Commit 3ce928f8 authored by Claudio Mandrioli's avatar Claudio Mandrioli
Browse files

introduced plot script for single trace simulations

parent e1c22f34
......@@ -18,29 +18,4 @@ out_data=GPSaidedINS_car(in_data,settings);
%% Plot the data
disp('Plot data')
%overall error
out_data.error
%plot_data(in_data,out_data,'True');drawnow
h=zeros(1,2);
figure(2)
plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b-');
%plot(out_data.x_h(2,:),out_data.x_h(1,:),'r-');
hold on
h(1)=plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b.');
h(2)=plot(out_data.x_h(2,:),out_data.x_h(1,:),'-');
%h(3)=plot(in_data.GNSS.pos_ned(2,1),in_data.GNSS.pos_ned(1,1),'ks');
title('Trajectory')
ylabel('North [m]')
xlabel('East [m]')
legend(h,'GNSS position estimate','GNSS aided INS trajectory')%,'Start point')
axis equal
grid on
%plot control signal P and control action turn
h=zeros(1,2);
figure(3)
hold on
h(1)=plot(out_data.P_store);
h(2)=plot(out_data.turn);
legend(h,'sum of the trace of P','antenna turned ON')
grid on
\ No newline at end of file
plot_data
\ No newline at end of file
......@@ -18,29 +18,4 @@ out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data
disp('Plot data')
%overall error
out_data.error
%plot_data(in_data,out_data,'True');drawnow
h=zeros(1,2);
figure(2)
plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b-');
%plot(out_data.x_h(2,:),out_data.x_h(1,:),'r-');
hold on
h(1)=plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b.');
h(2)=plot(out_data.x_h(2,:),out_data.x_h(1,:),'-');
%h(3)=plot(in_data.GNSS.pos_ned(2,1),in_data.GNSS.pos_ned(1,1),'ks');
title('Trajectory')
ylabel('North [m]')
xlabel('East [m]')
legend(h,'GNSS position estimate','GNSS aided INS trajectory')%,'Start point')
axis equal
grid on
%plot control signal P and control action turn
h=zeros(1,2);
figure(3)
hold on
h(1)=plot(out_data.P_store);
h(2)=plot(out_data.turn);
legend(h,'sum of the trace of P','antenna turned ON')
grid on
\ No newline at end of file
plot_data
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