figure change

paper/main.tex

@@ -160,7 +160,7 @@ Abstract.
 \label{sec:fusion}
 \input{sections/04-fusion}
 
-\section{Control Strategy}
+\section{Analysis and Sampling Strategy}
 \label{sec:control}
 \input{sections/05-control}
 

paper/sections/04-fusion.tex

@@ -61,11 +61,11 @@ the angular rates are provided along the three axis, i.e.,
 $s(k) \in \mathbb{R}^3 [m/s^2]$, and
 $\omega(k)\in \mathbb{R}^3 [rad/s]$. Equation~\eqref{eq:integration}
 shows the integration of the IMU measurements $s$ and $\omega$ to
-obtain $p$, $v$, and $q$. In the equation, $T_s$ represents
-\todo{write me}, $R_b^n$ denotes the directional cosine matrix that
+obtain $p$, $v$, and $q$. In the equation, $T_s$ represents the IMU
+sampling time, $R_b^n$ denotes the directional cosine matrix that
 rotates a vector from the body coordinate frame $b$ to the body
-coordinate frame $n$ and $g$ is the gravitational force, $I_4$ is
-\todo{write me},
+coordinate frame $n$ and $g$ is the gravitational force, $I_{4}$ is
+the identity matrix of order 4,
 
 \begin{equation}
 \begin{array}{rcl}

paper/sections/05-control.tex

-%\begin{itemize}
-%\item Title: Analysis and sampling strategy
-%\item what are the limits that the sensor dynamics poses. (i)initial delay, (ii) delay when position is requested unless always on, (iii) periodical drain of battery for updating ephemeris data, (iv) you can se you have lost visibility only if you are turned on ,(v) the best you can do is turn off the antenna (for this reaosn as soon as we get the position we assume you want to turn off the antenna)
-%\item what are the phenomena we have to account for in regular ``working'' conditions. cycling on two different periods. plot of how this looks like?
-%\item what are the possible disturbances we have to deal with. expiration of ephemeris data and loss of visibility. the latter is not observable when the antenna is turned off. examples?
-%\item how do we do this? state machine of the controller`/ref{fig:controller}. three kind of transitions: some are observed events, some are control actions, some are both
-%\end{itemize}
-
-\textcolor{red}{Title: Analysis and sampling strategy}
-
 Given the sensor fusion algorithm and the sensor model we can now describe which dynamical limitations the sensor imposes and therefore how it can be sampled. In this section we will discuss the general features that characterize an effective sampling strategy. Complementary in the next section a simulation evaluation of the available trade-offs will be performed.
 
 \subsection{The dynamics}
@@ -50,7 +40,7 @@ font=\footnotesize]
 \draw [arr]             (ni)  to node [above] {\texttt{turn\_on}} (re); 
 %arrow from 2
 \draw [arr]             (re)  to node [below] {\texttt{get\_ephemeris}} (gp);
-\draw [arr, loop below] (re)  to node [left ] {\texttt{sensor in position\_available}} (re);
+\draw [arr, loop below] (re)  to node [right] {\texttt{sensor in position\_available}} (re);
 %arrows from 3
 \draw [arr, bend left]  (gp)  to node [below] {\texttt{sensor in position\_available -- turn\_off}} (wst);
 \draw [arr, bend right] (gp)  to node [above] {\texttt{ephemeris\_about\_to\_expire V lost\_visibility}} (re);