Commit 700ab23a authored by Claudio Mandrioli's avatar Claudio Mandrioli
Browse files

changed name to plot script for single experiments2

parent bea66256
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Script for data plot:
% plots the trajecotry and the stimation accuracy with the GPS turn on
% signal
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% display the overall error (root mean square)
out_data.error
% Display trajectory estimated with sensor fusion against trajectory for the
% GPS alone always on
h=zeros(1,2);
figure(1)
hold on
plot(in_data.GNSS.pos_ned(2,:),in_data.GNSS.pos_ned(1,:),'b-');
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,:),'-');
title('Trajectory')
ylabel('North [m]')
xlabel('East [m]')
legend(h,'GNSS position estimate','GNSS aided INS trajectory')
axis equal
grid on
%plot control signal P and turn on signal of the GPS
h=zeros(1,2);
figure(2)
hold on
h(1)=plot(out_data.P_store);
h(2)=plot(out_data.turn);
legend(h,'sum of the trace of P','antenna turned ON')
grid on
\ No newline at end of file
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