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21 lines
505 B
21 lines
505 B
%% plot gyro bias estimates |
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figure; |
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plot(statesLog(1,:)*0.001,statesLog(9:11,:)/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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|
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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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|
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%% plot velocity innovations |
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figure; |
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plot(statesLog(1,:)*0.001,statesLog(6:8,:)); |
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grid on; |
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ylabel('EKF velocity Innovations (m/s)'); |
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xlabel('time (sec)'); |