diff --git a/matlab/GPSaidedINS_car.m b/matlab/GPSaidedINS_car.m
index 9c6cdec7020c7d098c5dec29c8f32badd03be498..3a6f10d6c61d6c5fb096541af10787d17d987019 100644
--- a/matlab/GPSaidedINS_car.m
+++ b/matlab/GPSaidedINS_car.m
@@ -26,6 +26,7 @@
%
% Edit: Isaac Skog (skog@kth.se), 2016-09-06
% Revised: Bo Bernhardsson, 2018-01-01
+% Revised: Claudio Mandrioli 2018-02-26
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function out_data=GPSaidedINS_car(in_data,settings)
@@ -45,7 +46,6 @@ delta_u_h=zeros(6,1);
% Initialize the Kalman filter
[P,Q1,Q2,~,~]=init_filter(settings);
-
% Allocate memory for the output data
N=size(u,2);
out_data.x_h=zeros(10,N);
@@ -96,7 +96,7 @@ for k=2:N
end
%update sensor state
% pre_state=sensor.state;
- sensor=gps_randomized(t(k),sensor,turn,sv); %remove _randomized for worst case
+ sensor=gps_randomized_car(t(k),sensor,turn,sv); %remove _randomized for worst case
%determine if GPS position is available
GPS_position=strcmp(sensor.state,'position_available');
%compute power consumption
diff --git a/matlab/GPSaidedINS_cycling.m b/matlab/GPSaidedINS_cycling.m
index c1bed451bbccdab77d29047f7261e71a814afedd..e0e92028924ab9ad34035e9d1084cbbd60454b0c 100644
--- a/matlab/GPSaidedINS_cycling.m
+++ b/matlab/GPSaidedINS_cycling.m
@@ -26,6 +26,7 @@
%
% Edit: Isaac Skog (skog@kth.se), 2016-09-06
% Revised: Bo Bernhardsson, 2018-01-01
+% Revised: Claudio Mandrioli 2018-02-26
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function out_data=GPSaidedINS(in_data,settings)
@@ -81,7 +82,6 @@ pre_state='startup'; %initialize previous state of the sensor (used for display
P_store=0; %store summed valued of the trace of P in time
sv_store=sv; %store number of visible satellites in time
-%for k=2:N
for k=start_sim:start_sim+length_sim
% Sampling period
@@ -91,8 +91,8 @@ for k=start_sim:start_sim+length_sim
%% GPS sensor %%
%%%%%%%%%%%%%%%%%
%randomized number of visible satellites
- %sv = random_satellites(sv);
- sv=5;
+ sv = random_satellites(sv);
+ %sv=5;
%control action
P_store=[P_store,sum(sqrt(out_data.diag_P(1:3,k-1)))];
if sum(sqrt(out_data.diag_P(1:3,k-1)))<P_treshold
@@ -102,7 +102,7 @@ for k=start_sim:start_sim+length_sim
end
%update sensor state
% pre_state=sensor.state;
- sensor=gps_randomized(t(k),sensor,turn,sv); %remove _randomized for worst case
+ sensor=gps_randomized_cycling(t(k),sensor,turn,sv); %remove _randomized for worst case
%determine if GPS position is available
GPS_position=strcmp(sensor.state,'position_available');
%compute power consumption
diff --git a/matlab/gps_randomized_car.m b/matlab/gps_randomized_car.m
index fa710c9fe455d22f7ff2e54229f0b99facf51193..95761d0050355dbe1bd9d6802a71f3af5b29924a 100644
--- a/matlab/gps_randomized_car.m
+++ b/matlab/gps_randomized_car.m
@@ -22,7 +22,7 @@
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-function sensor=gps_randomized(time,sensor_in,turn,sv)
+function sensor=gps_randomized_car(time,sensor_in,turn,sv)
%% parameters
%define how many satellites you need to track given the accuracy requirements
@@ -31,7 +31,6 @@ required_sv= 4;
ephDuration=1800.0;
%bounds for time required for fetching freq and phase
fp_lower=0.2;
-%fp_upper=500.5;
fp_upper=0.8;
%% initialize output
sensor = sensor_in;
diff --git a/matlab/gps_randomized_cycling.m b/matlab/gps_randomized_cycling.m
index fa710c9fe455d22f7ff2e54229f0b99facf51193..26f878a78c3a18d5579065f6032dffadbb3520df 100644
--- a/matlab/gps_randomized_cycling.m
+++ b/matlab/gps_randomized_cycling.m
@@ -2,7 +2,7 @@
%% GPS sensor dynamics %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%STATE is a struct (called sensor) with the following fields
+%STATE is a struct (called sensor in this function) with the following fields
% state -[string]the current proceural state: no_info, cold_start, read_ephemeris,
% position_available, warm_start_avaialable, warm_start
% fetchfp -[double]at what time freq and phase will be fetched (according to the random extraction)
@@ -22,7 +22,7 @@
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-function sensor=gps_randomized(time,sensor_in,turn,sv)
+function sensor=gps_randomized_cycling(time,sensor_in,turn,sv)
%% parameters
%define how many satellites you need to track given the accuracy requirements
@@ -31,8 +31,7 @@ required_sv= 4;
ephDuration=1800.0;
%bounds for time required for fetching freq and phase
fp_lower=0.2;
-%fp_upper=500.5;
-fp_upper=0.8;
+fp_upper=500.0;
%% initialize output
sensor = sensor_in;
diff --git a/matlab/main_car.m b/matlab/main_car.m
index 6b83dba178f1fe17d211c9698999ed93957471b4..646b88f707aa9c0d987ec40a6f8c734e530b5115 100644
--- a/matlab/main_car.m
+++ b/matlab/main_car.m
@@ -1,21 +1,20 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Script for single experiment with car data
-% Plots:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Load data
disp('Loads data')
-load('GNSSaidedINS_data.mat');
+load('car_input_data.mat');
%% Load filter settings
disp('Loads settings')
settings=get_settings_car();
-settings.P_treshold=2.5;
+settings.P_treshold=4.1;
%% Run the GNSS-aided INS
disp('Runs the GNSS-aided INS')
-out_data=GPSaidedINS(in_data,settings);
+out_data=GPSaidedINS_car(in_data,settings);
%% Plot the data
disp('Plot data')
diff --git a/matlab/main_cycling.m b/matlab/main_cycling.m
index 57e3b95bc13c5f6dad019e6d96cdf50942d03469..c3cffa9d26cc08933d2db14c156184efac868f3e 100644
--- a/matlab/main_cycling.m
+++ b/matlab/main_cycling.m
@@ -1,17 +1,14 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% Script for single experiment with cycling data
-% Plots:
+% Script for single experiment with cycling data
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Load data
disp('Loads data')
-%load('GNSSaidedINS_data.mat');
load('cycling_input_data');
%% Load filter settings
disp('Loads settings')
-%settings=get_settings();
settings=get_settings_cycling();
settings.P_treshold=2.5;