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Martina Maggio
gps-modeling
Commits
bea66256
Commit
bea66256
authored
Feb 27, 2019
by
Claudio Mandrioli
Browse files
changed name to plot script for single experiments
parent
d1a3ce73
Changes
5
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matlab/main_car.m
View file @
bea66256
...
...
@@ -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
matlab/main_cycling.m
View file @
bea66256
...
...
@@ -18,4 +18,4 @@ out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data
disp
(
'Plot data'
)
plot_
data
plot_
single_trace
matlab/plot_data.m
deleted
100644 → 0
View file @
d1a3ce73
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
matlab/plot_tradeoff.m
View file @
bea66256
...
...
@@ -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
matlab/run_many_cycling.m
View file @
bea66256
...
...
@@ -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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