update example and doc

R/navigation.R

@@ -31,12 +31,12 @@
 #' traj <- make_trajectory(data = lemniscate_traj_ned, system = "ned")
 #' timing <- make_timing(
 #'   nav.start = 0, # time at which to begin filtering
-#'   nav.end = 20,
+#'   nav.end = 15,
 #'   freq.imu = 100, # frequency of the IMU, can be slower wrt trajectory frequency
 #'   freq.gps = 1, # GNSS frequency
 #'   freq.baro = 1, # barometer frequency (to disable, put it very low, e.g. 1e-5)
-#'   gps.out.start = 10, # to simulate a GNSS outage, set a time before nav.end
-#'   gps.out.end = 15
+#'   gps.out.start = 8, # to simulate a GNSS outage, set a time before nav.end
+#'   gps.out.end = 13
 #' )
 #' # create sensor for noise data generation
 #' snsr.mdl <- list()
@@ -94,7 +94,7 @@
 #'   KF.mdl = KF.mdl,
 #'   num.runs = num.runs,
 #'   noProgressBar = TRUE,
-#'   PhiQ_method = "4",
+#'   PhiQ_method = "1",
 #'   # order of the Taylor expansion of the matrix exponential
 #'   # used to compute Phi and Q matrices
 #'   compute_PhiQ_each_n = 10,

R/plot.navigation.R

@@ -37,12 +37,12 @@
 #' plot(traj)
 #' timing <- make_timing(
 #'   nav.start = 0, # time at which to begin filtering
-#'   nav.end = 20,
+#'   nav.end = 10,
 #'   freq.imu = 100, # frequency of the IMU, can be slower wrt trajectory frequency
 #'   freq.gps = 1, # GNSS frequency
 #'   freq.baro = 1, # barometer frequency (to disable, put it very low, e.g. 1e-5)
-#'   gps.out.start = 10, # to simulate a GNSS outage, set a time before nav.end
-#'   gps.out.end = 15
+#'   gps.out.start = 5, # to simulate a GNSS outage, set a time before nav.end
+#'   gps.out.end = 8
 #' )
 #' # create sensor for noise data generation
 #' snsr.mdl <- list()
@@ -108,7 +108,8 @@
 #'   P_subsampling = timing$freq.imu
 #' )
 #' plot(res)
-#' plot(res, plot3d = TRUE)
+#' # 3D plot
+#' # plot(res, plot3d = TRUE)
 #' plot(res, error_analysis = TRUE)
 #' @export
 #' @importFrom stats qnorm

R/plot.navigation.stat.R

@@ -15,12 +15,12 @@
 #' plot(traj)
 #' timing <- make_timing(
 #'   nav.start = 0, # time at which to begin filtering
-#'   nav.end = 30,
+#'   nav.end = 15,
 #'   freq.imu = 100, # frequency of the IMU, can be slower wrt trajectory frequency
 #'   freq.gps = 1, # GNSS frequency
 #'   freq.baro = 1, # barometer frequency (to disable, put it very low, e.g. 1e-5)
-#'   gps.out.start = 20, # to simulate a GNSS outage, set a time before nav.end
-#'   gps.out.end = 25
+#'   gps.out.start = 8, # to simulate a GNSS outage, set a time before nav.end
+#'   gps.out.end = 13
 #' )
 #' # create sensor for noise data generation
 #' snsr.mdl <- list()

vignettes/compare_model.Rmd

@@ -27,12 +27,12 @@ We then define a `timing` object
 ```{r}
 timing <- make_timing(
   nav.start = 0, # time at which to begin filtering
-  nav.end = 20,
+  nav.end = 15,
   freq.imu = 100, # frequency of the IMU, can be slower wrt trajectory frequency
   freq.gps = 1, # gnss frequency
   freq.baro = 1, # barometer frequency (to disable, put it very low, e.g. 1e-5)
-  gps.out.start = 10, # to simulate a GNSS outage, set a time before nav.end
-  gps.out.end = 15
+  gps.out.start = 8, # to simulate a GNSS outage, set a time before nav.end
+  gps.out.end = 13
 )
 ```
 
@@ -104,7 +104,7 @@ res <- navigation(
   PhiQ_method = "1",
   parallel.ncores = 1,
   P_subsampling = timing$freq.imu,
-  compute_PhiQ_each_n = 20
+  compute_PhiQ_each_n = 50
 ) # keep one covariance every second
 ```
 
@@ -121,7 +121,7 @@ wrong_res <- navigation(
   PhiQ_method = "1",
   parallel.ncores = 1,
   P_subsampling = timing$freq.imu,
-  compute_PhiQ_each_n = 20
+  compute_PhiQ_each_n = 50
 ) # keep one covariance every second
 ```
 

vignettes/model_evaluation.Rmd

@@ -38,12 +38,12 @@ Then we need to make a `timing` object (see `?make_timing` for details) where we
 ```{r}
 timing <- make_timing(
   nav.start = 0, # time at which to begin filtering
-  nav.end = 20,
+  nav.end = 15,
   freq.imu = 100, # frequency of the IMU, can be slower wrt trajectory frequency
   freq.gps = 1, # GNSS frequency
   freq.baro = 1, # barometer frequency (to disable, put it very low, e.g. 1e-5)
-  gps.out.start = 10, # to simulate a GNSS outage, set a time before nav.end
-  gps.out.end = 15
+  gps.out.start = 8 , # to simulate a GNSS outage, set a time before nav.end
+  gps.out.end = 13
 )
 ```
 
@@ -105,7 +105,7 @@ res <- navigation(
   num.runs = num.runs,
   noProgressBar = TRUE,
   PhiQ_method = "1", # order of the Taylor expansion of the matrix exponential used to compute Phi and Q matrices
-  compute_PhiQ_each_n = 10, # compute new Phi and Q matrices every n IMU steps (execution time optimization)
+  compute_PhiQ_each_n = 50, # compute new Phi and Q matrices every n IMU steps (execution time optimization)
   parallel.ncores = 1,
   P_subsampling = timing$freq.imu
 ) # keep one covariance every second