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Martina Maggio
gps-modeling
Commits
6e6be874
Commit
6e6be874
authored
6 years ago
by
Claudio Mandrioli
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polished and modified trade off experiments script for car so that it uses the plotting script
parent
700ab23a
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3 changed files
matlab/plot_tradeoff.m
+1
-1
1 addition, 1 deletion
matlab/plot_tradeoff.m
matlab/run_many_car.m
+17
-28
17 additions, 28 deletions
matlab/run_many_car.m
matlab/run_many_cycling.m
+3
-3
3 additions, 3 deletions
matlab/run_many_cycling.m
with
21 additions
and
32 deletions
matlab/plot_tradeoff.m
+
1
−
1
View file @
6e6be874
...
...
@@ -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
)
...
...
This diff is collapsed.
Click to expand it.
matlab/run_many_car.m
+
17
−
28
View file @
6e6be874
%"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
This diff is collapsed.
Click to expand it.
matlab/run_many_cycling.m
+
3
−
3
View file @
6e6be874
...
...
@@ -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
threshold
s
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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