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Commit bea66256 authored by Claudio Mandrioli's avatar Claudio Mandrioli
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changed name to plot script for single experiments

parent d1a3ce73
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...@@ -18,4 +18,4 @@ out_data=GPSaidedINS_car(in_data,settings); ...@@ -18,4 +18,4 @@ out_data=GPSaidedINS_car(in_data,settings);
%% Plot the data %% Plot the data
disp('Plot data') disp('Plot data')
plot_data plot_single_trace
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...@@ -18,4 +18,4 @@ out_data=GPSaidedINS_cycling(in_data,settings); ...@@ -18,4 +18,4 @@ out_data=GPSaidedINS_cycling(in_data,settings);
%% Plot the data %% Plot the data
disp('Plot 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
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...@@ -8,7 +8,7 @@ xlabel('energy') ...@@ -8,7 +8,7 @@ xlabel('energy')
ylabel('error') ylabel('error')
title('cycling energy accuracy tracking trade-off') title('cycling energy accuracy tracking trade-off')
grid grid
%iterate and plot the results for the different P thresholds
for j=1:length(P_treshold) for j=1:length(P_treshold)
scatter(energy(:,j), error(:,j),20,color(j,:),'o','filled') scatter(energy(:,j), error(:,j),20,color(j,:),'o','filled')
end end
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