polished plotting code

matlab/plot_data.m

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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
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