Model Evaluation

First of all, we need to load the reference trajectory and create a trajectory object out of it (see ?make_trajectory for details).

library(navigation)

data("lemniscate_traj_ned")
head(lemniscate_traj_ned)

##         t          x          y z         roll     pitch_sm       yaw
## [1,] 0.00 0.00000000 0.00000000 0 0.0000000000 0.000000e+00 0.7853979
## [2,] 0.01 0.05235987 0.05235984 0 0.0001821107 8.255405e-05 0.7853971
## [3,] 0.02 0.10471968 0.10471945 0 0.0003642249 1.650525e-04 0.7853946
## [4,] 0.03 0.15707937 0.15707860 0 0.0005463461 2.474976e-04 0.7853905
## [5,] 0.04 0.20943890 0.20943706 0 0.0007284778 3.298918e-04 0.7853847
## [6,] 0.05 0.26179819 0.26179460 0 0.0009106235 4.122374e-04 0.7853773

traj <- make_trajectory(data = lemniscate_traj_ned, system = "ned")

Let’s see how the reference trajectory looks like.

# plot traj
plot(traj, n_split = 6)

plot(traj, threeD = TRUE)