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function rmse_v = print_rmse (ins_gnss, gnss, ins_gnss_r, gnss_r, string)
% print_rmse: print on console Root Mean Squared Errors (RMSE) between INS/GNSS
% and a reference, and between GNSS-only and a reference as well.
%
% INPUT:
% ins_gnss, INS/GNSS data structure.
% gnss, GNSS data structure.
% ins_gnss_r, Reference data structure ajusted for INS/GNSS measurements.
% gnss_r, Reference data structure ajusted for GNSS measurements.
% string, string to print on console identifying the INS/GNSS system.
%
% OUTPUT
% rmse_v, vector with all RMSE.
%
% rmse_v = [ RMSE_roll; RMSE_pitch; RMSE_yaw;
% RMSE_vn; RMSE_ve; RMSE_vd;
% RMSE_lat; RMSE_lon; RMSE_h;
% RMSE_vn_g; RMSE_ve_g; RMSE_vd_g;
% RMSE_lat_g; RMSE_lon_g; RMSE_h_g; ];
%
% Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
%
% This file is part of NaveGo, an open-source MATLAB toolbox for
% simulation of integrated navigation systems.
%
% NaveGo is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License (LGPL)
% version 3 as published by the Free Software Foundation.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public
% License along with this program. If not, see
% <http://www.gnu.org/licenses/>.
%
% Version: 007
% Date: 2018/12/04
% Author: Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL: https://github.com/rodralez/navego
rmse_v = navego_rmse (ins_gnss, gnss, ins_gnss_r, gnss_r);
%% Print RMSE
fprintf( '\n>> RMSE for %s\n\n', string);
fprintf(' Roll, %s = %.4e deg \n', string, rmse_v(1));
fprintf(' Pitch, %s = %.4e deg \n', string, rmse_v(2));
fprintf(' Yaw, %s = %.4e deg \n\n', string, rmse_v(3));
if (isfield(ins_gnss, 'vel') && isfield( ins_gnss_r, 'vel') && isfield(gnss, 'vel') && isfield( gnss_r, 'vel'))
fprintf(' Vel. N, %s = %.4e m/s, GNSS = %.4e m/s \n', string, rmse_v(4), rmse_v(10));
fprintf(' Vel. E, %s = %.4e m/s, GNSS = %.4e m/s \n', string, rmse_v(5), rmse_v(11));
fprintf(' Vel. D, %s = %.4e m/s, GNSS = %.4e m/s \n\n', string, rmse_v(6), rmse_v(12));
end
fprintf(' Latitude, %s = %.4e m, GNSS = %.4e m \n', string, rmse_v(7), rmse_v(13));
fprintf(' Longitude, %s = %.4e m, GNSS = %.4e m \n', string, rmse_v(8), rmse_v(14));
fprintf(' Altitude, %s = %.4e m, GNSS = %.4e m \n', string, rmse_v(9), rmse_v(15));
end
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