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added velocity error figure

release/4.3a0
Luca 2014-02-13 16:16:49 -05:00
parent 8f4c3fd02d
commit b21a46c437
1 changed files with 11 additions and 1 deletions
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12
matlab/unstable_examples/+imuSimulator/coriolisExample.m
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@ -17,7 +17,7 @@ import gtsam.*;
addpath(genpath('./Libraries')) addpath(genpath('./Libraries'))
%% General configuration %% General configuration
navFrameRotating = 0; % 0 = perform navigation in the fixed frame navFrameRotating = 1; % 0 = perform navigation in the fixed frame
% 1 = perform navigation in the rotating frame % 1 = perform navigation in the rotating frame
IMU_type = 1; % IMU type 1 or type 2 IMU_type = 1; % IMU type 1 or type 2
useRealisticValues = 1; % use reaslist values for initial position and earth rotation useRealisticValues = 1; % use reaslist values for initial position and earth rotation
@ -383,6 +383,16 @@ xlabel('Time [s]');
ylabel('Error (ground_truth - estimate) [m/s]'); ylabel('Error (ground_truth - estimate) [m/s]');
legend('X axis', 'Y axis', 'Z axis', 'Location', 'NORTHWEST'); legend('X axis', 'Y axis', 'Z axis', 'Location', 'NORTHWEST');
% Plot 3D velocity error
figure
velocityError3D = sqrt(axisVelocityError(1,:).^2+axisVelocityError(2,:).^2 + axisVelocityError(3,:).^2);
plot(times, velocityError3D);
plotTitle = sprintf('3D Error in Estimated Velocity\n(IMU type = %d, omega = [%.2f; %.2f; %.2f])', ...
IMU_type, omegaRotatingFrame(1), omegaRotatingFrame(2), omegaRotatingFrame(3));
title(plotTitle);
xlabel('Time [s]');
ylabel('3D error [meters/s]');
% Plot magnitude of rotation errors % Plot magnitude of rotation errors
figure figure
for i = 1:size(rotationsErrorVectors,2) for i = 1:size(rotationsErrorVectors,2)