matlab 随机误差,Allan Variance：传感器随机误差实验代码（matlab）

clc;

clear all;

tic;

%data = csvread(‘G:\桌面文件\chuanganqi.csv’,2,5,[2 5 2000 5]);

%X = csvread(‘G:\桌面文件\chuanganqi.csv’,2,5,[2 5 2000 5]);

X = csvread(‘G:\桌面文件\chuanganqi.csv’,2,5);

%X = data(1:720000,1)*3600; %读取数据，以陀螺仪某一轴为例

%X = data(2:2000)*3600

Ts = 0.01; %采样时间

[N,M] = size(X);

N_max = floor(N/3);%(N/3)

T = zeros(N_max,10);

R = zeros(N_max,10);

for d = 1 %设置迭代的步长为d，当d=1时为传统的Allan方差

Allan = zeros(N_max,2);

Cluster_mean = zeros(N,1);

for n = 1:d:N_max %每一簇的簇长

K = floor(N/n);

for k = 1:K

Cluster_mean(k,1) = mean(X((n*(k-1)+1):(nk),1));

end

Cluster_diff = diff(Cluster_mean(1:K),1);

Allan(n,1) = nTs; %Time tau

Allan(n,2) = sum((Cluster_diff.^2))/(2*(