Plot filter pose estimates during tuning
plots the current pose estimate, consisting of orientation (and possibly position, depending
on the filter), and the ground truth values.
stopTuning = tunerPlotPose(
params contains the best
estimates of the filter parameters during the current tuning iteration.
tunerValues contains information on the tuner configuration, sensor
data, and ground truth data. Use this function as the value for the
OutputFcn property of the
tunerconfig object to plot the tuning results during iterations.
tunerconfiguration object. Set the
tunerPlotPose function as the output function of the object.
tc = tunerconfig('imufilter','OutputFcn',@tunerPlotPose)
tc = tunerconfig with properties: Filter: "imufilter" TunableParameters: ["AccelerometerNoise" "GyroscopeNoise" ... ] StepForward: 1.1000 StepBackward: 0.5000 MaxIterations: 20 ObjectiveLimit: 0.1000 FunctionTolerance: 0 Display: iter Cost: RMS OutputFcn: @tunerPlotPose
Load prerecorded sensor data.
ld = load('imufilterTuneData.mat');
imufilter object using the sensor data. The truth data and the estimates are shown in a figure.
Iteration Parameter Metric _________ _________ ______ 1 AccelerometerNoise 0.0857
params— Estimates of filter parameters
Estimates of filter parameters during the current iteration of the tuning process, specified as a structure. The structure contains one field for every public property of the filter and additional fields for any required measurement noise. The exact field names vary depending on the filter being tuned.
tunerValues— Tuner values
Tuner values, specified as a structure. The structure has these fields:
|Iteration count of the tuner, specified as a positive integer|
|Sensor data input to the |
|Ground truth input to the |
|Tuning cost at the end of the current iteration|