You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
28 lines
679 B
28 lines
679 B
%% calculate and plot tilt correction magnitude |
|
figure; |
|
plot(angErrLog(1,:)*0.001,angErrLog(2,:)); |
|
grid on; |
|
ylabel('Tilt correction magnitude (deg)'); |
|
xlabel('time (sec)'); |
|
|
|
%% plot gyro bias estimates |
|
figure; |
|
plot(statesLog(1,:)*0.001,statesLog(8:10,:)/dt*180/pi); |
|
grid on; |
|
ylabel('Gyro Bias Estimate (deg/sec)'); |
|
xlabel('time (sec)'); |
|
|
|
%% plot Euler angle estimates |
|
figure; |
|
eulLog(4,:) = eulLog(4,:) + pi; |
|
plot(eulLog(1,:)*0.001,eulLog(2:4,:)*180/pi); |
|
grid on; |
|
ylabel('Euler Angle Estimates (deg)'); |
|
xlabel('time (sec)'); |
|
|
|
%% plot velocity innovations |
|
figure; |
|
plot(statesLog(1,:)*0.001,statesLog(5:7,:)); |
|
grid on; |
|
ylabel('EKF velocity Innovations (m/s)'); |
|
xlabel('time (sec)'); |