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Start Graphing Truth Data

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This commit is contained in:
Cal Wing 2023-11-02 17:16:52 +10:00
parent 188737b05a
commit dea7734429
2 changed files with 71 additions and 2 deletions
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73
main.py
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@ -6,6 +6,7 @@ import os, pickle, time
import numpy as np
import pandas as pd
from tqdm import tqdm
#from scipy.optimize import curve_fit
from numpy import pi, sin, cos, tan
@ -94,6 +95,17 @@ def importIMUData(mission, imu):
return data
# Load Truth Data
TRUTH_N_POS_HEADER= ["Time [s]", "True North Position [m]"]
m1TruthData = pd.read_csv(
f"./data/N_truth_IMU_M1L.txt",
header=None, skiprows=1,
names=TRUTH_N_POS_HEADER,
), pd.read_csv(
f"./data/N_truth_IMU_M1H.txt",
header=None, skiprows=1,
names=TRUTH_N_POS_HEADER,
)
# Load the Mission Data
m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data
m2_IMUData = importIMUData(2, 0), importIMUData(2, 1)
@ -136,7 +148,7 @@ def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
offset = initial_values.copy()
translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER)
translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER, dtype=np.float32)
for i in tqdm(range(len(missionData))):
mData = lambda header, j=i: missionData.loc[j, header].values
dt = mData(IMU_TIME_HEADER, i)[0] - mData(IMU_TIME_HEADER, i-1)[0] if i > 0 else mData(IMU_TIME_HEADER, i+1)[0] - mData(IMU_TIME_HEADER, i)[0]
@ -241,7 +253,9 @@ def generateGraphs(missionData, mission):
]
},
]
}
}
if TRUTH_N_POS_HEADER[1] in missionData[1].columns:
graphData["subPlots"][0]["plots"].insert(0, {"x": missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][TRUTH_N_POS_HEADER[1]], "label":"True Position", "colour":"uq:red"})
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos.png")
pBar.update(1)
@ -319,9 +333,64 @@ def generateGraphs(missionData, mission):
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_accell.png")
pBar.update(1)
TRUTH_NPOS_DELTA_HEADER = ["Calculated vs True Position Delta [m]", "Calculated vs True Position Error [%]"]
def doTruthComparison(missionData, truthData):
for i, mData in enumerate(missionData):
mData[TRUTH_N_POS_HEADER[1]] = truthData[i][TRUTH_N_POS_HEADER[1]]
mData[TRUTH_NPOS_DELTA_HEADER[0]] = mData[NED_POSITION_HEADER[0]] - mData[TRUTH_N_POS_HEADER[1]]
mData[TRUTH_NPOS_DELTA_HEADER[1]] = np.abs(mData[TRUTH_NPOS_DELTA_HEADER[0]]) / mData[TRUTH_N_POS_HEADER[1]] * 100
mData[mData.columns] = mData[mData.columns].astype(np.float32)
return missionData
def generateTruthErrorGraphs(missionData):
#print(missionData[0][[IMU_TIME_HEADER[0]] + [NED_POSITION_HEADER[0]] + [TRUTH_N_POS_HEADER[1]] + [TRUTH_NPOS_DELTA_HEADER[0]]])
graphData = {
"grid": True,
"xLabel": "Time [s]",
"yLabel": "Position Delta [m]",
"title": "Calculated vs True North Position Delta",
"plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": missionData[0][TRUTH_NPOS_DELTA_HEADER[0]], "label": "Low Grade IMU Error"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": missionData[1][TRUTH_NPOS_DELTA_HEADER[0]], "label": "High Grade IMU Error"}
]
}
makeGraph(graphData, False, False, figSavePath="./images/m1_error_delta.png")
poly_low = np.polyfit(missionData[0][IMU_TIME_HEADER[0]], missionData[0][TRUTH_NPOS_DELTA_HEADER[1]], 4)
poly_high = np.polyfit(missionData[1][IMU_TIME_HEADER[0]], missionData[1][TRUTH_NPOS_DELTA_HEADER[1]], 4)
graphData = {
"grid": True,
"xLabel": "Time [s]",
"yLabel": "Position Error [%]",
"title": "Calculated vs True North Position Error",
"plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.abs(missionData[0][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "Low Grade IMU Error"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.polyval(poly_low, missionData[0][IMU_TIME_HEADER[0]]), "label": "Low Grade Best Fit Curve"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.abs(missionData[1][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "High Grade IMU Error"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.polyval(poly_high, missionData[1][IMU_TIME_HEADER[0]]), "label": "High Grade Best Fit Curve"},
]
}
makeGraph(graphData, True, False, figSavePath="./images/m1_error_percent.png")
if __name__ == '__main__':
#Load, Process & Graph Mission Data for Mission 1
missionData = cacheData("./tmp/m1_L_transData.dfz", calculateVelocityPosition, (m1_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
cacheData("./tmp/m1_H_transData.dfz", calculateVelocityPosition, (m1_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
missionData = doTruthComparison(missionData, m1TruthData)
generateTruthErrorGraphs(missionData)
generateGraphs(missionData, 1)
#Load, Process & Graph Mission Data for Mission 1
missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
generateGraphs(missionData, 2)
print("Complete")

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requirements.txt
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