Distributed-Kalman-Consensus-Filter/plot_diff_sensor.m at main · silversonata/Distributed-Kalman-Consensus-Filter · GitHub

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%compare the result of different sensors on the same target
function plot_diff_sensor(t_vec,X_real,X_hat,k,eps,gamma)
figure(5)
if k==1 % plot comparison of kalman filter
% subplot(2,2,1)
% %  plot(t_vec,X_real(1,:),'o');
% %  hold on
% plot(t_vec,X_hat21(1,:),':','color','b');
% hold on
% plot(t_vec,X_hat31(1,:),'--','color','g');
% hold on
% plot(t_vec,X_hat41(1,:),'.-','color','r');
% grid on
% xlabel('Time(s)')
% ylabel('Position-x')
% ylim([-2 2]);
% legend('X-hat21','X-hat31','X-hat41')
%
% subplot(2,2,2)
% % plot(t_vec,X_real(2,:),'o');
% % hold on
% plot(t_vec,X_hat21(2,:),':','color','b');
% hold on
% plot(t_vec,X_hat31(2,:),'--','color','g');
% hold on
% plot(t_vec,X_hat41(2,:),'.-','color','r');
% grid on
% xlabel('Time(s)')
% ylabel('Position-y')
% ylim([-2 2]);
% legend('X-hat21','X-hat31','X-hat41')
%
% subplot(2,2,3)
% % plot(t_vec,X_real(3,:),'o');
% % hold on
% plot(t_vec,X_hat21(3,:),':','color','b');
% hold on
% plot(t_vec,X_hat31(3,:),'--','color','g');
% hold on
% plot(t_vec,X_hat41(3,:),'.-','color','r');
% grid on
% xlabel('Time(s)')
% ylabel('Velocity-x')
% ylim([-2 2]);
% legend('X-hat21','X-hat31','X-hat41')
%
% subplot(2,2,4)
% % plot(t_vec,X_real(4,:),'o');
% % hold on
% plot(t_vec,X_hat21(4,:),':','color','b');
% hold on
% plot(t_vec,X_hat31(4,:),'--','color','g');
% hold on
% plot(t_vec,X_hat41(4,:),'.-','color','r');
% grid on
% xlabel('Time(s)')
% ylabel('Velocity-y')
% ylim([-2 2]);
% legend('X-hat21','X-hat31','X-hat41')
% sgtitle('estimation error of different sensors-kalman filter')


elseif k==0 % plot comparison of kalman consensus filter
 subplot(2,2,1)
%  plot(t_vec,X_real(1,:),'o');
%  hold on
plot(t_vec,X_hat(1,:,1),':','color','b');
hold on
plot(t_vec,X_hat(1,:,2),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(1,:,3),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{x}$-Position', 'Interpreter', 'latex')
xlim([0 30])
%ylim([-1.4 -0.5]);
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 12)

subplot(2,2,2)
% plot(t_vec,X_real(2,:),'o');
% hold on
plot(t_vec,X_hat(2,:,1),':','color','b');
hold on
plot(t_vec,X_hat(2,:,2),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(2,:,3),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{y}$-Position', 'Interpreter', 'latex')
xlim([0 30])
%ylim([0.7 1.7]);
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 12)

subplot(2,2,3)
% plot(t_vec,X_real(3,:),'o');
% hold on
plot(t_vec,X_hat(3,:,1),':','color','b');
hold on
plot(t_vec,X_hat(3,:,2),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(3,:,3),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{x}$-Velocity','Interpreter', 'latex')
xlim([0 30])
%ylim([-0.45 0.45]);
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 12)

subplot(2,2,4)
% plot(t_vec,X_real(4,:),'o');
% hold on
plot(t_vec,X_hat(4,:,1),':','color','b');
hold on
plot(t_vec,X_hat(4,:,2),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(4,:,3),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{y}$-Velocity','Interpreter', 'latex')
xlim([0 30])
%ylim([-0.45 0.45]);
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 12)
% str_1 = sprintf('Estimation of different sensors using KCF, eps = %d', eps);
% sgtitle(str_1)


else % plot comparison of DKCF
subplot(2,2,1)
%  plot(t_vec,X_real(1,:),'o');
%  hold on
plot(t_vec,X_hat(1,:),':','color','b');
hold on
plot(t_vec,X_hat(5,:),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(9,:),'-.','color','r');
grid on
xlabel('Time[s]','fontsize', 22)
ylabel('$\mathbf{x}$-Position', 'Interpreter', 'latex','fontsize', 22)
xlim([0 30])
ylim([-0.8 -0]);
%yticks([-0.8:0.2:0]);
a = get(gca,'XTickLabel');
set(gca,'XTickLabel',a,'fontsize',18)
set(gca,'XTickLabelMode','auto')
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 18)

subplot(2,2,2)
% plot(t_vec,X_real(2,:),'o');
% hold on
plot(t_vec,X_hat(2,:),':','color','b');
hold on
plot(t_vec,X_hat(6,:),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(10,:),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{y}$-Position', 'Interpreter', 'latex')
xlim([0 30])
ylim([0 2]);
%yticks([0.2:0.4:1.8])
a = get(gca,'XTickLabel');
set(gca,'XTickLabel',a,'fontsize',18)
set(gca,'XTickLabelMode','auto')
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 18)

subplot(2,2,3)
% plot(t_vec,X_real(3,:),'o');
% hold on
plot(t_vec,X_hat(3,:),':','color',[0 0 1]);
hold on
plot(t_vec,X_hat(7,:),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(11,:),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{x}$-Velocity','Interpreter', 'latex')
xlim([0 30])
ylim([-0.6 0.6]);
a = get(gca,'XTickLabel');
set(gca,'XTickLabel',a,'fontsize',18)
set(gca,'XTickLabelMode','auto')
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 18)

subplot(2,2,4)
% plot(t_vec,X_real(4,:),'o');
% hold on
plot(t_vec,X_hat(4,:),':','color','b');
hold on
plot(t_vec,X_hat(8,:),'--','color',[0.1,0.7,0.2]);
hold on
plot(t_vec,X_hat(12,:),'-.','color','r');
grid on
xlabel('Time[s]')
ylabel('$\mathbf{y}$-Velocity','Interpreter', 'latex')
xlim([0 30])
ylim([-1 1]);
a = get(gca,'XTickLabel');
set(gca,'XTickLabel',a,'fontsize',18)
set(gca,'XTickLabelMode','auto')
legend({'$\hat{x}_{1}$','$\hat{x}_{2}$','$\hat{x}_{3}$'}, 'Interpreter', 'latex','fontsize', 18)
set(gcf, 'Position',  [100, 100, 600, 350])

%str_2 = sprintf('Comparison of different sensors using DKCF, gamma = ',num2str(gamma));
%sgtitle(['Comparison of different sensors using DKCF, gamma = ',num2str(gamma),'  --(no consensus)'],'FontSize', 16)
end
end