removed function not used anymore

matlab/GPSaidedINS_car.m

@@ -95,7 +95,7 @@ for k=2:N
         turn=true;
     end
     %update sensor state
-    sensor=gps_randomized_car(t(k),sensor,turn,sv); %remove _randomized for worst case
+    sensor=gps_randomized_car(t(k),sensor,turn,sv);
     %determine if GPS position is available
     GPS_position=strcmp(sensor.state,'position_available');
     %compute power consumption

matlab/GPSaidedINS_cycling.m

@@ -101,7 +101,7 @@ for k=start_sim:start_sim+length_sim
         turn=true;
     end
     %update sensor state
-    sensor=gps_randomized_cycling(t(k),sensor,turn,sv); %remove _randomized for worst case
+    sensor=gps_randomized_cycling(t(k),sensor,turn,sv);
     %determine if GPS position is available
     GPS_position=strcmp(sensor.state,'position_available');
     %compute power consumption

matlab/gps.m

-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%% GPS sensor dynamics %%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-%STATE  is a struct (called sensor) with the following fields
-%  state   -[string]the current proceural state: no_info, cold_start, read_ephemeris,
-%                   position_available, warm_start_avaialable, warm_start
-%  howLong -[double]when the current procedural state has been entered 
-%  ephExp  -[double]expiration time of ephemeris data
-%  fp      -[int]number of tracked satelliets
-%  eph     -[int]number of satellites for which ephemeris data are available
-
-%INPUTS
-%  -time
-%  -state
-%  -turn on/off (true=turn_ON, false=turn_OFF)
-%  -visible satellites
-
-%OUTPUTS
-%  -state
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-function sensor=gps(time,sensor_in,turn,sv)
-
-%% parameters
-%define how many satellites you need to track given the accuracy requirements
-required_sv= 4;
-%define how long ephemeris data last
-ephDuration=1800.0;
-%define how much time is required to read the ephemeris data
-ttge=59.0;
-%define how much time is required to fetch the satellites signal
-ttfs=0.01;
-
-%% initialize output
-sensor = sensor_in;
-
-%% equations
-%you cannot track satellites that you dont see
-sensor.fp=min(sensor_in.fp,sv);
-sensor.eph=min(sensor_in.eph,sv);
-
-%% events
-ephemeris_expired=(time>sensor.ephExp)||(sensor.eph<required_sv);   %ephemeris data are expired
-lost_visibility=(sensor.fp<required_sv);
-fetch_fp=(time-sensor_in.howLong)>=ttfs;
-get_ephemeris=(time-sensor_in.howLong)>ttge;
-
-%% transitions and updates
-%for each of the states handle eventual transitions and updates
-%(i)if any transition is fired, always update the time the surrent state was entered
-%(ii)other updates depend on the spefic transition that is fired
-if strcmp(sensor_in.state,'no_info')
-    if(turn)
-        sensor.state='cold_start';
-        sensor.howLong=time;
-    end
-end
-if strcmp(sensor_in.state,'position_available')
-    if(get_ephemeris)
-        sensor.state='position_available';
-        sensor.howLong=time;
-        sensor.eph=sv;
-        sensor.ephExp=time+ephDuration;
-    end
-    if(~turn)
-        sensor.state='warm_start_available';
-        sensor.howLong=time;
-        sensor.fp=0;
-    end
-    if(lost_visibility)
-        sensor.state='warm_start';
-        sensor.howLong=time;
-        %might have to go on to cold_start
-            if(ephemeris_expired)
-                sensor.state='cold_start';
-                sensor.howLong=time;
-                sensor.eph=0;
-            end
-    end
-    if(ephemeris_expired)
-        sensor.state='read_ephemeris';
-        sensor.howLong=time;
-        sensor.eph=0;
-        %might have to go on to cold_start
-            if(lost_visibility)
-                sensor.state='cold_start';
-                sensor.howLong=time;
-            end
-    end
-end
-if strcmp(sensor_in.state,'read_ephemeris')
-    if(get_ephemeris)
-        sensor.state='position_available';
-        sensor.howLong=time;
-        sensor.eph=sv;
-        sensor.ephExp=time+ephDuration;
-    end
-    if(~turn)
-        sensor.state='no_info';
-        sensor.howLong=time;
-        sensor.fp=0;
-    end
-    if(lost_visibility)
-        sensor.state='cold_start';
-        sensor.howLong=time;
-    end
-end
-if strcmp(sensor_in.state,'warm_start')
-    if(fetch_fp)
-        sensor.state='position_available';
-        sensor.howLong=time;
-        sensor.fp=sv;
-    end
-    if(ephemeris_expired)
-        sensor.state='cold_start';
-        sensor.howLong=time;
-        sensor.eph=0;
-    end
-    if(~turn)
-        sensor.state='warm_start_available';
-        sensor.howLong=time;
-        sensor.fp=0;
-    end
-end
-if strcmp(sensor_in.state,'cold_start')
-    if(fetch_fp)
-        sensor.state='read_ephemeris';
-        sensor.howLong=time;
-        sensor.fp=sv;
-    end
-    if(~turn)
-        sensor.state='no_info';
-        sensor.howLong=time;
-        sensor.fp=0;
-    end
-end
-if strcmp(sensor_in.state,'warm_start_available')
-    if(turn)
-        sensor.state='warm_start';
-        sensor.howLong=time;
-    end
-    if(ephemeris_expired)
-        sensor.state='no_info';
-        sensor.howLong=time;
-        sensor.eph=0;
-    end
-end
-
-end
-
-
-
-
-