Commit bea66256 authored by Claudio Mandrioli's avatar Claudio Mandrioli
Browse files

changed name to plot script for single experiments

parent d1a3ce73
......@@ -18,4 +18,4 @@ out_data=GPSaidedINS_car(in_data,settings);
%% Plot the data
disp('Plot data')
plot_data
\ No newline at end of file
plot_single_trace
......@@ -18,4 +18,4 @@ out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data
disp('Plot data')
plot_data
plot_single_trace
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
\ No newline at end of file
......@@ -8,7 +8,7 @@ xlabel('energy')
ylabel('error')
title('cycling energy accuracy tracking trade-off')
grid
%iterate and plot the results for the different P thresholds
for j=1:length(P_treshold)
scatter(energy(:,j), error(:,j),20,color(j,:),'o','filled')
end
\ No newline at end of file
......@@ -25,7 +25,7 @@ for j=1:length(P_treshold)
disp(['Starting simulations with threshold for P equal to:', num2str(P_treshold(j))]) %display reached treshold
settings.P_treshold=P_treshold(j); %set P reference
for k=1:n_run %iterate over the number of simulations per threshold
disp(['Simulation number:',num2str(k)]) %display simulation number
disp(['Simulation number:',num2str(k)]) %display simulation number
out_data=GPSaidedINS_cycling(in_data,settings); % Run the GNSS-aided INS
energy(k,j)=out_data.energy; % store energy
error(k,j)=out_data.error; % store positioning error
......
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