From 47b6b5c2e38178066200bdf055275f2324667812 Mon Sep 17 00:00:00 2001
From: Claudio Mandrioli <claudio.mandrioli@control.lth.se>
Date: Wed, 10 Oct 2018 11:26:48 +0200
Subject: [PATCH] cycling data final real
---
matlab/GPSaidedINS.m | 2 +-
matlab/main.m | 8 +++++---
matlab/manipulate_cycling_data.m | 4 ++--
3 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/matlab/GPSaidedINS.m b/matlab/GPSaidedINS.m
index 2922079..50013b2 100644
--- a/matlab/GPSaidedINS.m
+++ b/matlab/GPSaidedINS.m
@@ -76,7 +76,7 @@ P_store=0; %store summed valued of the trace of P in time
sv_store=sv; %store number of visible satellites in time
for k=2:N
-
+
% Sampling period
Ts=t(k)-t(k-1);
diff --git a/matlab/main.m b/matlab/main.m
index 7c0d119..b65b0b5 100644
--- a/matlab/main.m
+++ b/matlab/main.m
@@ -1,11 +1,12 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Main script for pAN_ powe aware navigation with sensor fusion
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+% change input data load and script to be run to switch from car to bike
%% Load data
disp('Loads data')
-load('GNSSaidedINS_data.mat');
+%load('GNSSaidedINS_data.mat');
+load('cycling_input_data');
%% Load filter settings
disp('Loads settings')
@@ -14,7 +15,8 @@ settings.P_treshold=0.1;
%% Run the GNSS-aided INS
disp('Runs the GNSS-aided INS')
-out_data=GPSaidedINS(in_data,settings);
+%out_data=GPSaidedINS(in_data,settings);
+out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data
disp('Plot data')
diff --git a/matlab/manipulate_cycling_data.m b/matlab/manipulate_cycling_data.m
index 2a6a8bb..c766398 100644
--- a/matlab/manipulate_cycling_data.m
+++ b/matlab/manipulate_cycling_data.m
@@ -83,8 +83,8 @@
% end
-% in_data.IMU.acc = Acc;
-% in_data.IMU.gyro = Gyr;
+% in_data.IMU.acc = Acc';
+% in_data.IMU.gyro = Gyr';
% in_data.IMU.t = t;
% in_data.GNSS.pos_ned = Gps;
% in_data.GNSS.t = t_Gps;
--
GitLab