40 lines
867 B
Matlab
40 lines
867 B
Matlab
% subplot£ºÊÇ·ñ¿ªÆôsubplot
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function ch_plot_gps_imu_pos(varargin)
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%% plot imu data
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i = 1;
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param= inputParser;
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param.addOptional('time', []);
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param.addOptional('pos', []);
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param.addOptional('gnss', []);
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param.parse(varargin{:});
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r = param.Results;
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if(r.time == 0 )
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error('no time data');
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end
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figure;
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subplot(2,1,1);
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plot(r.gnss(:,2), r.gnss(:,1),'b-');
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hold on;
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plot(r.gnss(:,2), r.gnss(:,1),'b.');
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plot(r.pos(:,2), r.pos(:,1), 'r-');
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plot(r.pos(1,1), r.pos(1,2),'ks');
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legend('GNSS position estimate','GNSS aided INS trajectory','Start point')
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axis equal
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hold off;
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xlabel('X(m)'); ylabel('Y(m)'); title('Trajectory');
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subplot(2,1,2);
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hold on;
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plot(1:length(r.gnss), -r.gnss(:,3),'b.');
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plot(r.time, -r.pos(:,3),'r');
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legend('GNSS estimate','GNSS aided INS estimate')
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title('Height versus time'); xlabel('Time [s]'); ylabel('Height [m]');
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hold off;
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end
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