Simlink index.html

.gitignore

@@ -35,3 +35,266 @@ codegen/
 
 # Octave session info
 octave-workspace
+
+.auctex-auto/
+.log/
+
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+
+## Intermediate documents:
+*.dvi
+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+# *.ps
+# *.eps
+# *.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Build tool directories for auxiliary files
+# latexrun
+latex.out/
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
+
+# achemso
+acs-*.bib
+
+# amsthm
+*.thm
+
+# beamer
+*.nav
+*.pre
+*.snm
+*.vrb
+
+# changes
+*.soc
+
+# comment
+*.cut
+
+# cprotect
+*.cpt
+
+# elsarticle (documentclass of Elsevier journals)
+*.spl
+
+# endnotes
+*.ent
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[1-9]
+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
+*.[1-9]R
+*.[1-9][0-9]R
+*.[1-9][0-9][0-9]R
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
+*.eledsec[1-9][0-9]R
+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.gtex
+
+# htlatex
+*.4ct
+*.4tc
+*.idv
+*.lg
+*.trc
+*.xref
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Comment the next line if you want to keep your tikz graphics files
+*.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+*.ist
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc[0-9]*
+*.slf[0-9]*
+*.slt[0-9]*
+*.stc[0-9]*
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# nomencl
+*.nlg
+*.nlo
+*.nls
+
+# pax
+*.pax
+
+# pdfpcnotes
+*.pdfpc
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# tcolorbox
+*.listing
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# todonotes
+*.tdo
+
+# vhistory
+*.hst
+*.ver
+
+# easy-todo
+*.lod
+
+# xcolor
+*.xcp
+
+# xmpincl
+*.xmpi
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices
+*.xyc
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# LyX
+*.lyx~
+
+# Kile
+*.backup
+
+# KBibTeX
+*~[0-9]*
+
+# auto folder when using emacs and auctex
+./auto/*
+*.el
+
+# expex forward references with \gathertags
+*-tags.tex
+
+# standalone packages
+*.sta

css/htmlize.css

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index.html

@@ -1,251 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
-"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
-<head>
-<!-- 2020-08-31 lun. 16:09 -->
-<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
-<title>Sensor Fusion - Test Bench</title>
-<meta name="generator" content="Org mode" />
-<meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
-<script type="text/javascript" src="./js/jquery.min.js"></script>
-<script type="text/javascript" src="./js/bootstrap.min.js"></script>
-<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
-<script type="text/javascript" src="./js/readtheorg.js"></script>
-</head>
-<body>
-<div id="content">
-<h1 class="title">Sensor Fusion - Test Bench</h1>
-<div id="table-of-contents">
-<h2>Table of Contents</h2>
-<div id="text-table-of-contents">
-<ul>
-<li><a href="#orgaad1791">1. Experimental Setup</a></li>
-<li><a href="#org2a43fcc">2. Huddle Test</a>
-<ul>
-<li><a href="#org20554e9">2.1. Load Data</a></li>
-<li><a href="#orgfdfaa65">2.2. Data</a></li>
-<li><a href="#org85724d7">2.3. Scale Data</a></li>
-<li><a href="#org1bbeff4">2.4. Compare Time Domain Signals</a></li>
-<li><a href="#org3fdfc8f">2.5. Compute PSD</a></li>
-<li><a href="#org6f491a6">2.6. Dynamical Uncertainty</a></li>
-<li><a href="#org91b1273">2.7. Sensor Noise</a></li>
-</ul>
-</li>
-</ul>
-</div>
-</div>
-
-<div id="outline-container-orgaad1791" class="outline-2">
-<h2 id="orgaad1791"><span class="section-number-2">1</span> Experimental Setup</h2>
-<div class="outline-text-2" id="text-1">
-<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
-
-
-<colgroup>
-<col  class="org-left" />
-
-<col  class="org-left" />
-</colgroup>
-<thead>
-<tr>
-<th scope="col" class="org-left">&#xa0;</th>
-<th scope="col" class="org-left">&#xa0;</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td class="org-left">Accelerometer</td>
-<td class="org-left">PCB 393B05 - Vertical (<a href="https://www.pcb.com/products?m=393B05">link</a>)</td>
-</tr>
-
-<tr>
-<td class="org-left">Geophone</td>
-<td class="org-left">Mark Product L4C - Vertical</td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-
-<div id="outline-container-org2a43fcc" class="outline-2">
-<h2 id="org2a43fcc"><span class="section-number-2">2</span> Huddle Test</h2>
-<div class="outline-text-2" id="text-2">
-</div>
-<div id="outline-container-org20554e9" class="outline-3">
-<h3 id="org20554e9"><span class="section-number-3">2.1</span> Load Data</h3>
-<div class="outline-text-3" id="text-2-1">
-<div class="org-src-container">
-<pre class="src src-matlab">load('./mat/huddle_test.mat', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 't');
-dt = t(2) - t(1);
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-orgfdfaa65" class="outline-3">
-<h3 id="orgfdfaa65"><span class="section-number-3">2.2</span> Data</h3>
-<div class="outline-text-3" id="text-2-2">
-<div class="org-src-container">
-<pre class="src src-matlab">acc_1 = acc_1 - mean(acc_1);
-acc_2 = acc_2 - mean(acc_2);
-geo_1 = geo_1 - mean(geo_1);
-geo_2 = geo_2 - mean(geo_2);
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org85724d7" class="outline-3">
-<h3 id="org85724d7"><span class="section-number-3">2.3</span> Scale Data</h3>
-<div class="outline-text-3" id="text-2-3">
-<p>
-From raw data to estimated velocity.
-This takes into account the sensibility of the sensor and possible integration to go from acceleration to velocity.
-</p>
-
-<div class="org-src-container">
-<pre class="src src-matlab">G0 = 1.02; % [V/(m/s2)]
-
-G_acc = tf(G0);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">T = 276;
-xi = 0.5;
-w = 2*pi;
-
-G_geo = -T*s^2/(s^2 + 2*xi*w*s + w^2);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">acc_1 = lsim(inv(G_acc), acc_1, t);
-acc_2 = lsim(inv(G_acc), acc_2, t);
-geo_1 = lsim(inv(G_geo), geo_1, t);
-geo_2 = lsim(inv(G_geo), geo_2, t);
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org1bbeff4" class="outline-3">
-<h3 id="org1bbeff4"><span class="section-number-3">2.4</span> Compare Time Domain Signals</h3>
-<div class="outline-text-3" id="text-2-4">
-<div class="org-src-container">
-<pre class="src src-matlab">figure;
-hold on;
-plot(t, acc_1);
-plot(t, acc_2);
-plot(t, geo_1);
-plot(t, geo_2);
-hold off;
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org3fdfc8f" class="outline-3">
-<h3 id="org3fdfc8f"><span class="section-number-3">2.5</span> Compute PSD</h3>
-<div class="outline-text-3" id="text-2-5">
-<p>
-We first define the parameters for the frequency domain analysis.
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">Fs = 1/dt; % [Hz]
-
-win = hanning(ceil(1*Fs));
-</pre>
-</div>
-
-<p>
-Then we compute the Power Spectral Density using <code>pwelch</code> function.
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">[p_acc_1, f] = pwelch(acc_1, win, [], [], Fs);
-[p_acc_2, ~] = pwelch(acc_2, win, [], [], Fs);
-[p_geo_1, ~] = pwelch(geo_1, win, [], [], Fs);
-[p_geo_2, ~] = pwelch(geo_2, win, [], [], Fs);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">figure;
-hold on;
-plot(f, sqrt(p_acc_1));
-plot(f, sqrt(p_acc_2));
-hold off;
-set(gca, 'xscale', 'log');
-set(gca, 'yscale', 'log');
-xlabel('Frequency [Hz]'); ylabel('ASD Accelerometers $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
-xlim([1, 5000]);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">figure;
-hold on;
-plot(f, sqrt(p_geo_1));
-plot(f, sqrt(p_geo_2));
-hold off;
-set(gca, 'xscale', 'log');
-set(gca, 'yscale', 'log');
-xlabel('Frequency [Hz]'); ylabel('ASD Geophones $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
-xlim([1, 5000]);
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org6f491a6" class="outline-3">
-<h3 id="org6f491a6"><span class="section-number-3">2.6</span> Dynamical Uncertainty</h3>
-<div class="outline-text-3" id="text-2-6">
-<div class="org-src-container">
-<pre class="src src-matlab">[T_acc, ~] = tfestimate(acc_1, acc_2, win, [], [], Fs);
-[T_geo, ~] = tfestimate(geo_1, geo_2, win, [], [], Fs);
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org91b1273" class="outline-3">
-<h3 id="org91b1273"><span class="section-number-3">2.7</span> Sensor Noise</h3>
-<div class="outline-text-3" id="text-2-7">
-<div class="org-src-container">
-<pre class="src src-matlab">[coh_acc, ~] = mscohere(acc_1, acc_2, win, [], [], Fs);
-[coh_geo, ~] = mscohere(geo_1, geo_2, win, [], [], Fs);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">pN_acc = p_acc_1.*(1 - coh_acc);
-pN_geo = p_geo_1.*(1 - coh_geo);
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">figure;
-hold on;
-plot(f, pN_acc, '-', 'DisplayName', 'Accelerometers');
-plot(f, pN_geo, '-', 'DisplayName', 'Geophones');
-hold off;
-set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
-xlabel('Frequency [Hz]'); ylabel('ASD of the Measurement Noise $\left[\frac{m/s}{\sqrt{Hz}}\right]$');
-xlim([1, 5000]);
-legend('location', 'northeast');
-</pre>
-</div>
-</div>
-</div>
-</div>
-</div>
-<div id="postamble" class="status">
-<p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-31 lun. 16:09</p>
-</div>
-</body>
-</html>

index.html

@@ -0,0 +1 @@
+test-bench-sensor-fusion.html

index.org

@@ -1,198 +0,0 @@
-#+TITLE: Sensor Fusion - Test Bench
-:DRAWER:
-#+LANGUAGE: en
-#+EMAIL: dehaeze.thomas@gmail.com
-#+AUTHOR: Dehaeze Thomas
-
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
-#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
-
-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
-#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
-#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
-#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
-#+PROPERTY: header-args:latex+ :results raw replace :buffer no
-#+PROPERTY: header-args:latex+ :eval no-export
-#+PROPERTY: header-args:latex+ :exports both
-#+PROPERTY: header-args:latex+ :mkdirp yes
-#+PROPERTY: header-args:latex+ :output-dir figs
-#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
-
-#+PROPERTY: header-args:matlab  :session *MATLAB*
-#+PROPERTY: header-args:matlab+ :tangle filters.m
-#+PROPERTY: header-args:matlab+ :comments org
-#+PROPERTY: header-args:matlab+ :exports both
-#+PROPERTY: header-args:matlab+ :results none
-#+PROPERTY: header-args:matlab+ :eval no-export
-#+PROPERTY: header-args:matlab+ :noweb yes
-#+PROPERTY: header-args:matlab+ :mkdirp yes
-#+PROPERTY: header-args:matlab+ :output-dir figs
-:END:
-
-* Experimental Setup
-
-|               |                              |
-|---------------+------------------------------|
-| Accelerometer | PCB 393B05 - Vertical ([[https://www.pcb.com/products?m=393B05][link]]) |
-| Geophone      | Mark Product L4C - Vertical  |
-
-* Huddle Test
-** Matlab Init                                             :noexport:ignore:
-#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
-  <<matlab-dir>>
-#+end_src
-
-#+begin_src matlab :exports none :results silent :noweb yes
-  <<matlab-init>>
-#+end_src
-
-** Load Data
-#+begin_src matlab
-  load('./mat/huddle_test.mat', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 't');
-  dt = t(2) - t(1);
-#+end_src
-
-** Data
-#+begin_src matlab
-  acc_1 = acc_1 - mean(acc_1);
-  acc_2 = acc_2 - mean(acc_2);
-  geo_1 = geo_1 - mean(geo_1);
-  geo_2 = geo_2 - mean(geo_2);
-#+end_src
-
-** Scale Data
-From raw data to estimated velocity.
-This takes into account the sensibility of the sensor and possible integration to go from acceleration to velocity.
-
-#+begin_src matlab
-  G0 = 1.02; % [V/(m/s2)]
-
-  G_acc = tf(G0);
-#+end_src
-
-#+begin_src matlab
-  T = 276;
-  xi = 0.5;
-  w = 2*pi;
-
-  G_geo = -T*s^2/(s^2 + 2*xi*w*s + w^2);
-#+end_src
-
-#+begin_src matlab
-  acc_1 = lsim(inv(G_acc), acc_1, t);
-  acc_2 = lsim(inv(G_acc), acc_2, t);
-  geo_1 = lsim(inv(G_geo), geo_1, t);
-  geo_2 = lsim(inv(G_geo), geo_2, t);
-#+end_src
-
-** Compare Time Domain Signals
-#+begin_src matlab
-  figure;
-  hold on;
-  plot(t, acc_1);
-  plot(t, acc_2);
-  plot(t, geo_1);
-  plot(t, geo_2);
-  hold off;
-#+end_src
-
-** Compute PSD
-We first define the parameters for the frequency domain analysis.
-#+begin_src matlab :results none
-  Fs = 1/dt; % [Hz]
-
-  win = hanning(ceil(1*Fs));
-#+end_src
-
-Then we compute the Power Spectral Density using =pwelch= function.
-#+begin_src matlab :results none
-  [p_acc_1, f] = pwelch(acc_1, win, [], [], Fs);
-  [p_acc_2, ~] = pwelch(acc_2, win, [], [], Fs);
-  [p_geo_1, ~] = pwelch(geo_1, win, [], [], Fs);
-  [p_geo_2, ~] = pwelch(geo_2, win, [], [], Fs);
-#+end_src
-
-#+begin_src matlab :results none
-  figure;
-  hold on;
-  plot(f, sqrt(p_acc_1));
-  plot(f, sqrt(p_acc_2));
-  hold off;
-  set(gca, 'xscale', 'log');
-  set(gca, 'yscale', 'log');
-  xlabel('Frequency [Hz]'); ylabel('ASD Accelerometers $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
-  xlim([1, 5000]);
-#+end_src
-
-#+begin_src matlab :results none
-  figure;
-  hold on;
-  plot(f, sqrt(p_geo_1));
-  plot(f, sqrt(p_geo_2));
-  hold off;
-  set(gca, 'xscale', 'log');
-  set(gca, 'yscale', 'log');
-  xlabel('Frequency [Hz]'); ylabel('ASD Geophones $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
-  xlim([1, 5000]);
-#+end_src
-
-** Dynamical Uncertainty
-
-#+begin_src matlab :results none
-  [T_acc, ~] = tfestimate(acc_1, acc_2, win, [], [], Fs);
-  [T_geo, ~] = tfestimate(geo_1, geo_2, win, [], [], Fs);
-#+end_src
-
-#+begin_src matlab :results none :exports none
-  figure;
-  ax1 = subplot(2, 1, 1);
-  hold on;
-  plot(f, abs(T_acc), 'DisplayName', 'Accelerometers');
-  plot(f, abs(T_geo), 'DisplayName', 'Geophones');
-  hold off;
-  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
-  set(gca, 'XTickLabel',[]);
-  ylabel('Magnitude');
-  legend('location', 'southeast');
-
-  ax2 = subplot(2, 1, 2);
-  hold on;
-  plot(f, 180/pi*phase(T_acc));
-  plot(f, 180/pi*phase(T_geo));
-  hold off;
-  set(gca, 'xscale', 'log');
-  ylim([-180, 180]);
-  yticks([-180, -90, 0, 90, 180]);
-  xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-
-  linkaxes([ax1,ax2],'x');
-  xlim([1, 5000]);
-#+end_src
-
-** Sensor Noise
-#+begin_src matlab
-  [coh_acc, ~] = mscohere(acc_1, acc_2, win, [], [], Fs);
-  [coh_geo, ~] = mscohere(geo_1, geo_2, win, [], [], Fs);
-#+end_src
-
-#+begin_src matlab
-  pN_acc = p_acc_1.*(1 - coh_acc);
-  pN_geo = p_geo_1.*(1 - coh_geo);
-#+end_src
-
-#+begin_src matlab :results none
-  figure;
-  hold on;
-  plot(f, pN_acc, '-', 'DisplayName', 'Accelerometers');
-  plot(f, pN_geo, '-', 'DisplayName', 'Geophones');
-  hold off;
-  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
-  xlabel('Frequency [Hz]'); ylabel('ASD of the Measurement Noise $\left[\frac{m/s}{\sqrt{Hz}}\right]$');
-  xlim([1, 5000]);
-  legend('location', 'northeast');
-#+end_src