109 lines
2.1 KiB
Scilab
109 lines
2.1 KiB
Scilab
res_log=read('../data/gps_kalman_log.m',-1,16);
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[r_n,c_n]=size(res_log);
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idx=[1:r_n];
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// First plot KF state
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//xset('color',3);
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//xset('background', 1);
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xbasc();
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xset('window',0);
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// plot pos_x result
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subplot(511);
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plot2d(res_log(:,2));
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xtitle("ECEF_x",'100ms','m');
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xset('background', 4);
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// plot pos_y result
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subplot(512);
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plot2d(res_log(:,3));
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xtitle("ECEF_y",'100ms','m');
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xset('background', 4);
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// plot pos_z result
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subplot(513);
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plot2d(res_log(:,4));
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xtitle("ECEF_z", '100ms','m');
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xset('background', 4);
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// plot clk_bias result
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subplot(514);
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plot2d(res_log(:,5));
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xtitle("clk_bias", '100ms','m');
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xset('background', 4);
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// plot clk_drift result
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subplot(515);
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plot2d(res_log(:,6));
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xtitle("clk_drift", '100ms','m/s');
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xset('background', 4);
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// Then plot corrections
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xset('window',1);
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// plot corr_pos_x result
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subplot(511);
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plot2d(res_log(:,7));
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xtitle("ECEF_x correction",'100ms','m');
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xset('background', 4);
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// plot corr_pos_y result
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subplot(512);
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plot2d(res_log(:,8));
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xtitle("ECEF_y_correction",'100ms','m');
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xset('background', 4);
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// plot corr_pos_z result
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subplot(513);
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plot2d(res_log(:,9));
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xtitle("ECEF_z_correction", '100ms','m');
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xset('background', 4);
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// plot corr_bias result
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subplot(514);
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plot2d(res_log(:,10));
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xtitle("clk_bias_correction", '100ms','m');
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xset('background', 4);
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// plot corr_drift result
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subplot(515);
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plot2d(res_log(:,11));
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xtitle("clk_drift_correction", '100ms','m/s');
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xset('background', 4);
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// Then plot diag of P_matrix
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xset('window',2);
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// plot p_pos_x result
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subplot(511);
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plot2d(res_log(:,12));
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xtitle("ECEF_x_cov",'100ms','m^2');
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xset('background', 4);
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// plot p_pos_y result
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subplot(512);
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plot2d(res_log(:,13));
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xtitle("ECEF_y_cov",'100ms','m^2');
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xset('background', 4);
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// plot p_pos_z result
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subplot(513);
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plot2d(res_log(:,14));
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xtitle("ECEF_z_cov", '100ms','m^2');
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xset('background', 4);
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// plot p_bias result
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subplot(514);
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plot2d(res_log(:,15));
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xtitle("clk_bias_cov", '100ms','m^2');
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xset('background', 4);
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// plot p_drift result
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subplot(515);
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plot2d(res_log(:,16));
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xtitle("clk_drift_cov", '100ms','(m/s)^2');
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xset('background', 4);
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