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How can I fix the X-Axis plot flipping when 180° are reached?

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Nicolò Dall'Acqua
Nicolò Dall'Acqua on 20 Mar 2021
Edited: Nicolò Dall'Acqua on 9 Sep 2021 at 11:47
Hello everybody,
I am using accelerometer and gyroscope data from an unknown brand IMU, acquired at 833Hz.
I'm trying to represent the IMU orientation during the trial using the imufilter command. When I plot the orientation data, the overall output seems reasonable, but the X-axis has ~20 samples flipped of 180°, and I don't know how to fix this.
I tried to use the unwrap command, but with no success so far.
Could you please help me?
I attach a ZIP with an image of the aforementioned plot and the data matrix.
Thank you,
Nico
close all
clear all %#ok<CLALL>
clc
%% LOAD DATA
dataA = load('accelReadings.mat');
accelReadings = dataA.accelReadings;
dataG = load('gyroReadings.mat');
gyroReadings = dataG.gyroReadings;
%% INSERT Fs AND TIME
Fs = 833; % SAMPLING FREQ [Hz]
time = linspace(0,7850,7851)/833; % TIME VECTOR [s]
Ts = mean(diff(time)); % SAMPLING INTERVAL
%% KALMAN
accelReadings = sgolayfilt(accelReadings,3,11); % FILTER
gyroReadings= sgolayfilt(gyroReadings,3,11); % FILTER
%gyroReadings = unwrap(gyroReadings);
FUSE = imufilter('SampleRate',Fs);
q = FUSE(accelReadings, gyroReadings);
figure
plot(time,eulerd(q,'ZYX','frame')) % PLOT ANGLES
title('3^{rd} Bike Stunt: ESTIMATED ORIENTATION')
legend('Z-axis', 'Y-axis', 'X-axis')
xlabel('Time [s]')
ylabel('Rotation [°]')
grid on
clearvars dataA dataG

Accepted Answer

Ananya Tewari
Ananya Tewari on 23 Mar 2021
I understand you want to unwrap the flipped samples on X-axis.
The unwrap function accepts the threshold in radians. So converting the x-axis samples into radians and then using unwrap for π radians should resolve the issue
q = FUSE(accelReadings, gyroReadings);
% converting quaternions to euler angles
k = eulerd(q,'ZYX','frame');
% converting x-axis angles to radian for using unwrap
x = unwrap(deg2rad(k(:,3)),pi);
% converting radians back to degrees
x = rad2deg(x);
% updating the orientation angles
k(:,3) = x;
% PLOT ANGLES
figure
plot(time,k)
title('3^{rd} Bike Stunt: ESTIMATED ORIENTATION')
legend('Z-axis', 'Y-axis', 'X-axis')
xlabel('Time [s]')
ylabel('Rotation [°]')
grid on
The output of the following code :

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