What is the best way to fixe number jumps in GPS/IMU Data Plot

Hey,

I hope someone has a tip on how to best correct jumps in position data from GPS/IMU. There is always a correction of the position when a new data set of the GPS receiver is available.

Which approach, function or method is best way to correct such data?

I am happy for any help :)

Answer 1

[Mathieu NOE]

hello

why not apply a smoothing filter - there are many options, maybe start with smoothdata

example code :

clc
close all

Fs = 1000;
samples = 1000;
dt = 1/Fs;
t = (0:samples-1)*dt;
y = square(2*pi*3*t) + 0.1*randn(size(t));


% %%%%%%%%%%%%%%%%
figure(1)
N = 25;
ys = smoothdata(y, 'gaussian' , N);
plot(t,y,t,ys);legend('Raw','Smoothed');
title(['Data samples at Fs = ' num2str(round(Fs)) ' Hz / Smoothed with smoothdata' ]);

% %%%%%%%%%%%%%%%%
figure(2)
N = 25;
ys = medfilt1(y, N,'truncate');
plot(t,y,t,ys);legend('Raw','Smoothed');
title(['Data samples at Fs = ' num2str(round(Fs)) ' Hz / Smoothed with medfilt1' ]);
grid on

%%%%%%%%%%%%%%%%
figure(3)
ys = sgolayfilt(y,1,21);
plot(t,y,t,ys);legend('Raw','Smoothed');
title(['Data samples at Fs = ' num2str(round(Fs)) ' Hz / Smoothed with sgolayfilt' ]);
grid on

%%%%%%%%%%%%%%%%
NN = 2;
Wn = 0.25;
[B,A] = butter(NN,Wn);

figure(4)
ys = filtfilt(B,A,y);
plot(t,y,t,ys);legend('Raw','Smoothed');
title(['Data samples at Fs = ' num2str(round(Fs)) ' Hz / Smoothed with butterworth LP' ]);
grid on

[Mathieu NOE]

Hi

problem solved ?

[Mathieu NOE]

hello again

problem solved ?