From 3ecd5ffb3f7b79ed38da8694e1dba5863d5b4464 Mon Sep 17 00:00:00 2001
From: Claudio <claudio.mandrioli@control.lth.se>
Date: Tue, 26 Feb 2019 16:29:49 +0100
Subject: [PATCH] removed unused plotting script
---
matlab/plot_data.m | 153 ---------------------------------------------
1 file changed, 153 deletions(-)
delete mode 100644 matlab/plot_data.m
diff --git a/matlab/plot_data.m b/matlab/plot_data.m
deleted file mode 100644
index 87e49f8..0000000
--- a/matlab/plot_data.m
+++ /dev/null
@@ -1,153 +0,0 @@
-function plot_data(in_data,out_data,holdon)
-
-if nargin < 3; holdon = 'False'; end
-
-h=zeros(1,3);
-figure(2)
-if ~holdon clf; end
-plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b-');
-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,:),'r');
-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
-
-h=zeros(1,3);
-figure(3)
-if ~holdon clf; end
-h(1)=plot(in_data.GNSS.t,-in_data.GNSS.pos_ned(3,:),'b.');
-hold on
-h(2)=plot(in_data.IMU.t,-out_data.x_h(3,:),'r');
-h(3)=plot(in_data.IMU.t,3*sqrt(out_data.diag_P(3,:))-out_data.x_h(3,:),'k--');
-plot(in_data.IMU.t,-3*sqrt(out_data.diag_P(3,:))-out_data.x_h(3,:),'k--')
-title('Height versus time')
-ylabel('Height [m]')
-xlabel('Time [s]')
-grid on
-legend(h,'GNSS estimate','GNSS aided INS estimate','3\sigma bound')
-
-h=zeros(1,2);
-figure(4)
-if ~holdon clf; end
-h(1)=plot(in_data.IMU.t,sqrt(sum(out_data.x_h(4:6,:).^2)),'r');
-hold on
-sigma=sqrt(sum(out_data.diag_P(4:6,:)));
-speed=sqrt(sum(out_data.x_h(4:6,:).^2));
-h(2)=plot(in_data.IMU.t,3*sigma+speed,'k--');
-plot(in_data.IMU.t,-3*sigma+speed,'k--')
-title('Speed versus time')
-ylabel('Speed [m/s]')
-xlabel('Time [s]')
-grid on
-legend(h,'GNSS aided INS estimate','3\sigma bound')
-
-N=length(in_data.IMU.t);
-attitude=zeros(3,N);
-
-for n=1:N
- Rb2t=q2dcm(out_data.x_h(7:10,n));
-
- %Get the roll, pitch and yaw
- %roll
- attitude(1,n)=atan2(Rb2t(3,2),Rb2t(3,3))*180/pi;
-
- %pitch
- attitude(2,n)=-atan(Rb2t(3,1)/sqrt(1-Rb2t(3,1)^2))*180/pi;
-
- %yaw
- attitude(3,n)=atan2(Rb2t(2,1),Rb2t(1,1))*180/pi;
-end
-
-ylabels={'Roll [deg]','Pitch [deg]','Yaw [deg]'};
-figure(5)
-if ~holdon clf; end
-h=zeros(1,2);
-for k=1:3
- subplot(3,1,k)
- h(1)=plot(in_data.IMU.t,attitude(k,:),'r');
- hold on
- plot(in_data.IMU.t,3*180/pi*sqrt(out_data.diag_P(6+k,:))+attitude(k,:),'k--')
- h(2)=plot(in_data.IMU.t,-3*180/pi*sqrt(out_data.diag_P(6+k,:))+attitude(k,:),'k--');
- grid on
- ylabel(ylabels{k})
- if k==1
- title('Attitude versus time')
- end
-end
-xlabel('Time [s]')
-legend(h,'GNSS aided INS estimate','3\sigma bound')
-
-
-figure(6)
-if ~holdon clf; end
-ylabels={'X-axis bias [m/s^2]','Y-axis bias [m/s^2]','Z-axis bias [m/s^2]'};
-h=zeros(1,2);
-for k=1:3
- subplot(3,1,k)
- h(1)=plot(in_data.IMU.t,out_data.delta_u_h(k,:),'r');
- hold on
- h(2)=plot(in_data.IMU.t,3*sqrt(out_data.diag_P(9+k,:))+out_data.delta_u_h(k,:),'k--');
- plot(in_data.IMU.t,-3*sqrt(out_data.diag_P(9+k,:))+out_data.delta_u_h(k,:),'k--')
- grid on
- ylabel(ylabels{k})
- if k==1
- title('Accelerometer bias estimate versus time')
- end
-end
-xlabel('Time [s]')
-legend(h,'GNSS aided INS estimate','3\sigma bound')
-
-
-figure(7)
-if ~holdon clf; end
-ylabels={'X-axis bias [deg/s]','Y-axis bias [deg/s]','Z-axis bias [deg/s]'};
-h=zeros(1,2);
-for k=1:3
- subplot(3,1,k)
- h(1)=plot(in_data.IMU.t,180/pi*out_data.delta_u_h(3+k,:),'r');
- hold on
- h(2)=plot(in_data.IMU.t,3*180/pi*sqrt(out_data.diag_P(12+k,:))+180/pi*out_data.delta_u_h(3+k,:),'k--');
- plot(in_data.IMU.t,-3*180/pi*sqrt(out_data.diag_P(12+k,:))+180/pi*out_data.delta_u_h(3+k,:),'k--')
- grid on
- ylabel(ylabels{k})
- if k==1
- title('Gyroscope bias estimate versus time')
- end
-end
-xlabel('Time [s]')
-legend(h,'GNSS aided INS estimate','3\sigma bound')
-
-figure(8)
-if ~holdon clf; end
-xest = out_data.x_h(2,:);
-yest = out_data.x_h(1,:);
-xgps = interp1(in_data.GNSS.t,in_data.GNSS.pos_ned(2,:),in_data.IMU.t,'linear','extrap')';
-ygps = interp1(in_data.GNSS.t,in_data.GNSS.pos_ned(1,:),in_data.IMU.t,'linear','extrap')';
-xerr = xest - xgps;
-yerr = yest - ygps;
-plot(in_data.IMU.t,xerr)
-grid on
-hold on
-plot(in_data.IMU.t,yerr)
-xlabel('time [s]')
-ylabel('position difference [m]')
-legend('x', 'y')
-
-positionerr_RMS = sqrt(mean(xerr.^2+yerr.^2))
-figure(2)
-
-figure(9)
-plot(out_data.P_store)
-title('P controlled')
-
-figure(10)
-plot(out_data.sv)
-title('visible stellites')
-
-end
-
--
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