40 lines
963 B
Python
40 lines
963 B
Python
# -*- coding: utf-8 -*-
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"""Copyright 2015 Roger R Labbe Jr.
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Code supporting the book
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Kalman and Bayesian Filters in Python
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https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python
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This is licensed under an MIT license. See the LICENSE.txt file
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for more information.
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"""
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from __future__ import (absolute_import, division, print_function,
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unicode_literals)
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import book_plots as bp
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import matplotlib.pyplot as plt
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def plot_track_and_residuals(t, xs, z_xs, res):
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plt.subplot(121)
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if z_xs is not None:
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bp.plot_measurements(t, z_xs, label='z')
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bp.plot_filter(t, xs)
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plt.legend(loc=2)
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plt.xlabel('time (sec)')
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plt.ylabel('X')
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plt.title('estimates vs measurements')
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plt.subplot(122)
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# plot twice so it has the same color as the plot to the left!
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plt.plot(t, res)
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plt.plot(t, res)
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plt.xlabel('time (sec)')
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plt.ylabel('residual')
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plt.title('residuals')
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plt.show()
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