Commit 6e6be874 authored by Claudio Mandrioli's avatar Claudio Mandrioli
Browse files

polished and modified trade off experiments script for car so that it uses the plotting script

parent 700ab23a
......@@ -6,7 +6,7 @@ figure
hold on
xlabel('energy')
ylabel('error')
title('cycling energy accuracy tracking trade-off')
title('energy accuracy tracking trade-off')
grid
%iterate and plot the results for the different P thresholds
for j=1:length(P_treshold)
......
%"monteCarlo" example
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Script for example of energy-accuracy trade-off evaluatio with the
% car trace
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Load data
disp('Loads data')
load('GNSSaidedINS_data.mat');
load('car_input_data.mat');
%% Load filter settings
disp('Loads settings')
settings=get_settings_car();
%vector of RGB colors for plotting for the different P references
color=[[0.7,0.0,0.0];[0.0,0.7,0.0];[0.7,0.0,0.7];[0.0,0.0,0.7];[0.0,0.7,0.7];[0.7,0.7,0.0]];
%% Settings for tradeoff evaluation
%vector of refrences for P
P_treshold=[4.0,5.0,6.0,8.0,10.0,12.0];
P_treshold=[4.0];%,5.0,6.0,8.0,10.0,12.0];
%number of runs per each P
n_run=1;
%allocate memory for output
energy=zeros(n_run,length(P_treshold));
error=zeros(n_run,length(P_treshold));
%% Iterate over the different thresholds for tr(P)
for j=1:length(P_treshold)
%set P reference
disp(['Starting simulations with threshold for P equal to:', num2str(P_treshold(j))]) %display reached treshold
settings.P_treshold=P_treshold(j);
%run simulations
for k=1:n_run
%% Run the GNSS-aided INS
disp('Running the GNSS-aided INS')
P_treshold(j)
k
out_data=GPSaidedINS(in_data,settings);
energy(k,j)=out_data.energy;
error(k,j)=out_data.error;
for k=1:n_run %iterate over the number of simulations per threshold
disp(['Simulation number:',num2str(k)]) %display simulation number
out_data=GPSaidedINS_car(in_data,settings); % Run the GNSS-aided INS
energy(k,j)=out_data.energy; % store energy
error(k,j)=out_data.error; % store positioning error
end
end
%plot data
disp('Plotting data:')
figure
hold on
xlabel('energy')
ylabel('error')
title('car energy accuracy tracking trade-off')
grid
for j=1:length(P_treshold)
scatter(energy(:,j), error(:,j),20,color(j,:),'o','filled')
end
\ No newline at end of file
%% Plot results
disp('Plot results')
plot_tradeoff
\ No newline at end of file
......@@ -13,14 +13,14 @@ settings=get_settings_cycling();
%% Settings for tradeoff evaluation
%vector of refrences for P
P_treshold=[4.0,5.0];%,6.0,8.0,10.0,12.0];
P_treshold=[4.0,5.0,6.0,8.0,10.0,12.0];
%nubmer of simulations per each P
n_run=1;
n_run=50;
%allocate memory for output
energy=zeros(n_run,length(P_treshold));
error=zeros(n_run,length(P_treshold));
%% Iterate over the threshold for tr(P)
%% Iterate over the different thresholds for tr(P)
for j=1:length(P_treshold)
disp(['Starting simulations with threshold for P equal to:', num2str(P_treshold(j))]) %display reached treshold
settings.P_treshold=P_treshold(j); %set P reference
......
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