diff --git a/matlab/GPSaidedINS_cycling.m b/matlab/GPSaidedINS_cycling.m
index c784438b98f728da443e702c20206a0a2d2b6265..57cf78907f1ea2d89908da30c5537595e28c420f 100644
--- a/matlab/GPSaidedINS_cycling.m
+++ b/matlab/GPSaidedINS_cycling.m
@@ -37,6 +37,7 @@ t=in_data.IMU.t;
%% Information fusion
start_sim=822799; %start index of time vector of IMU
+length_sim=20000;
[is, where]=ismember(in_data.IMU.t(start_sim),in_data.GNSS.t); %find same start on GPS time vector
ctr_gnss_data=where;
GPS_position=true;
@@ -78,7 +79,7 @@ P_store=0; %store summed valued of the trace of P in time
sv_store=sv; %store number of visible satellites in time
%for k=2:N
-for k=start_sim:start_sim+20000
+for k=start_sim:start_sim+length_sim
% Sampling period
Ts=0.01;%t(k)-t(k-1);
@@ -176,14 +177,15 @@ end
%% output for simulation of energy-accuracy tradeoff
out_data.energy=energy;
-xest = out_data.x_h(2,:);
-yest = out_data.x_h(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,'linear','extrap')';
ygps = interp1(in_data.GNSS.t,in_data.GNSS.pos_ned(1,:),in_data.IMU.t,'linear','extrap')';
xerr = xest - xgps;
yerr = yest - ygps;
out_data.error = sqrt(mean(xerr.^2+yerr.^2));
-out_data.P=P_store;
+out_data.P_store=P_store;
out_data.turn=turn_store;
end
diff --git a/matlab/gps_randomized.m b/matlab/gps_randomized.m
index 3321ca12c96a5e46fae2b0f8a83496ab9b3cd0a1..b2c7a516d2e7598ac2a0a6f0789c796ed0639e62 100644
--- a/matlab/gps_randomized.m
+++ b/matlab/gps_randomized.m
@@ -30,8 +30,8 @@ required_sv= 4;
%define how long ephemeris data last
ephDuration=1800.0;
%bounds for time required for fetching freq and phase
-fp_lower=0.2;
-fp_upper=1.5;
+fp_lower=20.2;
+fp_upper=500.5;
%% initialize output
sensor = sensor_in;
diff --git a/matlab/main.m b/matlab/main.m
index b19d6bd21edae2a7ae35ceb0185c40ebc9e02d24..6fed46e76f91b60ad40148c5b9ce1da1befd7e9c 100644
--- a/matlab/main.m
+++ b/matlab/main.m
@@ -1,23 +1,23 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% Main script for pAN_ powe aware navigation with sensor fusion
+% Main script for PAN_ powe aware navigation with sensor fusion
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% change input data load and script to be run to switch from car to bike
%% Load data
disp('Loads data')
-load('GNSSaidedINS_data.mat');
-%load('cycling_input_data');
+%load('GNSSaidedINS_data.mat');
+load('cycling_input_data');
%% Load filter settings
disp('Loads settings')
-settings=get_settings();
-%settings=get_settings_cycling();
-settings.P_treshold=4.1;
+%settings=get_settings();
+settings=get_settings_cycling();
+settings.P_treshold=2.5;
%% Run the GNSS-aided INS
disp('Runs the GNSS-aided INS')
-out_data=GPSaidedINS(in_data,settings);
-%out_data=GPSaidedINS_cycling(in_data,settings);
+%out_data=GPSaidedINS(in_data,settings);
+out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data
disp('Plot data')
diff --git a/matlab/run_many_cycling.m b/matlab/run_many_cycling.m
index 7dd04ceeb0670ba952482877e885c05d3c2ab4f4..b777297d7386a8ad68da6bbd8a695618106e02ff 100644
--- a/matlab/run_many_cycling.m
+++ b/matlab/run_many_cycling.m
@@ -13,7 +13,7 @@ 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.
%vector of refrences for P
P_treshold=[4.0,5.0,6.0,8.0,10.0,12.0];
%nubmer of runs per each P
-n_run=3;
+n_run=30;
%allocate memory for output
energy=zeros(n_run,length(P_treshold));
error=zeros(n_run,length(P_treshold));
diff --git a/paper/data/tmp/img_control_car.csv b/paper/data/tmp/img_control_car.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af76c32fa1eb88b2c920e63fc5779b8729af51d0
--- /dev/null
+++ b/paper/data/tmp/img_control_car.csv
@@ -0,0 +1,4 @@
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647,2.2672,2.2698,2.2724,2.2749,2.2775,2.2801,2.2827,2.2853,2.2879,2.2905,2.2931,2.2957,2.2983,2.3009,2.3035,2.3061,2.3088,2.3114,2.314,2.3166,2.3193,2.3219,2.3246,2.3272,2.3299,2.3325,2.3352,2.3378,2.3405,2.3432,2.3458,2.3485,2.3512,2.3539,2.3565,2.3592,2.3619,2.3646,2.3673,2.37,2.3727,2.3754,2.3781,2.3809,2.3836,2.3863,2.389,2.3917,2.3945,2.3972,2.4,2.4027,2.4054,2.4082,2.4109,2.4137,2.4165,2.4192,2.422,2.1655,2.168,2.1704,2.1729,2.1753,2.1778,2.1802,2.1827,2.1852,2.1877,2.1901,2.1926,2.1951,2.1976,2.2001,2.2026,2.2051,2.2076,2.2101,2.2126,2.2151,2.2176,2.2201,2.2226,2.2252,2.2277,2.2302,2.2328,2.2353,2.2378,2.2404,2.2429,2.2455,2.248,2.2506,2.2532,2.2557,2.2583,2.2609
diff --git a/paper/data/tmp/img_control_car.mat b/paper/data/tmp/img_control_car.mat
new file mode 100644
index 0000000000000000000000000000000000000000..c266d60e584bc8b6d5d2a9dfb0868d57787e01ae
Binary files /dev/null and b/paper/data/tmp/img_control_car.mat differ
diff --git a/paper/data/tmp/img_control_cycling.mat b/paper/data/tmp/img_control_cycling.mat
new file mode 100644
index 0000000000000000000000000000000000000000..b8645f33e09fcce0272bca9840221922eb80e2a2
Binary files /dev/null and b/paper/data/tmp/img_control_cycling.mat differ
diff --git a/paper/data/tmp/img_trace_car.mat b/paper/data/tmp/img_trace_car.mat
new file mode 100644
index 0000000000000000000000000000000000000000..736e8dc00c295e6c50bad0877d75a85ce8c05f27
Binary files /dev/null and b/paper/data/tmp/img_trace_car.mat differ
diff --git a/paper/data/tmp/img_trace_cycling.mat b/paper/data/tmp/img_trace_cycling.mat
new file mode 100644
index 0000000000000000000000000000000000000000..d7bb7765d991d5f625a97d0681f0d09394ea82ba
Binary files /dev/null and b/paper/data/tmp/img_trace_cycling.mat differ
diff --git a/paper/data/tmp/script.m b/paper/data/tmp/script.m
new file mode 100644
index 0000000000000000000000000000000000000000..cd9ebc26c1d7469d60eb80e94da008be9bc5e91f
--- /dev/null
+++ b/paper/data/tmp/script.m
@@ -0,0 +1,33 @@
+%% img_control_car
+%img_control_car= [out_data_41.turn;out_data_41.P_store;out_data_sat.turn;out_data_sat.P_store];
+%load('img_control_car.mat')
+%csvwrite('img_control_car.csv',img_control_car)
+
+
+%% img trace car
+%plot gps alone
+%plot(img_trace_car.gps(2,:),img_trace_car.gps(1,:))
+%plot trace when P ref = 4.1
+%plot(trace_P_41(2,:),trace_P_41(1,:))
+
+% load('img_trace_car.mat')
+%plot(car_trace.gps(2,:),car_trace.gps(1,:))
+%figure
+%plot(car_trace.P41(2,:),car_trace.P41(1,:))
+%figure
+%plot(car_trace.Psat(2,:),car_trace.Psat(1,:))
+
+%% img trace cycling
+%inizio coordinate gps di interesse:
+% colonna 822799, valori 71371, 56004
+%img_cycling_trace.Psat=out_data.x_h(1:2,822799:842799)
+%img_cycling_trace.P25=out_data.x_h(1:2,822799:842799)
+%colonna inizio valori interesse gps 7864
+%colonna fine valori interesse gps 8065
+%img_cycling_trace.gps=in_data.GNSS.pos_ned(1:2,7864:8065)
+
+%% img cyccling control
+%img_cycling_control.Psat=out_data.P_store;
+%img_cycling_control.turnsat=out_data.turn;
+%img_cycling_control.P41=out_data.P_store;
+%img_cycling_control.turnP41=out_data.turn;