Code files

pf.zip
8 Kb

All code necessary to run the Particle Filter. Includes:

  • mypf.m - the main script. With all these files in the same directory, you can run the particle filter by running mypf.
  • show.m - script to plot the ground truth and localized paths, along with the beacon positions, after running mypf.m.
  • errors.m - script to compute several error statistics about the localized path. See below for a description of the error statistics.
  • several other functions called by these scripts.

 

Results

Note:- These results are preliminary results and will be investigated further.

The error stats considered here are:

  • Cross-Track Error (XTE) -- the component of error orthogonal to the true robot path
  • Along-Track Error (ATE) -- the component of error tangential to the path

The errors.m script also computes

  • Cartesian error, based on the Cartesian distance between the true position and the estimate at each point in time.

Data Set A1

  

Error Statistics:

 

XTE

ATE

Mean Absolute

3.8613m

8.3511m

Maximum

19.9230m

20.9380m

Standard Deviation

3.3651m

4.6824m

Data Set A2

  

Error Statistics:

 

XTE

ATE

Mean Absolute

--m

--m

Maximum

--m

--m

Standard Deviation

--m

--m