fig = tools.plot_figure([t, t, t, t],
[sf_p_0001_sqt_cov_p_kf, sf_p_1_sqt_cov_p_kf, \
sf_p_100_sqt_cov_p_kf, sf_p_10000_sqt_cov_p_kf], 4,
[len(t),len(t),len(t),len(t)],
["co-", "b*-", "rp-", "m+-"],
["$s_{P0} =0.0001$", "$s_{P0} =1$",
"$s_{P0} =100$", "$s_{P0} =10000$"],
"Position uncertainty", "Time ($s$)",
"Uncertainty ($m$)", '', 1, 0, 0, [], 0, [], fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X+0.2)
pdf_P0.savefig(fig)
sf_p_0001_cdf_x, sf_p_0001_cdf_y = tools.cal_cdf(sf_p_0001_err_p_kf)
sf_p_1_cdf_x, sf_p_1_cdf_y = tools.cal_cdf(sf_p_1_err_p_kf)
sf_p_100_cdf_x, sf_p_100_cdf_y = tools.cal_cdf(sf_p_100_err_p_kf)
sf_p_10000_cdf_x, sf_p_10000_cdf_y = tools.cal_cdf(sf_p_10000_err_p_kf)
fig = tools.plot_figure([sf_p_0001_cdf_x, sf_p_1_cdf_x, sf_p_100_cdf_x, sf_p_10000_cdf_x],
[sf_p_0001_cdf_y, sf_p_1_cdf_y, sf_p_100_cdf_y, sf_p_10000_cdf_y],
4, [len(sf_p_0001_cdf_x), len(sf_p_1_cdf_x),len(sf_p_100_cdf_x), len(sf_p_10000_cdf_x)], \
["co-", "b*-", "rp-", "m+-"],
["$s_{P0} =0.0001$", "$s_{P0} =1$",
"$s_{P0} =100$", "$s_{P0} =10000$"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X-0.2, y_shift_legend=-0.02)
pdf_P0.savefig(fig)
[vrw_0001_err_p_kf, vrw_01_err_p_kf, \
vrw_0001_sqt_cov_p_kf, vrw_01_sqt_cov_p_kf], 4,
[len(t),len(t),len(t),len(t)],
["bo-", "r+-", "c-.","m:"],
["$e_{p}$ ($q_a= 0.001 m/s/\u221A s$)",
"$e_{p}$ ($q_a= 0.1 m/s/\u221A s$)",
"$\sigma_{p}$ ($q_a= 0.001 m/s/\u221A s$)",
"$\sigma_{p}$ ($q_a= 0.1 m/s/\u221A s$)",
],
"Position error and uncertainty", "Time ($s$)",
"Position error ($m$)", '', 1, 0, 0, [], 0, [], fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X+0.4)
pdf_Q_qa.savefig(fig)
vrw_0001_cdf_x, vrw_0001_cdf_y = tools.cal_cdf(vrw_0001_err_p_kf)
vrw_001_cdf_x, vrw_001_cdf_y = tools.cal_cdf(vrw_001_err_p_kf)
vrw_01_cdf_x, vrw_01_cdf_y = tools.cal_cdf(vrw_01_err_p_kf)
vrw_1_cdf_x, vrw_1_cdf_y = tools.cal_cdf(vrw_1_err_p_kf)
fig = tools.plot_figure([vrw_0001_cdf_x, vrw_001_cdf_x, vrw_01_cdf_x, vrw_1_cdf_x],
[vrw_0001_cdf_y, vrw_001_cdf_y, vrw_01_cdf_y, vrw_1_cdf_y],
4, [len(vrw_0001_cdf_x), len(vrw_001_cdf_x),len(vrw_01_cdf_x), len(vrw_1_cdf_x)], \
["co-", "b*-", "r+-", "mp-"],
["$q_a=0.001 m/s/\u221A s$","$q_a= 0.01 m/s/\u221A s$","$q_a= 0.1 m/s/\u221A s$", "$q_a= 1 m/s/\u221A s$"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X-0.2, y_shift_legend=-0.02)
pdf_Q_qa.savefig(fig)
fig = tools.plot_figure([t, t, t, t],
[qba_0001_err_p_kf, qba_01_err_p_kf, \
qba_0001_sqt_cov_p_kf, qba_01_sqt_cov_p_kf], 4,
[len(t),len(t),len(t),len(t)],
["bo-", "r+-", "c-.","m:"],
["$e_{p}$ ($q_{ba}= 0.001 m/s^2$)",
"$e_{p}$ ($q_{ba}= 0.1 m/s^2$)",
"$\sigma_{p}$ ($q_{ba}= 0.001 m/s^2$)",
"$\sigma_{p}$ ($q_{ba}= 0.1 m/s^2$)",
],
"Position error and uncertainty", "Time ($s$)",
"Position error ($m$)", '', 1, 0, 0, [], 0, [], fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X+0.4)
pdf_Q_qba.savefig(fig)
qba_0001_cdf_x, qba_0001_cdf_y = tools.cal_cdf(qba_0001_err_p_kf)
qba_001_cdf_x, qba_001_cdf_y = tools.cal_cdf(qba_001_err_p_kf)
qba_01_cdf_x, qba_01_cdf_y = tools.cal_cdf(qba_01_err_p_kf)
qba_1_cdf_x, qba_1_cdf_y = tools.cal_cdf(qba_1_err_p_kf)
fig = tools.plot_figure([qba_0001_cdf_x, qba_001_cdf_x, qba_01_cdf_x, qba_1_cdf_x],
[qba_0001_cdf_y, qba_001_cdf_y, qba_01_cdf_y, qba_1_cdf_y],
4, [len(qba_0001_cdf_x), len(qba_001_cdf_x),len(qba_01_cdf_x), len(qba_1_cdf_x)], \
["co-", "b*-", "r+-", "mp-"],
["$q_{ba}=0.001 m/s^2$","$q_{ba}= 0.01 m/s^2$",
"$q_{ba}= 0.1 m/s^2$", "$q_{ba}= 1 m/s^2$"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X-0.2, y_shift_legend=-0.02)
pdf_Q_qba.savefig(fig)
fig = tools.plot_figure([t, t, t, t],
[r_1_err_p_kf, r_10_err_p_kf, \
r_1_sqt_cov_p_kf, r_10_sqt_cov_p_kf], 4,
[len(t),len(t),len(t),len(t)],
["bo-", "r+-", "c-.","m:"],
["$e_{p}$ ($\sigma_{R}= 1 m$)",
"$e_{p}$ ($\sigma_{R}= 10 m$)",
"$\sigma_{p}$ ($\sigma_{R}= 1 m$)",
"$\sigma_{p}$ ($\sigma_{R}= 10 m$)",
],
"Position error and uncertainty", "Time ($s$)",
"Position error ($m$)", '', 1, 0, 0, [], 0, [], fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X+0.3)
pdf_R.savefig(fig)
r_01_cdf_x, r_01_cdf_y = tools.cal_cdf(r_01_err_p_kf)
r_1_cdf_x, r_1_cdf_y = tools.cal_cdf(r_1_err_p_kf)
r_10_cdf_x, r_10_cdf_y = tools.cal_cdf(r_10_err_p_kf)
r_100_cdf_x, r_100_cdf_y = tools.cal_cdf(r_100_err_p_kf)
fig = tools.plot_figure([r_01_cdf_x, r_1_cdf_x, r_10_cdf_x, r_100_cdf_x],
[r_01_cdf_y, r_1_cdf_y, r_10_cdf_y, r_100_cdf_y],
4, [len(r_01_cdf_x), len(r_1_cdf_x),len(r_10_cdf_x), len(r_100_cdf_x)], \
["c*-", "bo-", "r+-", "mp-"],
["$\sigma_{R}=0.1 m$","$\sigma_{R}= 1 m$","$\sigma_{R}= 10 m$", "$\sigma_{R}= 100 m$"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X, y_shift_legend=-0.02)
pdf_R.savefig(fig)
"g.-",
], ["$p_{2D}$ (no BD)", "$p_{2D}$ (with BD)", "ref"],
"Position without/with blunder detection",
"East ($m$)",
"North ($m$)",
'',
1,
1,
0, [],
0, [],
fs=FS_PLOT,
if_use_shift=1,
x_shift_legend=SHIFT_LEGEND_X + 0.1)
pdf_BD.savefig(fig)
bd_0_cdf_x, bd_0_cdf_y = tools.cal_cdf(bd_0_err_p_kf)
bd_1_cdf_x, bd_1_cdf_y = tools.cal_cdf(bd_1_err_p_kf)
fig = tools.plot_figure([bd_0_cdf_x, bd_1_cdf_x],
[bd_0_cdf_y, bd_1_cdf_y],
2, [len(bd_0_cdf_x), len(bd_1_cdf_x)], \
["r*-", "bo-"],
["$e_{p}$ (no BD)","$e_{p}$ (with BD)"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, y_shift_legend=-0.01)
pdf_BD.savefig(fig)
"""
Statistics
"""
fig = tools.plot_figure([t, t, t, t],
[tau_1_err_p_kf, tau_10_err_p_kf, \
tau_1_sqt_cov_p_kf, tau_10_sqt_cov_p_kf], 4,
[len(t),len(t),len(t),len(t)],
["bo-", "r+-", "c-.","m:"],
["$e_{p}$ ($\\tau =1 s$)",
"$e_{p}$ ($\\tau =100 s$)",
"$\sigma_{p}$ ($\\tau =1 s$)",
"$\sigma_{p}$ ($\\tau =100 s$)",
],
"Position error and uncertainty", "Time ($s$)",
"Position error ($m$)", '', 1, 0, 0, [], 0, [], fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X+0.2)
pdf_Q_tau.savefig(fig)
tau_01_cdf_x, tau_01_cdf_y = tools.cal_cdf(tau_01_err_p_kf)
tau_1_cdf_x, tau_1_cdf_y = tools.cal_cdf(tau_1_err_p_kf)
tau_10_cdf_x, tau_10_cdf_y = tools.cal_cdf(tau_10_err_p_kf)
tau_100_cdf_x, tau_100_cdf_y = tools.cal_cdf(tau_100_err_p_kf)
fig = tools.plot_figure([tau_01_cdf_x, tau_1_cdf_x, tau_10_cdf_x, tau_100_cdf_x],
[tau_01_cdf_y, tau_1_cdf_y, tau_10_cdf_y, tau_100_cdf_y],
4, [len(tau_01_cdf_x), len(tau_1_cdf_x),len(tau_10_cdf_x), len(tau_100_cdf_x)], \
["co-", "b*-", "rp-", "m+-"],
["$\\tau =0.1 s$", "$\\tau =1 s$",
"$\\tau =10 s$", "$\\tau =100 s$"],
"CDF of position errors", \
"Position error ($m$)", "Probability", '', 1, 0, 0, [0,5], 0, [],
legend_loc="lower right", fs=FS_PLOT,
if_use_shift=1, x_shift_legend=SHIFT_LEGEND_X-0.2, y_shift_legend=-0.02)
pdf_Q_tau.savefig(fig)