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Add sensor model + correct figure size

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Thomas Dehaeze 2020-09-22 11:29:03 +02:00
parent cdb103b3f5
commit 29363ad27e
10 changed files with 506 additions and 279 deletions
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tikz/index.org
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@ -26,12 +26,39 @@
Configuration file is accessible [[file:config.org][here]]. 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 * Sensor Fusion Architecture
#+begin_src latex :file sensor_fusion_noise_arch.pdf #+begin_src latex :file sensor_fusion_noise_arch.pdf
\begin{tikzpicture} \begin{tikzpicture}
\node[branch] (x) at (0, 0); \node[branch] (x) at (0, 0);
\node[addb, above right=1.0 and 0.5 of x](add1){}; \node[addb, above right=1.05 and 0.6 of x](add1){};
\node[addb, below right=1.0 and 0.5 of x](add2){}; \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 add1](G1){$G_1$};
\node[block, right=0.4 of add2](G2){$G_2$}; \node[block, right=0.4 of add2](G2){$G_2$};
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$}; \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, right=0.6 of Ginv2](H2){$H_2$};
\node[block, above=0.5 of add1](N1){$N_1$}; \node[block, above=0.5 of add1](N1){$N_1$};
\node[block, above=0.5 of add2](N2){$N_2$}; \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[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
\draw[->] (x.center) |- (add1.west); \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] (x) at (0, 0);
\node[branch, above right=0.8 and 0.2 of x](b1){}; \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[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 0.25 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 b2](W2){$W_2$};
\node[block, right=0.3 of W1](delta1){$\Delta_1$}; \node[block, right=0.3 of W1](delta1){$\Delta_1$};
\node[block, right=0.3 of W2](delta2){$\Delta_2$}; \node[block, right=0.3 of W2](delta2){$\Delta_2$};
\node[addb, right=0.3 of b1-|delta1](add1){}; \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=0.3 of add2](G2){$\hat{G}_2$};
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$}; \node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$};
\node[block, right=0.7 of G2](Ginv2){$\hat{G}_2^{-1}$}; \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=0.35 of Ginv1](H1){$H_1$};
\node[block, right=0.4 of Ginv2](H2){$H_2$}; \node[block, right=0.35 of Ginv2](H2){$H_2$};
\node[addb, right=7 of x](add){}; \node[addb, right=6.8 of x](add){};
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center); \draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
\draw[->] (x.center) |- (add1.west); \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]{$\hat{x}$}; \draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
\begin{scope}[on background layer] \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[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) {}; \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) {};