UWBIns/lib/plot/ch_plot_imu.m

% subplot<6F><74><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>subplot
function ch_plot_imu(varargin)
%%  plot imu data
i = 1;
param= inputParser;
param.addOptional('time', []);
param.addOptional('acc', []);
param.addOptional('gyr', []);
param.addOptional('mag', []);
param.addOptional('eul', []);
param.addOptional('gb', []); % <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD>ƫ
param.addOptional('wb', []); % <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ
param.addOptional('phi', []); %ʧ׼<CAA7><D7BC>
param.addOptional('P_phi', []); %ʧ׼<CAA7>Ƿ<EFBFBD><C7B7><EFBFBD>
param.addOptional('P_wb', []); %<25><><EFBFBD>ݷ<EFBFBD><DDB7><EFBFBD>
param.addOptional('P_pos', []); %λ<>÷<EFBFBD><C3B7><EFBFBD>
param.addOptional('title', []);
param.addOptional('legend', []);


%Ȼ<><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD>ͬ<EFBFBD><CDAC>Ĭ<EFBFBD><C4AC>ֵ<EFBFBD><D6B5><EFBFBD>Ǿ͸<C7BE><CDB8>ǵ<EFBFBD>
param.parse(varargin{:});
r = param.Results;

if(r.time == 0 )
    error('no time data');
end
i = 1;

figure;

if(~isempty(r.gyr))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.gyr, {'X', 'Y', 'Z'}, 'Time (s)', 'Angular rate)', 'Gyroscope');
end

if(~isempty(r.acc))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.acc, {'X', 'Y', 'Z'}, 'Time (s)', 'Acceleration', 'Accelerometer');
end

if(~isempty(r.mag))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.mag, {'X', 'Y', 'Z'}, 'Time (s)', 'Flux ', 'Magnetometer');
end

if(~isempty(r.eul))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.eul, {'X', 'Y', 'Z'}, 'Time (s)', 'Angle(deg)', 'Eular Angle');
end

if(~isempty(r.wb))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.wb, {'X', 'Y', 'Z'}, 'Time (s)', 'Angle(deg)', '<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ');
end

if(~isempty(r.gb))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.gb, {'X', 'Y', 'Z'}, 'Time (s)', 'm/s^(2)', '<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD>ƫ');
end

if(~isempty(r.phi))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.phi, {'X', 'Y', 'Z'}, 'Time (s)', 'Angle(deg)', 'ʧ׼<EFBFBD><EFBFBD>');
end

if(~isempty(r.P_phi))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.P_phi, {'X', 'Y', 'Z'}, 'Time (s)', '-', 'Phi Var(ʧ׼<CAA7>Ƿ<EFBFBD><C7B7><EFBFBD>)');
end


if(~isempty(r.P_wb))
    subplot(2,2,i);
    i = i+1;
    interial_display(r.time,  r.P_wb, {'X', 'Y', 'Z'}, 'Time (s)', '-', '<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>');
end


if(~isempty(r.P_pos))
    subplot(2,2,i);
    interial_display(r.time,  r.P_pos, {'X', 'Y', 'Z'}, 'Time (s)', '-', 'λ<EFBFBD>÷<EFBFBD><EFBFBD><EFBFBD>');
end

%    linkaxes(axis, 'x');

end


function interial_display(time, data, legendstr, xlabelstr, ylabelstr, titlestr)
hold on;
plot(time, data(:,1), 'r');
plot(time, data(:,2), 'g');
plot(time, data(:,3), 'b');
legend(legendstr);
xlabel(xlabelstr);
ylabel(ylabelstr);
title(titlestr);
hold off;
end