diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.pdf b/tikz/figs/sensor_fusion_arch_uncertainty.pdf index f70cf6d..9ec5f3a 100644 Binary files a/tikz/figs/sensor_fusion_arch_uncertainty.pdf and b/tikz/figs/sensor_fusion_arch_uncertainty.pdf differ diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.png b/tikz/figs/sensor_fusion_arch_uncertainty.png index e0b394e..446f9e5 100644 Binary files a/tikz/figs/sensor_fusion_arch_uncertainty.png and b/tikz/figs/sensor_fusion_arch_uncertainty.png differ diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.svg b/tikz/figs/sensor_fusion_arch_uncertainty.svg index 40f3468..0964713 100644 --- a/tikz/figs/sensor_fusion_arch_uncertainty.svg +++ b/tikz/figs/sensor_fusion_arch_uncertainty.svg @@ -1,311 +1,311 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - - + + + - - + + - - - - - - + + + + + + - + - - - - - - + + + + + + - + - + - - - - - - + + + + + + - + - - - - + + + + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + - + - + - - + + - + - + - - - - - - - - - - + + + + + + + + + + - + - + - + diff --git a/tikz/figs/sensor_fusion_noise_arch.pdf b/tikz/figs/sensor_fusion_noise_arch.pdf index 39e2bcf..9be6aab 100644 Binary files a/tikz/figs/sensor_fusion_noise_arch.pdf and b/tikz/figs/sensor_fusion_noise_arch.pdf differ diff --git a/tikz/figs/sensor_fusion_noise_arch.png b/tikz/figs/sensor_fusion_noise_arch.png index 2cdcb26..d71d079 100644 Binary files a/tikz/figs/sensor_fusion_noise_arch.png and b/tikz/figs/sensor_fusion_noise_arch.png differ diff --git a/tikz/figs/sensor_fusion_noise_arch.svg b/tikz/figs/sensor_fusion_noise_arch.svg index 8999150..4f550e7 100644 --- a/tikz/figs/sensor_fusion_noise_arch.svg +++ b/tikz/figs/sensor_fusion_noise_arch.svg @@ -1,5 +1,5 @@ - + @@ -85,253 +85,253 @@ - + - + - + - + - + - - - + + + - - + + - - - - - - + + + + + + - + - - - - - - + + + + + + - + - + - - - - - - + + + + + + - + - - + + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - - - - - - - - - + + + + + + + + + + - + - + - - + + - + - + - - + + - + - + - + - - + + - + - + - + - - + + - + - + - - + + - + - + - - + + - + - + - + - - + + - + - + - + - - - - - - + + + + + + - + - + - + diff --git a/tikz/figs/sensor_model.pdf b/tikz/figs/sensor_model.pdf new file mode 100644 index 0000000..e5c312b Binary files /dev/null and b/tikz/figs/sensor_model.pdf differ diff --git a/tikz/figs/sensor_model.png b/tikz/figs/sensor_model.png new file mode 100644 index 0000000..693c6c2 Binary files /dev/null and b/tikz/figs/sensor_model.png differ diff --git a/tikz/figs/sensor_model.svg b/tikz/figs/sensor_model.svg new file mode 100644 index 0000000..4b3a191 --- /dev/null +++ b/tikz/figs/sensor_model.svg @@ -0,0 +1,200 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tikz/index.org b/tikz/index.org index d92d993..9bad095 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -26,12 +26,39 @@ Configuration file is accessible [[file:config.org][here]]. +* Sensor Model +#+begin_src latex :file sensor_model.pdf + \begin{tikzpicture} + \node[addb](add1){}; + \node[block, right=0.5 of add1](G1){$G_i$}; + \node[block, right=0.8 of G1](Ginv1){$\hat{G}_i^{-1}$}; + \node[block, above=0.5 of add1](N1){$N_i$}; + + \draw[] (add1.west) -- ++(-1.0, 0) node[above right]{$x$}; + \draw[->] (add1.east) -- (G1.west); + \draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$}; + \draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4); + \draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_i$}; + \draw[->] (Ginv1.east) -- ++(0.7, 0) node[above left]{$\hat{x}_i$}; + + \begin{scope}[on background layer] + \node[fit={($(G1.south east)+(0.15, -0.15)$) ($(n1.north west)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {}; + \node[below left, align=right] at (sensor1.north east) {Sensor}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+name: fig:sensor_model +#+caption: Sensor Model ([[./figs/sensor_model.png][png]], [[./figs/sensor_model.pdf][pdf]]). +#+RESULTS: +[[file:figs/sensor_model.png]] + * Sensor Fusion Architecture #+begin_src latex :file sensor_fusion_noise_arch.pdf \begin{tikzpicture} \node[branch] (x) at (0, 0); - \node[addb, above right=1.0 and 0.5 of x](add1){}; - \node[addb, below right=1.0 and 0.5 of x](add2){}; + \node[addb, above right=1.05 and 0.6 of x](add1){}; + \node[addb, below right=1.05 and 0.6 of x](add2){}; \node[block, right=0.4 of add1](G1){$G_1$}; \node[block, right=0.4 of add2](G2){$G_2$}; \node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$}; @@ -40,7 +67,7 @@ Configuration file is accessible [[file:config.org][here]]. \node[block, right=0.6 of Ginv2](H2){$H_2$}; \node[block, above=0.5 of add1](N1){$N_1$}; \node[block, above=0.5 of add2](N2){$N_2$}; - \node[addb, right=5.2 of x](add){}; + \node[addb, right=5.3 of x](add){}; \draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center); \draw[->] (x.center) |- (add1.west); @@ -117,8 +144,8 @@ Configuration file is accessible [[file:config.org][here]]. \node[branch] (x) at (0, 0); \node[branch, above right=0.8 and 0.2 of x](b1){}; \node[branch, below right=0.8 and 0.2 of x](b2){}; - \node[block, above right=0.3 and 0.3 of b1](W1){$W_1$}; - \node[block, above right=0.3 and 0.3 of b2](W2){$W_2$}; + \node[block, above right=0.3 and 0.25 of b1](W1){$W_1$}; + \node[block, above right=0.3 and 0.25 of b2](W2){$W_2$}; \node[block, right=0.3 of W1](delta1){$\Delta_1$}; \node[block, right=0.3 of W2](delta2){$\Delta_2$}; \node[addb, right=0.3 of b1-|delta1](add1){}; @@ -127,9 +154,9 @@ Configuration file is accessible [[file:config.org][here]]. \node[block, right=0.3 of add2](G2){$\hat{G}_2$}; \node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$}; \node[block, right=0.7 of G2](Ginv2){$\hat{G}_2^{-1}$}; - \node[block, right=0.4 of Ginv1](H1){$H_1$}; - \node[block, right=0.4 of Ginv2](H2){$H_2$}; - \node[addb, right=7 of x](add){}; + \node[block, right=0.35 of Ginv1](H1){$H_1$}; + \node[block, right=0.35 of Ginv2](H2){$H_2$}; + \node[addb, right=6.8 of x](add){}; \draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center); \draw[->] (x.center) |- (add1.west); @@ -151,7 +178,7 @@ Configuration file is accessible [[file:config.org][here]]. \draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$}; \begin{scope}[on background layer] - \node[fit={($(H2.south-|x)+(-0.2, -0.3)$) ($(delta1.north east-|add.east)+(0.2, 0.4)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {}; + \node[fit={($(H2.south-|x)+(-0.2, -0.3)$) ($(delta1.north east-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {}; \node[below left] at (supersensor.north east) {Super Sensor}; \node[block, fit={($(b1|-W1.north) + (-0.15, 0.15)$) ($(G1.south east)+(0.15, -0.15)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};