dati immagini

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
 

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;

matlab/main.m

 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% 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')

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));

paper/data/tmp/script.m

+%% 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;