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28 lines
679 B
28 lines
679 B
10 years ago
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%% calculate and plot tilt correction magnitude
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figure;
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plot(angErrLog(1,:)*0.001,angErrLog(2,:));
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grid on;
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ylabel('Tilt correction magnitude (deg)');
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xlabel('time (sec)');
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%% plot gyro bias estimates
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figure;
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plot(statesLog(1,:)*0.001,statesLog(8:10,:)/dt*180/pi);
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grid on;
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ylabel('Gyro Bias Estimate (deg/sec)');
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xlabel('time (sec)');
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%% plot Euler angle estimates
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figure;
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eulLog(4,:) = eulLog(4,:) + pi;
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plot(eulLog(1,:)*0.001,eulLog(2:4,:)*180/pi);
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grid on;
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ylabel('Euler Angle Estimates (deg)');
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xlabel('time (sec)');
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%% plot velocity innovations
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figure;
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plot(statesLog(1,:)*0.001,statesLog(5:7,:));
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grid on;
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ylabel('EKF velocity Innovations (m/s)');
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xlabel('time (sec)');
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