diff --git a/paper/data/exp_sc1.csv b/paper/data/exp_sc1.csv
index a8d667244473b7e7501670b8d1107332c3609ebf..b4cddbe4f182b8ce16082d528be9173d6b3e4e9e 100644
--- a/paper/data/exp_sc1.csv
+++ b/paper/data/exp_sc1.csv
@@ -1,30 +1,30 @@
-54352,0.10888
-57672,0.12403
-64156,52.881
-57588,0.090177
-66588,134.94
-82760,65.069
-67480,30.371
-57120,0.07888
-56192,0.077414
-56124,0.073681
-56988,0.1017
-64400,75.618
-67964,33.511
-57476,0.063518
-55792,0.06985
-56176,0.056211
-57508,0.10132
-65836,14.371
-70492,11.502
-54104,0.10284
-65536,24.99
-56772,0.063881
-55356,0.053912
-56356,0.15693
-71240,5.1781
-55844,0.055767
-63072,0.098075
-54492,0.070237
-70072,16.771
-54776,0
+54352,2.6867
+57672,2.7019
+64156,55.459
+57588,2.668
+66588,137.52
+82760,67.647
+67480,32.949
+57120,2.6567
+56192,2.6552
+56124,2.6515
+56988,2.6795
+64400,78.196
+67964,36.089
+57476,2.6413
+55792,2.6477
+56176,2.634
+57508,2.6791
+65836,16.949
+70492,14.08
+54104,2.6807
+65536,27.568
+56772,2.6417
+55356,2.6317
+56356,2.7347
+71240,7.7559
+55844,2.6336
+63072,2.6759
+54492,2.6481
+70072,19.349
+54776,2.5778
diff --git a/paper/data/exp_sc2.csv b/paper/data/exp_sc2.csv
index 2719578a2594fe1027d61f595a9f29fc65ce33e9..b8a9ebfac4d3a61d2de4ec1afe92c9c14ec2f84c 100644
--- a/paper/data/exp_sc2.csv
+++ b/paper/data/exp_sc2.csv
@@ -1,30 +1,30 @@
-55436,30.787
-57100,46.711
-51308,21.107
-40448,0.47348
-39656,0.52644
-77920,19.435
-39016,0.4316
-40472,0.51677
-41440,0.49922
-40096,0.59095
-40612,0.43757
-40444,0.52097
-37728,0.54685
-43736,0.48566
-54760,18.616
-37760,0.52588
-40564,0.56948
-39688,0.51775
-55600,29.603
-39924,0.54074
-39548,0.58716
-38772,0.4981
-51748,149.19
-40784,0.56621
-40980,0.47786
-51108,11.798
-39080,0.48775
-53744,136.94
-40524,0.52279
-51644,11.774
+55436,33.365
+57100,49.289
+51308,23.685
+40448,3.0513
+39656,3.1043
+77920,22.013
+39016,3.0094
+40472,3.0946
+41440,3.077
+40096,3.1688
+40612,3.0154
+40444,3.0988
+37728,3.1247
+43736,3.0635
+54760,21.194
+37760,3.1037
+40564,3.1473
+39688,3.0956
+55600,32.181
+39924,3.1186
+39548,3.165
+38772,3.0759
+51748,151.77
+40784,3.144
+40980,3.0557
+51108,14.376
+39080,3.0656
+53744,139.52
+40524,3.1006
+51644,14.352
diff --git a/paper/data/exp_sc3.csv b/paper/data/exp_sc3.csv
index e86c00d832172ac2980a826de919a8aebc4dd394..492f7fefda5c65892868e1d51edc235f138b6c57 100644
--- a/paper/data/exp_sc3.csv
+++ b/paper/data/exp_sc3.csv
@@ -1,30 +1,30 @@
-43732,64.501
-30124,0.9841
-41100,10.203
-30992,0.95851
-30400,0.95254
-31872,1.0321
-31784,0.94536
-29368,0.96521
-66248,9.2126
-30592,1.0712
-31532,0.96023
-32308,0.90182
-49792,5.4974
-30544,0.87487
-32832,0.91026
-45852,80.299
-30836,0.84724
-31812,0.96175
-31216,1.047
-31500,0.90439
-30636,0.89945
-55964,44.965
-32860,1.0017
-30336,0.96355
-66036,55.875
-31536,0.89964
-41060,7.4939
-31224,0.98668
-59488,75.152
-64756,149.84
+43732,67.078
+30124,3.5619
+41100,12.781
+30992,3.5363
+30400,3.5304
+31872,3.6099
+31784,3.5232
+29368,3.543
+66248,11.79
+30592,3.6491
+31532,3.5381
+32308,3.4796
+49792,8.0753
+30544,3.4527
+32832,3.4881
+45852,82.877
+30836,3.4251
+31812,3.5396
+31216,3.6248
+31500,3.4822
+30636,3.4773
+55964,47.543
+32860,3.5795
+30336,3.5414
+66036,58.453
+31536,3.4775
+41060,10.072
+31224,3.5645
+59488,77.73
+64756,152.42
diff --git a/paper/data/exp_sc4.csv b/paper/data/exp_sc4.csv
index a56bdb0264269b014eb5b837c46815433baa19b5..93329e976705d2d371b755acaefbe5098bf8cbe6 100644
--- a/paper/data/exp_sc4.csv
+++ b/paper/data/exp_sc4.csv
@@ -1,30 +1,30 @@
-22240,1.9647
-21080,1.8755
-22768,1.8004
-22620,2.0003
-22368,1.8564
-39272,112.46
-22488,1.865
-22212,1.8096
-37480,14.421
-48236,23.835
-22272,1.7815
-22996,1.9195
-38940,128.77
-23740,2.128
-36540,16.488
-22100,2.0922
-23232,2.1225
-22268,1.7784
-21696,1.8772
-23324,1.9405
-40260,15.679
-21492,1.8121
-42720,41.163
-32840,12.101
-21304,1.9309
-62112,68.981
-23356,2.07
-21928,1.7926
-20912,1.9261
-21404,2.033
+22240,4.5425
+21080,4.4533
+22768,4.3782
+22620,4.5782
+22368,4.4342
+39272,115.04
+22488,4.4428
+22212,4.3874
+37480,16.999
+48236,26.413
+22272,4.3593
+22996,4.4973
+38940,131.35
+23740,4.7058
+36540,19.065
+22100,4.67
+23232,4.7003
+22268,4.3563
+21696,4.455
+23324,4.5184
+40260,18.257
+21492,4.3899
+42720,43.741
+32840,14.679
+21304,4.5087
+62112,71.559
+23356,4.6479
+21928,4.3705
+20912,4.5039
+21404,4.6108
diff --git a/paper/data/exp_sc5.csv b/paper/data/exp_sc5.csv
index 80676fdab4033a8911b77c68ed7500a1c372cdc2..b3873415f0c25a61e6240036380d37e5cf3a948c 100644
--- a/paper/data/exp_sc5.csv
+++ b/paper/data/exp_sc5.csv
@@ -1,30 +1,30 @@
-30328,35.909
-17524,2.9007
-17020,2.76
-36536,72.154
-33800,31.759
-37832,31.103
-39876,241.9
-18332,2.9418
-33900,7.0066
-18280,2.913
-16912,2.9683
-18360,3.0321
-19568,3.0471
-17764,2.7549
-53140,109.1
-19508,3.3526
-29316,23.171
-19288,3.467
-36856,98.561
-18456,3.2791
-52488,25.429
-34256,3.5261
-18888,3.0706
-31240,67.064
-17224,3.3432
-15144,2.7188
-24088,3.7349
-38676,52.67
-19092,3.2032
-19324,3.3869
+30328,38.487
+17524,5.4786
+17020,5.3378
+36536,74.732
+33800,34.337
+37832,33.68
+39876,244.48
+18332,5.5196
+33900,9.5844
+18280,5.4908
+16912,5.5461
+18360,5.6099
+19568,5.6249
+17764,5.3327
+53140,111.68
+19508,5.9305
+29316,25.749
+19288,6.0449
+36856,101.14
+18456,5.8569
+52488,28.007
+34256,6.1039
+18888,5.6484
+31240,69.642
+17224,5.921
+15144,5.2966
+24088,6.3127
+38676,55.248
+19092,5.781
+19324,5.9647
diff --git a/paper/data/exp_sc6.csv b/paper/data/exp_sc6.csv
index 784d0b25ce2e6d4ab22c30939e20701d3d3fbb85..a173a618441cc30e2532a1afbc4533e0814fdaeb 100644
--- a/paper/data/exp_sc6.csv
+++ b/paper/data/exp_sc6.csv
@@ -1,30 +1,30 @@
-14812,4.1445
-31052,19.709
-13928,4.0159
-15320,4.3439
-14860,4.559
-15692,4.5393
-16712,4.5732
-15872,4.5258
-56516,197.19
-16224,4.7017
-31788,10.941
-15852,4.9283
-15096,4.4497
-34356,11.471
-34720,68.373
-14680,4.1255
-14064,4.1882
-26828,12.3
-16000,4.0701
-16388,4.6702
-15628,3.9574
-31916,21.803
-15584,4.6404
-26812,16.092
-30436,21.834
-30032,17.31
-15920,4.4664
-27972,12.091
-16028,4.9282
-14968,4.1381
+14812,6.7223
+31052,22.287
+13928,6.5938
+15320,6.9217
+14860,7.1368
+15692,7.1171
+16712,7.151
+15872,7.1037
+56516,199.77
+16224,7.2795
+31788,13.518
+15852,7.5062
+15096,7.0275
+34356,14.049
+34720,70.951
+14680,6.7033
+14064,6.766
+26828,14.877
+16000,6.6479
+16388,7.248
+15628,6.5352
+31916,24.381
+15584,7.2182
+26812,18.67
+30436,24.411
+30032,19.888
+15920,7.0443
+27972,14.669
+16028,7.5061
+14968,6.7159
diff --git a/paper/main.bib b/paper/main.bib
index 98decf9a2d8b718b43a333237f78186a1e739039..358e5a8d99f0d47b6203e57835e2f87435951a8c 100644
--- a/paper/main.bib
+++ b/paper/main.bib
@@ -25,8 +25,8 @@ month={March},}
title = {Multisensor Data Fusion},
year = {2008},
isbn = {9781420053067},
- edition = {2nd},
- publisher = {CRC Press, Inc.},
+ removed_edition= {2nd},
+ removed_publisher= {CRC Press, Inc.},
removed_address= {Boca Raton, FL, USA},
}
@@ -44,17 +44,17 @@ month={March},}
author={Kaplan, E.D.},
isbn={9780890067932},
lccn={95049984},
- series={Artech House telecommunications library},
+ removed_series={Artech House telecommunications library},
mask_url={https://books.google.it/books?id=5OYInwEACAAJ},
year={1996},
- publisher={Artech House}
+ removed_publisher={Artech House}
}
%lavoro di microsoft in cui discutono la possibilità di usare i dati precedenti di fase e frequenza per velocizzzare il fetching
@inproceedings{bib:microsoft-leap,
author = {Ramos, Heitor S. and Zhang, Tao and Liu, Jie and Priyantha, Nissanka B. and Kansal, Aman},
title = {LEAP: A Low Energy Assisted GPS for Trajectory-based Services},
booktitle = {Proceedings of the 13th International Conference on Ubiquitous Computing},
- series = {UbiComp '11},
+ removed_series= {UbiComp '11},
year = {2011},
isbn = {978-1-4503-0630-0},
location = {Beijing, China},
@@ -63,7 +63,7 @@ month={March},}
mask_url= {http://doi.acm.org/10.1145/2030112.2030158},
mask_doi= {10.1145/2030112.2030158},
acmid = {2030158},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {gps, low energy, mobile location},
}
@@ -87,7 +87,7 @@ month={Jan},}
author = {Zhuang, Zhenyun and Kim, Kyu-Han and Singh, Jatinder Pal},
title = {Improving Energy Efficiency of Location Sensing on Smartphones},
booktitle = {Proceedings of the 8th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '10},
+ removed_series= {MobiSys '10},
year = {2010},
isbn = {978-1-60558-985-5},
location = {San Francisco, California, USA},
@@ -96,7 +96,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1814433.1814464},
mask_doi= {10.1145/1814433.1814464},
acmid = {1814464},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy efficiency, location sensing, location-based applications, smartphone},
}
@@ -107,7 +107,7 @@ month={Jan},}
author = {Lin, Kaisen and Kansal, Aman and Lymberopoulos, Dimitrios and Zhao, Feng},
title = {Energy-accuracy Trade-off for Continuous Mobile Device Location},
booktitle = {Proceedings of the 8th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '10},
+ removed_series= {MobiSys '10},
year = {2010},
isbn = {978-1-60558-985-5},
location = {San Francisco, California, USA},
@@ -116,7 +116,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1814433.1814462},
mask_doi= {10.1145/1814433.1814462},
acmid = {1814462},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS energy, continuous location, location-based applications},
}
@@ -126,7 +126,7 @@ month={Jan},}
author = {Thiagarajan, Arvind and Ravindranath, Lenin and LaCurts, Katrina and Madden, Samuel and Balakrishnan, Hari and Toledo, Sivan and Eriksson, Jakob},
title = {VTrack: Accurate, Energy-aware Road Traffic Delay Estimation Using Mobile Phones},
booktitle = {Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems},
- series = {SenSys '09},
+ removed_series= {SenSys '09},
year = {2009},
isbn = {978-1-60558-519-2},
location = {Berkeley, California},
@@ -135,7 +135,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1644038.1644048},
mask_doi= {10.1145/1644038.1644048},
acmid = {1644048},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS, car, congestion, energy, localization, location, mobile, phone, sensor, traffic, transportation},
}
@@ -145,7 +145,7 @@ month={Jan},}
author = {Kj{\ae}rgaard, Mikkel Baun and Langdal, Jakob and Godsk, Torben and Toftkj{\ae}r, Thomas},
title = {EnTracked: Energy-efficient Robust Position Tracking for Mobile Devices},
booktitle = {Proceedings of the 7th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '09},
+ removed_series= {MobiSys '09},
year = {2009},
isbn = {978-1-60558-566-6},
location = {Krak\&\#243;w, Poland},
@@ -154,7 +154,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1555816.1555839},
mask_doi= {10.1145/1555816.1555839},
acmid = {1555839},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy-efficient, gps, positioning, tracking},
}
@@ -164,7 +164,7 @@ month={Jan},}
author = {Wang, Yi and Lin, Jialiu and Annavaram, Murali and Jacobson, Quinn A. and Hong, Jason and Krishnamachari, Bhaskar and Sadeh, Norman},
title = {A Framework of Energy Efficient Mobile Sensing for Automatic User State Recognition},
booktitle = {Proceedings of the 7th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '09},
+ removed_series= {MobiSys '09},
year = {2009},
isbn = {978-1-60558-566-6},
location = {Krak\&\#243;w, Poland},
@@ -173,7 +173,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1555816.1555835},
mask_doi= {10.1145/1555816.1555835},
acmid = {1555835},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {eemss, energy efficiency, human state recognition, mobile sensing},
}
@@ -188,7 +188,7 @@ and Narasimhan, Priya",
title="Optimizing Mobile Application Performance with Model--Driven Engineering",
booktitle="Software Technologies for Embedded and Ubiquitous Systems",
year="2009",
-publisher="Springer Berlin Heidelberg",
+removed_publisher="Springer Berlin Heidelberg",
removed_address="Berlin, Heidelberg",
removed_pages="36--46",
abstract="Future embedded and ubiquitous computing systems will operate continuously on mobile devices, such as smartphones, with limited processing capabilities, memory, and power. A critical aspect of developing future applications for mobile devices will be ensuring that the application provides sufficient performance while maximizing battery life. Determining how a software architecture will affect power consumption is hard because the impact of software design on power consumption is not well understood. Typically, the power consumption of a mobile software architecture can only be determined after the architecture is implemented, which is late in the development cycle when design changes are costly.",
@@ -222,7 +222,7 @@ month={April},}
author = {Thokala, Sravan Kumar and Koundinyaa, Pranav and Mishra, Shivakant and Shi, Larry},
title = {Virtual GPS: A Middleware for Power Efficient Localization of Smartphones Using Cross Layer Approach},
booktitle = {Proceedings of the Middleware Industry Track},
- series = {Industry papers},
+ removed_series= {Industry papers},
year = {2014},
isbn = {978-1-4503-3219-4},
location = {Bordeaux, France},
@@ -232,7 +232,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/2676727.2676729},
mask_doi= {10.1145/2676727.2676729},
acmid = {2676729},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS abstraction, location based services, power efficient localization, virtual GPS},
}
@@ -242,7 +242,7 @@ month={April},}
author = {Ben Abdesslem, Fehmi and Phillips, Andrew and Henderson, Tristan},
title = {Less is More: Energy-efficient Mobile Sensing with Senseless},
booktitle = {Proceedings of the 1st ACM Workshop on Networking, Systems, and Applications for Mobile Handhelds},
- series = {MobiHeld '09},
+ removed_series= {MobiHeld '09},
year = {2009},
isbn = {978-1-60558-444-7},
location = {Barcelona, Spain},
@@ -251,7 +251,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/1592606.1592621},
mask_doi= {10.1145/1592606.1592621},
acmid = {1592621},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy, sensing, wireless},
}
@@ -275,7 +275,7 @@ month={April},}
author = {Hassanieh, Haitham and Adib, Fadel and Katabi, Dina and Indyk, Piotr},
title = {Faster GPS via the Sparse Fourier Transform},
booktitle = {Proceedings of the 18th Annual International Conference on Mobile Computing and Networking},
- series = {Mobicom '12},
+ removed_series= {Mobicom '12},
year = {2012},
isbn = {978-1-4503-1159-5},
location = {Istanbul, Turkey},
@@ -284,7 +284,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/2348543.2348587},
mask_doi= {10.1145/2348543.2348587},
acmid = {2348587},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS, sparse fourier transform, synchronization},
}
@@ -294,7 +294,7 @@ month={April},}
author = {Windihastuty, Wiwin and Irsan, Muhammad},
title = {Explorers Zoo: An Application Model of Global Positioning System A Case Study in Ragunan Zoo},
booktitle = {Proceedings of the 5th International Conference on Information and Education Technology},
- series = {ICIET '17},
+ removed_series= {ICIET '17},
year = {2017},
isbn = {978-1-4503-4803-4},
location = {Tokyo, Japan},
@@ -303,7 +303,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/3029387.3029408},
mask_doi= {10.1145/3029387.3029408},
acmid = {3029408},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {Android, GPS, Google Maps, Zoo},
}
@@ -337,7 +337,7 @@ month={Sept},}
title = {Global Positioning Systems, Inertial Navigation, and Integration},
year = {2007},
isbn = {0470041900},
- publisher = {Wiley-Interscience},
+ removed_publisher= {Wiley-Interscience},
removed_address= {New York, NY, USA},
}
@@ -347,7 +347,7 @@ month={Sept},}
booktitle={Springer Handbook of Robotics},
removed_pages={737--752},
year={2016},
- publisher={Springer}
+ removed_publisher={Springer}
}
@inproceedings{bib:B,
diff --git a/paper/main.tex b/paper/main.tex
index 0d8c9c9ba25c486a88e8f99d1781696cfea3132f..cb4d14f899160f07f485741ad54e8778b4a80868 100644
--- a/paper/main.tex
+++ b/paper/main.tex
@@ -158,6 +158,10 @@ Politecnico di Milano, Italy}
\label{sec:concl}
\input{sections/07-concl}
+\vspace{2mm}
+\noindent\textbf{Acknowledgements}:\\
+We would like to thank Isaac Skog (Link{\"o}ping University) that allowed us to reuse and build on his code for the Matlab model. This work was supported by the ELLIIT Strategic Research Area. This work was partially supported by the Wallenberg Artificial Intelligence, Autonomous Systems and Software Program (WASP) funded by Knut and Alice Wallenberg Foundation.
+
\bibliographystyle{ACM-Reference-Format}
\bibliography{main}
diff --git a/paper/sections/04-fusion.tex b/paper/sections/04-fusion.tex
index c17d5ef14d9b7aed8111466ba3ce729ca46c907c..567c870bd1ed5ff7a9fdeb65b58f5ec10b0ae402 100644
--- a/paper/sections/04-fusion.tex
+++ b/paper/sections/04-fusion.tex
@@ -54,7 +54,7 @@ at time $k$ and measure it in meters with respect to a reference
point, i.e., $p(k) \in \mathbb{R}^3 [m]$. We use $v(k)$ to indicate
the velocity at time $k$ measuring it in meters per seconds, i.e.,
$v(k) \in \mathbb{R}^3 [m/s]$. Finally, we denote with $q(k)$ the
-attitude at time $k$, using its (adimensional) quaternion
+attitude at time $k$, using its (dimensionless) quaternion
representation, i.e., $q(k)\in \mathbb{R}^4 [-]$.
The IMU provides the following measurements at time $k$: the
@@ -176,9 +176,9 @@ v(k)-\hat{v}(k) \\
\epsilon (k)
\end{bmatrix}.
\end{equation}
-Here, the attitude error vector $\epsilon(k)$ is defined as the the
-small (Euler) angle sequence that rotates the attitude vector
-$\hat{q}(k)$ into
+Here, the attitude error vector $\epsilon(k) \in \mathbb{R}^3$ is
+defined as the the small (Euler) angle sequence that rotates the
+attitude vector $\hat{q}(k)$ into
$q(k)$\footnote{$q(k) = \Gamma(\hat{q}(k), \epsilon(k))$, where
$\Gamma(\hat{q}(k),\epsilon (k)) \triangleq \{ q \in \mathbb{S}^3 |
R_b^n (q(k)) = (I_3 - \left[\epsilon(k)\right]_{\times}) R_b^n
diff --git a/paper/sections/06-results.tex b/paper/sections/06-results.tex
index 2302ce9d1d429ab3560d4c5855c54bbd0b478ab0..55f085ad138eae98794d691bd4f8e9f341f739f3 100644
--- a/paper/sections/06-results.tex
+++ b/paper/sections/06-results.tex
@@ -201,6 +201,7 @@ independently capture the tracking of individual satellites.
\label{sec:res:accuracy}
\begin{figure*}[t]
+\centering
\begin{minipage}{0.95\columnwidth}
\begin{tikzpicture}
\begin{axis}[%
@@ -279,6 +280,7 @@ independently capture the tracking of individual satellites.
\end{minipage}
\end{figure*}
\begin{figure*}
+\centering
\hspace{2mm} \vspace{0.1cm}
\begin{minipage}{0.95\columnwidth}
\begin{tikzpicture}
@@ -427,9 +429,11 @@ the simulations), to highlight the trade-off.
scaled y ticks = false,
y tick label style={/pgf/number format/fixed},
xlabel = {Energy [mJ]},
- ylabel = {Normalized Error},
+ ylabel = {Error},
legend style={at={(1.3,1.1)},anchor=south},
legend columns=3,
+ ytick = {0, 0.01, 0.02, 0.03},
+ yticklabels = {45493.25, 45493.26, 45493.27, 45493.28},
]
\pgfkeys{/pgf/number format/.cd,1000 sep={}}
\addplot[thick, only marks, mark=*, blue]
@@ -458,8 +462,7 @@ the simulations), to highlight the trade-off.
\addlegendentry{Sensor Fusion $th=12$}
\end{axis}
\end{tikzpicture}
-\caption{Trade-Off between Energy and Error when cycling. The error
-is normalized subtracting its minimum value.}
+\caption{Trade-Off between Energy and Error when cycling.}
\label{fig:bike-tradeoff}
\end{minipage}
\hfill
@@ -474,7 +477,7 @@ is normalized subtracting its minimum value.}
scaled x ticks = false,
scaled y ticks = false,
xlabel = {Energy [mJ]},
- ylabel = {Normalized Error},
+ ylabel = {Error},
]
\pgfkeys{/pgf/number format/.cd,1000 sep={}}
\addplot[thick, only marks, mark=*, blue]
@@ -498,8 +501,7 @@ is normalized subtracting its minimum value.}
\end{axis}
\end{tikzpicture}
\caption{Trade-Off between Energy and Error when driving
-(with signal loss). The error is normalized subtracting its minimum
-value.}
+(with signal loss).}
\label{fig:car-tradeoff}
\end{minipage}
\end{figure*}
@@ -519,9 +521,9 @@ Second, higher triggering values instead (purple, yellow, and orange
points) the opposite behavior is experienced. The variance in terms
of energy consumption is smaller, since the antenna is turned on less
frequently (implying that there will be less uncertainty on the time
-spent fetching satellites' signals). The error here becomes lager and
-with higher variance, due to the need to exploit more often (less
-reliable) IMU data.
+spent fetching signals). The error here becomes lager and with higher
+variance, due to the need to exploit more often (less reliable) IMU
+data.
Finally, Figure~\ref{fig:car-tradeoff} shows the simulations
performed using the car data. Given the introduction of a varying