How to find the error between two plots and plot the error in same diagram

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Abdul Sajeed Mohammed
评论： Robert U 2022-2-24
I need to plot error between two plots Ground_truth and Estimated_Long_Lat
Sharing my code here
figure;
Estimated_long = 180 / pi * lon;
Estimated_Lat = 180 / pi * lat;
plot(180 / pi * lon, 180 / pi * lat,'x','Linewidth',0.5);
hold on
Ground_Truth = xlsread('27');
G_Long = Ground_Truth(:,1);
G_Lat = Ground_Truth(:,2);
plot(G_Long,G_Lat,'-x','Linewidth',2)
hold on
hold off
ylabel('Latitude, [deg]','FontSize', 13);
xlabel('Longitude, [deg]','FontSize', 13);
title('Trajectory of vehicle with position close to Lane level','FontSize', 15)
legend('Estimated trajectory', 'Centre nodes of True trajectory','best')
Thanks
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Abdul Sajeed Mohammed
Abdul Sajeed Mohammed 2022-2-15
yes, but problem is lat and long combined give me location. for 'n' number of lat _long positions with equal dimensions of ground truth lat_long points...how can i find distance or say difference between them. I am unable to proceed further.

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Robert U
Robert U 2022-2-15
Ran in:
Hi Abdul Sajeed Mohammed,
here some example that is close to what you do:
% example data params (circular trajectory)
R = 1000;
phi = 0:360;
% uniformly distributed noise (signed)
noise = 100 .* (rand(1,length(phi)) - 0.5);
% generate example date
Estimated_long = R .* sind(phi) + noise;
Estimated_Lat = R .* cosd(phi) + circshift(noise,floor(length(phi)/2));
% generate ground truth data
Ground_Truth = R .* [sind(phi); cosd(phi)];
G_Long = Ground_Truth(1,:);
G_Lat = Ground_Truth(2,:);
% Choose whatever error norm is applicable
totalErr = sqrt((Estimated_Lat - G_Lat).^2 + (Estimated_long - G_Long).^2);
% create figure with two subplots
fh = figure;
fh.OuterPosition = fh.OuterPosition .* [0.5 0.5 2 2];
sh{1} = subplot(1,2,1,'Parent',fh);
sh{2} = subplot(1,2,2,'Parent',fh);
hold(sh{1},'on')
axis(sh{1},'equal')
% plot measured and ground truth data into first subplot
plot(sh{1},Estimated_long, Estimated_Lat,'x','Linewidth',0.5);
plot(sh{1},G_Long,G_Lat,'-x','Linewidth',2)
ylabel(sh{1},'x, [m]','FontSize', 13);
xlabel(sh{1},'y, [m]','FontSize', 13);
title(sh{1},'Trajectory of vehicle with position close to Lane level','FontSize', 15)
legend(sh{1},'Estimated trajectory', 'Centre nodes of True trajectory')
% plot total error in second subplot
plot(sh{2},phi,totalErr,'.','MarkerSize',12);
xlabel(sh{2},'phi, [deg]','FontSize', 13);
ylabel(sh{2},'total error, [m]','FontSize', 13);
title(sh{2},'Total error of vehicle','FontSize', 15)
Concerning error norms, have a look here:
Kind regards,
Robert
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Abdul Sajeed Mohammed
Abdul Sajeed Mohammed 2022-2-20
Hello robert, small query need your help. I was applying your code with my specifications as enclosed below.
Estimated_Lat = 180 / pi * lat; %Dimension of (1x17341)
Estimated_Long = 180 / pi * lon; %Dimension of (1x17341)
figure;
Ground_Truth = xlsread('27');
G_Long = Ground_Truth(:,1); (43x1)
G_Lat = Ground_Truth(:,2); (43x1)
% Plot for error %
Time = 0:17340; ( Distance of travelled trajectory is 2.1 Km, due to dimension issue used time in x-axis)
totalErr = sqrt((Estimated_Lat - G_Lat).^2 + (Estimated_Long - G_Long).^2);
fh = figure;
fh.OuterPosition = fh.OuterPosition .* [0.5 0.5 2 2];
sh{1} = subplot(1,2,1,'Parent',fh);
sh{2} = subplot(1,2,2,'Parent',fh);
hold(sh{1},'on')
axis(sh{1},'equal')
% plot measured and ground truth data into first subplot
plot(sh{1},Estimated_Long, Estimated_Lat,'x','Linewidth',0.5);
plot(sh{1},G_Long,G_Lat,'-x','Linewidth',2)
ylabel(sh{1},'x, [m]','FontSize', 13);
xlabel(sh{1},'y, [m]','FontSize', 13);
title(sh{1},'Trajectory of vehicle with position close to Lane level','FontSize', 15)
legend(sh{1},'Estimated trajectory', 'Centre nodes of True trajectory')
% plot total error in second subplot
plot(sh{2},Time,totalErr,'.','MarkerSize',12);
xlabel(sh{2},'Time, [sec]','FontSize', 13);
ylabel(sh{2},'total error, [m]','FontSize', 13);
title(sh{2},'Total error of vehicle','FontSize', 15)
I have some zig zag manner of error plot which is hard to visualize enclosed in the attachment, can you please help me in this case. Also with distance as 2.1 km can i have something different.
Robert U
Robert U 2022-2-24
It looks like there is a problem in the error plot. There are way too many curves unless you would have several runs. Can you post your measurement data as mat-file such that your code becomes executable?

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