	26.9	50.0	0.0	0.0	0.0	0.0	0.0	0.0
119	2.3400000000000016	-0.00439	0.00684	0.98633	0.0	0.0	0.39	0.2307	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
120	2.3600000000000017	-0.00439	0.00635	0.98633	0.0	0.0	0.3955	0.2307	-70.686	26.89	50.0	0.0	0.0	0.0	0.0	0.0	0.0
121	2.3800000000000017	-0.00391	0.00586	0.98535	0.0	0.0	0.3955	0.2307	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
122	2.4000000000000017	-0.00391	0.00586	0.98438	0.0	0.0	0.3955	0.2307	-70.686	26.9	50.0	0.0	0.0	0.0	0.0	0.0	0.0
123	2.4200000000000017	-0.00391	0.00684	0.98633	0.0	0.0	0.39	0.2307	-70.686	26.87	50.0	0.0	0.0	0.0	0.0	0.0	0.0
124	2.4400000000000017	-0.00342	0.00781	0.98584	0.0	0.0	0.39	0.2307	-70.686	26.79	50.0	0.0	0.0	0.0	0.0	0.0	0.0
125	2.4600000000000017	-0.00439	0.00684	0.98438	0.0	0.0	0.3955	0.2307	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
126	2.4800000000000018	-0.00439	0.00586	0.98584	0.0	0.0	0.3955	0.2307	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
127	2.5000000000000018	-0.00439	0.00635	0.98682	0.0	0.0	0.3955	0.2307	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
128	2.520000000000002	-0.00439	0.00684	0.98242	0.0	0.0	0.39	0.2307	-70.686	26.86	50.0	0.0	0.0	0.0	0.0	0.0	0.0
129	2.540000000000002	-0.00439	0.0083	0.98877	0.0	0.0	0.39	0.2307	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
130	2.560000000000002	-0.00391	0.0083	0.98291	0.0	0.0	0.3955	0.2307	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
131	2.580000000000002	-0.00439	0.00586	0.98389	0.0	0.0	0.3955	0.2307	-70.686	26.82	50.0	0.0	0.0	0.0	0.0	0.0	0.0
132	2.600000000000002	-0.00293	0.00537	0.98438	0.0	0.0	0.3955	0.2307	-70.686	26.87	50.0	0.0	0.0	0.0	0.0	0.0	0.0
133	2.620000000000002	-0.00391	0.00732	0.99023	0.0	0.0	0.39	0.2307	-70.686	26.81	50.0	0.0	0.0	0.0	0.0	0.0	0.0
134	2.640000000000002	-0.00342	0.00781	0.98633	0.0	0.0	0.39	0.2307	-70.686	26.84	50.0	0.0	0.0	0.0	0.0	0.0	0.0
135	2.660000000000002	-0.00488	0.00439	0.9624	-0.1221	-0.3052	0.39	0.2252	-70.686	26.86	50.0	-0.024422082947047275	0.0018277755605252744	-0.22700840503864506	-0.0004884416589409459	3.655551121050552e-05	-0.0045401681007729055
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137	2.700000000000002	-0.00391	0.00537	1.00244	0.0	-0.061	0.39	0.2252	-70.686	26.86	50.0	-0.014214774205651641	-0.0063141410928078245	0.16579989838193765	-0.0007920540567664793	-0.00021259760585853248	-0.005790527027018397
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150	2.960000000000002	-0.00391	0.00732	0.98438	0.0	0.0	0.3845	0.2252	-70.686	26.79	50.0	0.0	0.0	0.0	-0.0007420870833395688	-0.00019918582059992856	-0.005425229851131146
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152	3.000000000000002	-0.00439	0.00684	0.98486	0.0	0.0	0.3845	0.2252	-70.686	26.86	50.0	0.0	0.0	0.0	-0.0007346847646832565	-0.00019719894203944427	-0.0053711131833661125
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155	3.0600000000000023	-0.00391	0.00684	0.98438	0.0	0.0	0.3845	0.2252	-70.686	26.82	50.0	0.0	0.0	0.0	-0.0007237195027347633	-0.0001942557231796378	-0.005290948647715225
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157	3.1000000000000023	-0.00391	0.00684	0.98535	0.0	0.0	0.39	0.2252	-70.686	26.87	50.0	0.0	0.0	0.0	-0.000716500400694984	-0.0001923180223409209	-0.005238171434954266
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170	3.3600000000000025	-0.00439	0.00586	0.98633	0.0	0.0	0.39	0.2252	-70.686	26.86	50.0	0.0	0.0	0.0	-0.0006712997528653972	-0.0001801855808367952	-0.004907719781231937
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485	9.659999999999883	-0.00342	0.00684	0.98584	0.0	0.0	0.3955	0.2307	-70.686	26.92	50.0	0.0	0.0	0.0	-0.00013841620000390933	-3.715270754751379e-05	-0.001011929350342469
486	9.679999999999882	-0.00391	0.00635	0.98486	0.0	0.0	0.39	0.2307	-70.686	26.86	50.0	0.0	0.0	0.0	-0.0001377241190038898	-3.696694400977622e-05	-0.0010068697035907567
487	9.699999999999882	-0.00342	0.00635	0.98486	0.0	0.0	0.39	0.2252	-70.686	26.86	50.0	0.0	0.0	0.0	-0.00013703549840887033	-3.6782109289727334e-05	-0.001001835355072803
488	9.719999999999882	-0.00391	0.00732	0.98633	0.0	0.0	0.39	0.2252	-70.686	26.86	50.0	0.0	0.0	0.0	-0.00013635032091682597	-3.6598198743278695e-05	-0.000996826178297439
489	9.739999999999881	-0.00439	0.00684	0.98535	0.0	0.0	0.39	0.2252	-70.686	26.89	50.0	0.0	0.0	0.0	-0.00013566856931224183	-3.64152077495623e-05	-0.0009918420474059517
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494	9.839999999999879	-0.00391	0.00635	0.98535	0.0	0.0	0.3955	0.2252	-70.686	26.87	50.0	0.0	0.0	0.0	-0.00013231060305959248	-3.551388595243466e-05	-0.0009672927200265023
495	9.859999999999879	-0.00439	0.00635	0.98633	0.0	0.0	0.3955	0.2252	-70.686	26.9	50.0	0.0	0.0	0.0	-0.0001316490500442945	-3.533631652267249e-05	-0.0009624562564263698
496	9.879999999999878	-0.00439	0.00635	0.98682	0.0	0.0	0.3955	0.2252	-70.686	26.84	50.0	0.0	0.0	0.0	-0.00013099080479407304	-3.515963494005913e-05	-0.0009576439751442379
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499	9.939999999999877	-0.00391	0.00586	0.98584	0.0	0.0	0.39	0.2307	-70.686	26.9	50.0	0.0	0.0	0.0	-0.00012903575065867088	-3.463487299362438e-05	-0.0009433510191097133
500	9.959999999999877	-0.00391	0.00684	0.98584	0.0	0.0	0.39	0.2307	-70.686	26.84	50.0	0.0	0.0	0.0	-0.00012839057190537753	-3.4461698628656256e-05	-0.0009386342640141647

81 KiB Raw Blame History

81 KiB

Raw Blame History