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)
"""
Statistics
"""
print("")
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(sf_p_0001_err_p_kf)
print("sf_p_0001_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(sf_p_1_err_p_kf)
print("sf_p_1_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(sf_p_100_err_p_kf)
print("sf_p_100_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(sf_p_10000_err_p_kf)
print("sf_p_10000_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
print("")
"""
Close files
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
"""
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(bd_0_err_p_kf)
print("\n bd_0_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m" %
(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(bd_1_err_p_kf)
print("\n bd_1_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m" %
(mean1, rms1, d801, d951, max1))
"""
Close files
"""
pdf_BD.close()
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)
"""
Statistics
"""
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(vrw_0001_err_p_kf)
print("\n vrw_0001_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(vrw_001_err_p_kf)
print("\n vrw_001_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(vrw_01_err_p_kf)
print("\n vrw_01_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(vrw_1_err_p_kf)
print("\n vrw_1_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
%(mean1, rms1, d801, d951, max1))
"""
Close files
"""
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)
"""
Statistics
"""
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(tau_01_err_p_kf)
print(
"\n tau_01_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m" %
(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(tau_1_err_p_kf)
print(
"\n tau_1_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m" %
(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(tau_10_err_p_kf)
print(
"\n tau_10_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m" %
(mean1, rms1, d801, d951, max1))
(mean1, std1, rms1, d801, d951, max1) = tools.cal_statics(tau_100_err_p_kf)
print(
"\n tau_100_err_p_kf: mean=%.1f, rms=%.1f, d80=%.1f, d95=%.1f, max=%.1f m"
% (mean1, rms1, d801, d951, max1))