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Plot_errors.m
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Plot_errors.m
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function Plot_errors(errors)
%Plots navigation solution errors
%
% Software for use with "Principles of GNSS, Inertial, and Multisensor
% Integrated Navigation Systems," Second Edition.
%
% This function created 3/4/2012 by Paul Groves
%
% Input:
% errors Array of error data to plot
% Format is
% Column 1: time (sec)
% Column 2: north position error (m)
% Column 3: east position error (m)
% Column 4: down position error (m)
% Column 5: north velocity (m/s)
% Column 6: east velocity (m/s)
% Column 7: down velocity (m/s)
% Column 8: roll component of NED attitude error (deg)
% Column 9: pitch component of NED attitude error (deg)
% Column 10: yaw component of NED attitude error (deg)
% Copyright 2012, Paul Groves
% License: BSD; see license.txt for details
% Begins
fig = figure;
set(fig,'units','normalized');
set(fig,'OuterPosition',[0.5,0.4,0.45,0.6]);
subplot(3,3,1);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.9,0.45,0]);
plot(errors(:,1),errors(:,2),'LineWidth',1.5);
title('North position error, m');
set(gca,'OuterPosition',[0.01,0.68,0.32,0.31]);
subplot(3,3,2);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0,0.9,0.45]);
plot(errors(:,1),errors(:,3),'LineWidth',1.5);
title('East position error, m');
set(gca,'OuterPosition',[0.34,0.68,0.32,0.31]);
subplot(3,3,3);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.45,0,0.9]);
plot(errors(:,1),errors(:,4),'LineWidth',1.5);
title('Down position error, m');
set(gca,'OuterPosition',[0.67,0.68,0.32,0.31]);
subplot(3,3,4);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.9,0,0.45]);
plot(errors(:,1),errors(:,5),'LineWidth',1.5);
title('North velocity error, m/s');
set(gca,'OuterPosition',[0.01,0.36,0.32,0.31]);
subplot(3,3,5);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.45,0.9,0]);
plot(errors(:,1),errors(:,6),'LineWidth',1.5);
title('East velocity error, m/s');
set(gca,'OuterPosition',[0.34,0.36,0.32,0.31]);
subplot(3,3,6);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0,0.45,0.9]);
plot(errors(:,1),errors(:,7),'LineWidth',1.5);
title('Down velocity error, m/s');
set(gca,'OuterPosition',[0.67,0.36,0.32,0.31]);
subplot(3,3,7);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0,0.7,0.7]);
plot(errors(:,1),radtodeg(errors(:,8)),'LineWidth',1.5);
xlabel('Time, s');
title('Attitude error about North, deg');
set(gca,'OuterPosition',[0.01,0,0.32,0.35]);
subplot(3,3,8);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.7,0,0.7]);
plot(errors(:,1),radtodeg(errors(:,9)),'LineWidth',1.5);
xlabel('Time, s');
title('Attitude error about East, deg');
set(gca,'OuterPosition',[0.34,0,0.32,0.35]);
subplot(3,3,9);
set(gca,'NextPlot','replacechildren');
set(gca,'ColorOrder',[0.7,0.7,0]);
plot(errors(:,1),radtodeg(errors(:,10)),'LineWidth',1.5);
xlabel('Time, s');
title('Heading error, deg');
set(gca,'OuterPosition',[0.67,0,0.32,0.35]);
% Ends