Set of Synchronized 50 Hz data from VN 100 and ADIS 16405

Picture of Logging setup: logging_setup.JPG
Duration and Date: 5 hours of static data on Jun June 23 2013 (set0006)
Logging Code: Arduino Mega 'log_twoimus.ino' v0.3 code used
              (enclosed, see file for extensive details on setup.)
Description:
    Arduino Mega used to interface with both ADIS and VN100 IMUS.
    
     ADIS: connected to Mega via SPI.  
    VN100: connected via Serial UART. Rx connected to Mega, 
           Tx connected to a TTL/RS232 Converter which was 
           connected to laptop for logging in Windows Hyperterminal
           at baud rate of 115200 bps.
           
   The Mega would poll both the VN100 and the ADIS IMU's at 50 Hz (20 millisecond
   intervals).  The VN 100's response would go directly via the TTL/RS232 Converter
   to the Laptop for logging of the raw ascii response.  In contrast, the ADIS response
   was read into the Mega, converted into (unscaled) format, and logged using OpenLog 
   onto microSD card.
   
   Python script 'imu_data.py' (enclosed) were used to post process the data into the 
   desired engineering units and convert them subsequently into matlab format.  
   There are two epochs where 'NaN' data are present in the VN100 file.  This is due 
   to two points of corrupted data logging.
   

Performance: A histogram of the (linearly) detrended sensor values is also included
             in this folder "compare_vn100_adis16405_performance.png".
MAT File Data Units:
    t: time (seconds)
    p: gyro x-axis (deg/s)
    q: gyro y-axis
    r: gyro z-axis
    ax: accel x-axis (m/s^2)
    ay: accel y-axis
    az: accel z-axis
    T: temperature (degrees C)
    hx: magnetometer x-axis (vn100: no units, adis: Gauss)
    hy: magnetometer y-axis
    hz: magnetometer z-axis

Matlab Format: saved as Matlab 5 .mat Format


