Creates a Multivariate IMU object.

This function creates a multivariate IMU or MIMU object, combining multiple replicates of the same inertial sensor.

make_mimu(..., freq, unit = NULL, sensor.name = NULL,
  exp.name = NULL, for_test = NULL)

Arguments

...	A list of vector reprenting multiple error signals from IMU
freq	A numeric value with frequency of IMU.
sensor.name	A string with name of IMU.
exp.name	A vector with the experiment name
units	A string value with unit of IMU.

Value

A mimu object with the structure:

data

original error signal for imu

variance

Data empirical Wavelet Variance

ci_low

Lower Confidence Interval for Wavelet Variance

ci_high

Upper Confidence Intervalfor Wavelet Variance

scales

Scales of the Wavelet Variance

Examples

n = 10^6
Xt = rnorm(n/4)
Yt = rnorm(n/2) + cumsum(rnorm(n/2, 0, 10^(-2)))
Zt = rnorm(n) + cumsum(rnorm(n, 0, 10^(-3)))
obj = make_mimu(Xt, Yt, Zt, freq = 100, unit = "s",
sensor.name = "MTiG - Gyro. X", exp.name = c("today", "yesterday", "a few days ago"))