inizio scrittura model

GPS_pw_modeling.mo

@@ -272,9 +272,9 @@ package GPS_pw_modeling
     //Inputs and outputs //
     ///////////////////////
     Modelica.Blocks.Interfaces.IntegerInput visible_satellites annotation(
-      Placement(visible = true, transformation(origin = {-101, 101}, extent = {{-11, -11}, {11, 11}}, rotation = 0), iconTransformation(origin = {-94, 2}, extent = {{-26, -26}, {26, 26}}, rotation = 0)));
+      Placement(visible = true, transformation(origin = {-101, 101}, extent = {{-11, -11}, {11, 11}}, rotation = 0), iconTransformation(origin = {-2, 102}, extent = {{-26, -26}, {26, 26}}, rotation = -90)));
     Modelica.Blocks.Interfaces.BooleanInput on_signal annotation(
-      Placement(visible = true, transformation(origin = {-158, 92}, extent = {{-12, -12}, {12, 12}}, rotation = 0), iconTransformation(origin = {-40, 100}, extent = {{-20, -20}, {20, 20}}, rotation = -90)));
+      Placement(visible = true, transformation(origin = {-158, 92}, extent = {{-12, -12}, {12, 12}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
     Modelica.Blocks.Interfaces.RealOutput power annotation(
       Placement(visible = true, transformation(origin = {54, 104}, extent = {{8, -8}, {-8, 8}}, rotation = 0), iconTransformation(origin = {95, 43}, extent = {{-25, -25}, {25, 25}}, rotation = 180)));
     //not really an input signal but just the negation of the on signal, still used as an input
@@ -338,7 +338,7 @@ package GPS_pw_modeling
     Modelica.StateGraph.Transition lose_visibility2(condition = sv_freq_phase < required_satellites) annotation(
       Placement(visible = true, transformation(origin = {110, -6}, extent = {{10, -10}, {-10, 10}}, rotation = 90)));
   Modelica.Blocks.Interfaces.BooleanOutput position annotation(
-      Placement(visible = true, transformation(origin = {162, 30}, extent = {{10, -10}, {-10, 10}}, rotation = 0), iconTransformation(origin = {95, -43}, extent = {{25, -25}, {-25, 25}}, rotation = 0)));
+      Placement(visible = true, transformation(origin = {162, 30}, extent = {{10, -10}, {-10, 10}}, rotation = 0), iconTransformation(origin = {95, -27}, extent = {{25, -25}, {-25, 25}}, rotation = 0)));
   equation
     connect(lose_visibility2.outPort, warm_start.inPort[2]) annotation(
       Line(points = {{110, -8}, {110, -8}, {110, -58}, {50, -58}, {50, -48}, {50, -48}}));
@@ -438,7 +438,7 @@ package GPS_pw_modeling
       sv_ephemeris := 0;
     end when;
     annotation(
-      Icon(graphics = {Rectangle(fillColor = {115, 210, 22}, fillPattern = FillPattern.Solid, extent = {{-96, 96}, {96, -96}}), Text(origin = {-40, 70}, extent = {{-20, 8}, {20, -8}}, textString = "turn_on"), Text(origin = {-51, 7}, extent = {{-17, 9}, {91, -15}}, textString = "visible_satellites"), Text(origin = {50, 41}, extent = {{-72, 15}, {22, -9}}, textString = "power_consumption"), Text(origin = {22, -41}, extent = {{-50, 11}, {50, -11}}, textString = "position_avaialble")}),
+      Icon(graphics = {Rectangle(fillColor = {115, 210, 22}, fillPattern = FillPattern.Solid, extent = {{-96, 96}, {96, -96}}), Text(origin = {-54, 2}, extent = {{-20, 8}, {20, -8}}, textString = "turn_on"), Text(origin = {-45, 73}, extent = {{-17, 9}, {91, -15}}, textString = "visible_satellites"), Text(origin = {44, 41}, extent = {{-72, 15}, {22, -9}}, textString = "power_consumption"), Text(origin = {20, -27}, extent = {{-50, 11}, {50, -11}}, textString = "position_avaialble"), Text(origin = {11, -80}, extent = {{-97, 32}, {79, -24}}, textString = "GPS device")}, coordinateSystem(initialScale = 0.1)),
       experiment(StartTime = 0, StopTime = 400, Tolerance = 1e-6, Interval = 0.0008));
   end GPS_pw_simulator;
 

matlab/GPSaidedINS.m

@@ -81,7 +81,7 @@ for k=2:N
     sv=5;
     %control action
     a=[a,sum(sqrt(out_data.diag_P(1:3,k-1)))];
-    if sum(sqrt(out_data.diag_P(1:3,k-1)))<1.0
+    if sum(sqrt(out_data.diag_P(1:3,k-1)))<15.0
         turn=false;
     else
         turn=true;

paper/main.tex

@@ -61,6 +61,7 @@ Politecnico di Milano, Italy%
 
 \section{GPS receiver model}
 \label{sec:gps}
+\input{sections/03-model}
 
 \section{Sensor fusion}
 \label{sec:fusion}

paper/sections/03-model.tex

+aaa