From 74b6b9052277c8f9533abcfbf3692019658fb065 Mon Sep 17 00:00:00 2001
From: Claudio <claudio.mandrioli@control.lth.se>
Date: Tue, 26 Feb 2019 17:05:12 +0100
Subject: [PATCH] removed more comments with unused code
---
matlab/GPSaidedINS_car.m | 13 +------------
matlab/GPSaidedINS_cycling.m | 22 ++++------------------
2 files changed, 5 insertions(+), 30 deletions(-)
diff --git a/matlab/GPSaidedINS_car.m b/matlab/GPSaidedINS_car.m
index 3a6f10d..d84bef9 100644
--- a/matlab/GPSaidedINS_car.m
+++ b/matlab/GPSaidedINS_car.m
@@ -86,7 +86,7 @@ for k=2:N
%%%%%%%%%%%%%%%%%
%randomized number of visible satellites
sv = random_satellites(sv);
- %sv=5;
+ %sv=5; %uncomment for simulations without loss of visibility
%control action
P_store=[P_store,sum(sqrt(out_data.diag_P(1:3,k-1)))];
if sum(sqrt(out_data.diag_P(1:3,k-1)))<P_treshold
@@ -95,7 +95,6 @@ for k=2:N
turn=true;
end
%update sensor state
-% pre_state=sensor.state;
sensor=gps_randomized_car(t(k),sensor,turn,sv); %remove _randomized for worst case
%determine if GPS position is available
GPS_position=strcmp(sensor.state,'position_available');
@@ -104,12 +103,6 @@ for k=2:N
energy=energy+power*Ts;
end
-% %print new state and current time if it changes
-% if ~strcmp(pre_state, sensor.state)
-% sensor.state
-% t(k)
-% end
-
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Calibrate the sensor measurements using current sensor bias estimate.
@@ -168,10 +161,6 @@ for k=2:N
out_data.turn(k)=turn;
end
-%% plot feedback over P matrix
-%figure(11)
-%plot(P_store),grid
-
%% output for simulation of energy-accuracy tradeoff
out_data.energy=energy;
xest = out_data.x_h(2,:);
diff --git a/matlab/GPSaidedINS_cycling.m b/matlab/GPSaidedINS_cycling.m
index e0e9202..aa17f2b 100644
--- a/matlab/GPSaidedINS_cycling.m
+++ b/matlab/GPSaidedINS_cycling.m
@@ -92,7 +92,7 @@ for k=start_sim:start_sim+length_sim
%%%%%%%%%%%%%%%%%
%randomized number of visible satellites
sv = random_satellites(sv);
- %sv=5;
+ %sv=5; %uncomment for simulations without loss of visibility
%control action
P_store=[P_store,sum(sqrt(out_data.diag_P(1:3,k-1)))];
if sum(sqrt(out_data.diag_P(1:3,k-1)))<P_treshold
@@ -101,7 +101,6 @@ for k=start_sim:start_sim+length_sim
turn=true;
end
%update sensor state
-% pre_state=sensor.state;
sensor=gps_randomized_cycling(t(k),sensor,turn,sv); %remove _randomized for worst case
%determine if GPS position is available
GPS_position=strcmp(sensor.state,'position_available');
@@ -110,12 +109,6 @@ for k=start_sim:start_sim+length_sim
energy=energy+power*Ts;
end
-% %print new state and current time if it changes
-% if ~strcmp(pre_state, sensor.state)
-% sensor.state
-% t(k)
-% end
-
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Calibrate the sensor measurements using current sensor bias estimate.
@@ -171,26 +164,19 @@ for k=start_sim:start_sim+length_sim
out_data.diag_P(:,k)=diag(P);
out_data.delta_u_h(:,k)=delta_u_h;
out_data.sv(k)=sv;
- turn_store=[turn_store, turn];
+ out_data.turn(k)=turn;
end
-%% plot feedback over P matrix
-%figure(11)
-%plot(P_store),grid
-
%% output for simulation of energy-accuracy tradeoff
out_data.energy=energy;
-
-xest = out_data.x_h(2,start_sim:start_sim+length_sim);%2,:);
-yest = out_data.x_h(1,start_sim:start_sim+length_sim);%1,:);
+xest = out_data.x_h(2,start_sim:start_sim+length_sim);
+yest = out_data.x_h(1,start_sim:start_sim+length_sim);
xgps = interp1(in_data.GNSS.t,in_data.GNSS.pos_ned(2,:),in_data.IMU.t(start_sim:start_sim+length_sim),'linear','extrap')';
ygps = interp1(in_data.GNSS.t,in_data.GNSS.pos_ned(1,:),in_data.IMU.t(start_sim:start_sim+length_sim),'linear','extrap')';
xerr = xest - xgps;
yerr = yest - ygps;
out_data.error = sqrt(mean(xerr.^2+yerr.^2));
out_data.P_store=P_store;
-out_data.turn=turn_store;
-
end
--
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