run_sim.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%load_ext autoreload\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import multiprocessing\n",
    "import os\n",
    "from functools import partial\n",
    "\n",
    "from multi_imu.cf    import CF\n",
    "from multi_imu.ekf   import EKF\n",
    "from multi_imu.plot  import *\n",
    "from multi_imu.sim   import sim_run\n",
    "from multi_imu.stats import evaluate_ekfs"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "num_sims  = 50\n",
    "time_max  = 100\n",
    "bump_time = 50\n",
    "\n",
    "pool = multiprocessing.Pool(multiprocessing.cpu_count() - 1)\n",
    "# mp_output = pool.map(partial(sim_run, time_max = time_max), range(num_sims))\n",
    "mp_output = pool.map(partial(sim_run, time_max = time_max, bump_time = bump_time), range(num_sims))\n",
    "\n",
    "ekfs = [tup[0] for tup in mp_output]\n",
    "cfs  = [tup[1] for tup in mp_output]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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ZLcf82HYqp4iIaETdjrqXAq8A1vHsNBsGvt5QXBER0efq3kEdbXtuo5FERES0qNsP6pbyvVNERERH1L2Dupyikvo5sI1iunfbfkVjkUVERF+rW0FdArwNuJvqqd4jIiJ2Wd0K6he2BxqNJCIiokXdCmqNpCsoJit8ZhZd22nFFxERjahbQf0GRcX0+pZtaWYeERGNqTuSxJgmE5S0APgHYCpwse3PDNm/BDiXZ6d6/6Lti8dyrYiImFzaNjOXVDml+0hlJE0FzqcYEmkucPIITdWvtv2q8pPKKSIigOo7qA9LeqDNfgFnAsuG2XckxfxRmwEkXQUsBtaPJdCIiOgvVRXU94H/UVHmn0fYvj9wX8v6FuCoYcodL2kesBF4n+37hikTERF9pm0FNdZ3T6PwTeBK29skvQu4DDh2aKHyMeJSgBkzZjA4ONhwWBPbo48+mhxVSI6qJUf1JE/NqT2a+RhsBWa2rB/As40hALD9YMvqxcDnhjuR7WWUjxHnzJnj+fPnj2ugk83g4CDJUXvJUbXkqJ7kqTl1x+Ibi9uA2ZIOkrQ7cBLwnM6+kvZrWV0E/GuD8URExARSWUFJmiLpxNGe2PZTwBnASoqK5xrb6ySdI2lRWey9ktZJuhN4L7BktNeJiIjJqfIRn+3tkj4EXDPak9teAawYsu3sluWPAB8Z7XkjImLyq/uI77uSPihppqQX7vg0GllERPS1uo0k3lL+e3rLNgMvGd9wIiIiCnWHOjqo6UAiIiJa1aqgJE0DTgPmlZsGgQttP9lQXBER0efqPuL7MjAN+FK5/rZy2zuaCCoiIqJuBfX7tl/Zsv69sml4REREI+q24nta0sE7ViS9BHi6mZAiIiLq30F9ELhJ0maKEcxfDDQ9Tl9ERPSxygqqnNfplcBsYE65eYPtbSMfFRERsWsqH/HZfho42fY223eVn1ROERHRqLqP+G6W9EXgauC/dmy0/cNGooqIiL5Xt4J6VfnvOS3bzDBzN0VERIyHuu+gBmx/oQPxREREAKN4B9WBWCIiIp6Rd1AREdGTGn0HJWkB8A/AVOBi258Zsn8P4HLgcOBB4C2276kZU0RETGJ1RzN/7WhPXL67Oh/4Y2ALcJukAdvrW4qdCjxk+6WSTgI+y7NTe0RERB9r+w5K0t+3LJ85ZN/yinMfCWyyvdn2E8BVwOIhZRYDl5XL1wHHSVJ12BERMdlVNZKY17L8F0P2vaLi2P2B+1rWt5Tbhi1j+yngYeBFFeeNiIg+UPWITyMsd5SkpcDScnWbpLXdimWCmA480O0gelxyVC05qid5qjanusjOqiqoKZL2pbjT2rG8o6KaWnHsVmBmy/oB5bbhymyRtBuwN0VjieewvQxYBiDpdttHVFy7ryVH1ZKjaslRPclTNUm3j+W4qgpqb+AOnq2UWpuVu+LY24DZkg6iqIhOAv58SJkBikeHtwBvBr5nu+q8ERHRB9pWULZnjfXEtp+SdAawkuJu61Lb6ySdA9xuewC4BPiqpE3ALykqsYiIiNr9oMbE9gpgxZBtZ7csPw6cMMrTLhuH0Ca75KhaclQtOaoneao2phwpT9QiIqIXVfWDWiFpVodiiYiIeEZVP6ivAN+R9FFJ0zoR0A6SFkjaIGmTpA8Ps38PSVeX+2/tx4q0Ro7eL2m9pLsk3Sjpxd2Is5uqctRS7nhJltR3rbHq5EjSieXP0jpJV3Q6xm6r8V07UNJNktaU37eF3YizmyRdKun+kboBqXBemcO7JB1WeVLbbT/Ab1IMQXQn8EHg/Ts+VceO9UPRqOI/gJcAu5fXnjukzHuAC8rlk4Crm4qnFz81c/Ra4Hnl8mnJ0c45KsvtBawCVgNHdDvuXssRMBtYA+xbrv9Wt+PuwRwtA04rl+cC93Q77i7kaR5wGLB2hP0LgespWoUfDdxadc7K6TaAJyhGMN+j/CK3fpqSYZKqVebI9k22HytXV1P0ResndX6OAD5J8UfY450MrkfUydE7gfNtPwRg+/4Ox9htdXJk4AXl8t7ATzsYX0+wvYqiNfZIFgOXu7Aa2EfSfu3O2bYVXzka+ecp+isd1vLLrmnDDZN01EhlXDRp3zFMUr/06K6To1anUvz10k8qc1Q+Zphp+9uSzupkcD2izs/RIQCSbqa4m/iE7Rs6E15PqJOjT1C8Dvkr4PnA6zoT2oQy0vB3PxvpgKpm5h8FTrC9btdji26R9FbgCOCPuh1LL5E0heIPsCVdDqXX7UbxmG8+xV34Kkkvt/2rbgbVY04Gltv+O0nHUPTvPNT29m4HNpG1fcRn+w+7VDmNZpgk2g2TNInVyRGSXkfxh8Yi29s6FFuvqMrRXsChwKCkeyieiw/0WUOJOj9HW4AB20/a/jGwkaLC6hd1cnQqcA2A7VuAPSnG6Itn1fqd1arOO6hueGaYJEm7UzSCGBhSZscwSdCfwyRV5kjSq4ELKSqnfntvABU5sv2w7em2Z7kYNWU1Ra7GNG7YBFXnu/YNirsnJE2neOS3uYMxdludHN0LHAcg6WUUFdQvOhpl7xsATilb8x0NPGx7xMd70PBIEmPlDJNUqWaOzqVohXlt2X7kXtuLuhZ0h9XMUV+rmaOVwOslrQeeBs6y3TdPK2rm6APARZLeR9FgYkmf/cGMpCsp/pCZLmkL8HFgGoDtCyhGFVoIbAIeA/6y8px9lsOIiJggevURX0RE9LlUUBER0ZNSQUVERE9KBRURET0pFVRERPSkqqGO/qzGOR53MTFhRETEuGnbzFzSg8A/UYw+O5J5tg8e78AiIqK/VXXUvd7229sVkPS1cYwnIiICSEfdiIjoUbUaSUg6QdJe5fLHJH291myIERERY1S3Fd/HbP9a0h9QDIh4CfDl5sKKiIh+V7eCerr8903AMtvfppj6OCIiohF1K6itki4E3gKskLRH1bGSLpV0v6S1I+yXpPMkbZJ0Vx4ZRkREq7oV1IkUQ82/oZxF84VA1fTYy4EFbfa/kWLSs9nAUvLIMCIiWlR11L0D+BfgemCF7ccBykmm2k40ZXuVpFltiiwGLi/nTFktaR9J+1VNYBUREf2h6g7qKOAfKSah+r6kFZLOlHTIOFx7f+C+lvUt5baIiIj2d1C2nwIGyw+Sfpfisd3fSHopsNr2exqOEUlLKR4Dsueeex5+4IEHNn3JCW379u1MmZJhFttJjqolR/UkT9U2btz4gO0Zoz1uVFO+2/6ppOXAdcCjwDGjvWCLrcDMlvUDym3DXXcZsAxgzpw53rBhwy5cdvIbHBxk/vz53Q6jpyVH1ZKjepKnapJ+Mpbj6nbUvULSCyQ9H1gLrAc+YPvmsVy0NACcUrbmOxp4OO+fIiJih7r3pXNtPwL8KUWDiYOAt7U7QNKVwC3AHElbJJ0q6d2S3l0WWQFsBjYBFwGNPyqMiIiJo+4jvmmSplFUUF+0/aSktoP42T65Yr+B02tePyIi+kzdO6gLgXuA5wOrJL0YeKSpoCIiIqpGgzhGkmyfZ3t/2wvLO597gdd2JsSIiOhHVXdQpwB3SLpK0hJJvwPF47myCXpEREQjqvpBnQYg6fcohiZaLmlv4CbgBuBm20+3OUVERMSY1HoHZfvfbH/B9gLgWIrhj04Abm0yuIiI6F+1uz9L2lfSK4CXAT8HvmL7iMYii4iIvlarmbmkTwJLKPotbS83m+JuKiIiYtzV7Qd1InCw7SeaDCYiImKHuo/41gL7NBhHRETEc9S9g/o0sKacHXfbjo22FzUSVURE9L26FdRlwGeBu3n2HVRERERj6lZQj9k+r9FIIiIiWtStoH4g6dMUU2S0PuL7YSNRRURE36tbQb26/Pfolm1pZh4REY2pVUHZzsCwERHRUVWjmf9J1QnalZG0QNIGSZskfXiY/Usk/ULSj8rPO+qFHRERk13VHdS5krYCalPmU8C3hm6UNBU4H/hjYAtwm6QB2+uHFL3a9hmjiDkiIvpAVQX1n8DnK8r8+wjbjwQ22d4MIOkqYDEwtIKKiIjYSdV0G/N34dz7A/e1rG8Bjhqm3PGS5gEbgffZvm+YMhER0WfqtuJryjeBK21vk/Quig7BO7UMlLQUWAowY8YMBgcHOxrkRPPoo48mRxWSo2rJUT3JU3OarKC2AjNb1g8otz3D9oMtqxcDnxvuRLaXAcsA5syZ4/nz549roJPN4OAgyVF7yVG15Kie5Kk5lYPFSpoi6TVjOPdtwGxJB0naHTiJoqNv67n3a1ldBPzrGK4TERGTUOUdlO3tks7n2c66tdh+StIZwEpgKnCp7XWSzgFutz0AvFfSIuAp4JcUc05FRETUfsR3o6Tjga/bdt2T214BrBiy7eyW5Y8AH6l7voiI6B9154N6F3At8ISkRyT9WtIjDcYVERF9ru5QR3s1HUhERESr2q34yndF88rVQds7jR4RERExXmo94pP0GeBMilEg1gNnltNvRERENKLuHdRC4FW2twNIugxYQxo4REREQ+o2kgDYp2V573GOIyIi4jnq3kF9Clgj6SaKkc3nATtNnxERETFeKisoSVOA7RSz6f5+ufmvbf+8ycAiIqK/1R1J4kO2r2HIUEURERFNqfsO6ruSPihppqQX7vg0GllERPS1uu+g3lL+e3rLNgMvGd9wIiIiCnXfQX3Y9tUdiCciIgKo8Yiv7Pt0VgdiiYiIeEbeQUVERE/KO6iIiOhJte6gbB80zKeycpK0QNIGSZsk7dSxV9Iekq4u998qadYY/g8RETEJta2gJH2oZfmEIfs+VXHsVOB84I3AXOBkSXOHFDsVeMj2S4EvAJ+tH3pERExmVXdQJ7UsDx0YdkHFsUcCm2xvtv0EcBWweEiZxcBl5fJ1wHGSVHHeiIjoA1UVlEZYHm59qP2B+1rWt5Tbhi1j+yngYeBFFeeNiIg+UNVIwiMsD7feGElLgaXl6jZJazt17QlqOvBAt4PocclRteSonuSp2pyxHFRVQb1S0iMUd0u/US5Tru9ZcexWYGbL+gHltuHKbJG0G8U0Hg8OPZHtZcAyAEm32z6i4tp9LTmqlhxVS47qSZ6qSbp9LMe1raBsTx1bOADcBsyWdBBFRXQS8OdDygwAfwHcArwZ+J7tjt2ZRURE76rbD2rUbD8l6QxgJTAVuNT2OknnALfbHgAuAb4qaRPwS57bKCMiIvpYYxUUgO0VwIoh285uWX4cOGHocRWWjUNok11yVC05qpYc1ZM8VRtTjpQnahER0YuqOuq+oc2+0d75RERE1FbVD2qFpJskDe2/BDt33B1XGSapWo0cvV/Sekl3SbpR0ou7EWc3VeWopdzxkiyp71pj1cmRpBPLn6V1kq7odIzdVuO7dmD5u3JN+X1b2I04u0nSpZLuH6kbkArnlTm8S9JhlSe1PeIHWAO8k6Iz7ZuH7mt37K58KBpV/AfFYLS7A3cCc4eUeQ9wQbl8EnB1U/H04qdmjl4LPK9cPi052jlHZbm9gFXAauCIbsfdazkCZpe/C/Yt13+r23H3YI6WAaeVy3OBe7oddxfyNA84DFg7wv6FwPUU3ZSOBm6tOmfVHZRtXwQcB/y1pK9Iet6OfRXH7ooMk1StMke2b7L9WLm6mqIvWj+p83ME8EmKcSAf72RwPaJOjt4JnG/7IQDb93c4xm6rkyMDLyiX9wZ+2sH4eoLtVRStsUeyGLjchdXAPpL2a3fOuqOZbwSOAf4TWCPpqJoxj1WGSapWJ0etTqX466WfVOaofMww0/a3OxlYD6nzc3QIcIikmyWtllQ1DudkUydHnwDeKmkLRcvlv+pMaBPKaH9nVTYzf+aOpKwEPizpBuBKYMYYg4wOk/RW4Ajgj7odSy+RNAX4PLCky6H0ut0oHvPNp7gLXyXp5bZ/1c2geszJwHLbfyfpGIr+nYe6mJE8xqjqDup/Dd1gexA4HPjfTQRUGs0wSbQbJmkSq5MjJL0O+CiwyPa2DsXWK6pytBdwKDAo6R6K5+IDfdZQos7P0RZgwPaTtn8MbKSosPpFnRydClwDYPsWiqHgpnckuomj1u+sVm0rKNvfGGH7Q7Y/M9roRuGZYZIk7U7RCGJgSJkdwyRBfw6TVJkjSa8GLqSonPrtvQFU5Mj2w7an255lexbFe7pFtsc0btgEVee79g2KuyckTad45Le5gzF2W50c3Uvxrh5JL6OooH7R0Sh73wBwStma72jgYds/a3dAoyNJjJUzTFKlmjk6F/hN4Nqy/ci9thd1LegOq5mjvlYzRyuB10taDzwNnGW7b55W1MzRB4CLJL2PosHEkj77gxlJV1L8ITO9fBf3cWAagO0LKN7NLQQ2AY8Bf1l5zj7LYURETBC1WvFFRER0WiqoiIjoSamgIiKiJ6WCioiInpQKKiIielIqqIiI6EmpoCLGQNKLJP2o/Pxc0tZy+VFJX2rgessl/VjSu9uU+cNySoxhpzuImGjSDypiF0n6BPCo7b9t8BrLgW/Zvq6i3Kyy3KFNxRLRKbmDihhHkuZL+la5/AlJl0n6gaSfSPozSZ+TdLekGyRNK8sdLun7ku6QtLJqCoLymBMkrZV0p6RVTf+/IrohFVREsw4GjgUWAV8DbrL9cuD/AW8qK6n/QzEh6OHApdQbiPls4A22X1meO2LS6cmx+CImkettPynpbopx3G4ot98NzALmUIyo/s/leIlTgbYDaJZuBpZLugb4+ngHHdELUkFFNGsbgO3tkp5sGUB0O8X3T8A628eM5qS2311OHPom4A5Jh/fTAK7RH/KIL6K7NgAzyknukDRN0n+rOkjSwbZvtX02xbQOM6uOiZhocgcV0UW2n5D0ZuA8SXtTfCf/HlhXcei5kmZT3IHdCNzZaKARXZBm5hETQJqZRz/KI76IieFh4JNVHXWBbwIPdCyqiAblDioiInpS7qAiIqInpYKKiIielAoqIiJ6UiqoiIjoSamgIiKiJ/1/pH5VhE0eOpcAAAAASUVORK5CYII=",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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quoM6X9LDbfaLogv6mmF3SkuAvwGmA5fb/viQ/SuBC/nl3FKftn15jbgjImKKq6qgvg28vqLMN4bbWHZPXw38LrANuEXSgO1NQ4qutX1WnWAjIqJ/tK2gxtn29Epgq+27ASR9CVgODK2gIiIi9lC3F99YHAzc37K+DThmmHInSVoEbAHOsX3/0AJlO9cqgNmzZzM4ODjx0U4hTzzxRHJUITmqlhzVkzw1p8kKqo6vAdfY3iHpDOAqnt2VHQDbayjbuRYsWODFixd3NMjJZnBwkOSoveSoWnJUT/LUnMqRJCRNk/TGMZz7AWBOy/oh/LIzBAC2H7G9o1y9nGKcv4iIiFpDHe0CzhvDuW8B5kuaJ2lv4BRgoLWApINaVpcB/zaG60RExBRU9xHfNyW9F1jLs4c6enSkA2zvLKfmuIGim/kVtu+SdAFwq+0B4F2SllFMhPgosHJs/4yIiJhq6lZQbyq/vrNlm4G2U77bXgesG7LtAy3L7wPeVzOGiIjoI3WHOprXdCARERGtalVQkmYAZwKLyk2DwGW2n2ooroiI6HN1H/F9BpgB/G25/uZy29uaCCoiIqJuBfVbtl/Wsv4tSbc3EVBERATU6GZeelrSi3evSDoMeLqZkCIiIurfQb0XWC/pbooRzF8EZI6oiIhoTGUFVY5K/jJgPrCg3Ly5ZQSIiIiICVdnJImngRW2d9i+o/ykcoqIiEbVfcR3k6RPs+dIEt9rJKqIiOh7dSuol5dfL2jZZoYZeTwiImIi1G2DGrB9cQfiiYiIAEbRBtWBWCIiIp6RNqiIiOhJaYOKiIieVHc08+ObDiQiIqJV2zYoSX/dsnz2kH1XVp1c0hJJmyVtlXT+MPufI2ltuf9mSYfWjjwiIqa0qk4Si1qW3zJk32+2O7Ds/bcaeA2wEFghaeGQYqcDj9n+NeBi4BOVEUdERF+oqqA0wnIdrwS22r7b9i+ALwHLh5RZDlxVLn8FOFHSaK8TERFTUFUb1DRJz6eoyHYv765AplccezBwf8v6NuCYkcrY3ilpO3Ag8HBrIUmrgFXl6g5Jd1Zcu9/NYkgOYw/JUbXkqJ7kqdqC6iJ7qqqg9ge+yy8rpdZu5R7LBcfC9hpgDYCkW20f3alrT0bJUbXkqFpyVE/yVE3SrWM5rm0FZfvQMUVTeACY07J+SLltuDLbJO1FUSE+Mo5rRkTEFFF3wsKxuAWYL2mepL2BU4CBIWUG+GXnizcA37LdsTuziIjoXXVf1B21sk3pLOAGivaqK2zfJekC4FbbA8DngC9I2go8SlGJVVnTVMxTSHJULTmqlhzVkzxVG1OO1O6GRdI64B227xljUBEREWNS9Yjv74B/lvR+STM6EVBERARU3EEBSNoH+D/AEuALwK7d+2xf1Gh0ERHRt+p0kvgFxQjmzwH2HfJpTIZJqlYjR++WtEnSHZJulPSibsTZTVU5ail3kiRL6rvuwnVyJOmN5ffSXZKu7nSM3VbjZ22upPWSbit/3pZ2I85uknSFpIdGek9VhUvKHN4h6cjKk9oe8UNx17QJ+Djw3HZlJ/JD0ani34HDgL2B24GFQ8q8A7i0XD4FWNup+HrhUzNHx+/+fwPOTI72zFFZbl9gA7AROLrbcfdajoD5wG3A88v1F3Y77h7M0RrgzHJ5IXBPt+PuQp4WAUcCd46wfylwPcV7tccCN1eds+oO6v3AybbPt/1kRdmJlGGSqlXmyPb6lv+3jRTvovWTOt9HAB+hGAfy550MrkfUydHbgdW2HwOw/VCHY+y2OjkysF+5vD/wYAfj6wm2N1D0xh7JcuDzLmwEDpB0ULtztq2gbP+27btGH+q4DTdM0sEjlbG9E9g9TFK/qJOjVqdT/PXSTypzVD5mmGP7nzoZWA+p8310OHC4pJskbZS0pGPR9YY6OfoQcKqkbcA64E87E9qkMtrfWc29BxW9Q9KpwNHA73Q7ll4iaRpwEbCyy6H0ur0oHvMtprgL3yDppbb/s5tB9ZgVwJW2PynpOIr3O4+wvavqwBhZkyNJjMdohkmiT4dJqpMjJL2a4lHtMts7OhRbr6jK0b7AEcCgpHsonosP9FlHiTrfR9uAAdtP2f4xsIWiwuoXdXJ0OnAtgO3vADMpBpGNX6r1O6tVr1ZQGSapWmWOJL0CuIyicuq3dgOoyJHt7bZn2T7UxbiTGylyNaaBLSepOj9rX6W4e0LSLIpHfnd3MMZuq5Oj+4ATASS9hKKC+llHo+x9A8BpZW++Y4Httn/S7oCefMTn5oZJmjJq5uhCYB/gy2X/kftsL+ta0B1WM0d9rWaObgB+T9Im4GngXNt987SiZo7eA3xW0jkUHSZW9tkfzEi6huIPmVllW9wHgRkAti+laJtbCmwFngTeWnnOPsthRERMEr36iC8iIvpcKqiIiOhJqaAiIqInpYKKiIielAoqIiJ6UiqoiIjoSW3fg5JU5z2RR22vnJhwIiIiClUv6r4EeFub/QJWT1w4ERERhaoK6v22v92ugKQPT2A8ERERwBhGkihHgN7H9uPNhBQREVGzk4SkqyXtJ+l5wJ3AJknnNhtaRET0s7q9+BaWd0x/QDHp3Tzgze0OaGR++oiI6Bt1K6gZkmZQVFADtp+iGLG3nSuBdjNvvoZiTpn5wCrgMzVjiYiIPlC3groMuAd4HsVsmi8C2rZBNTE/fURE9I+2FZSk4yTJ9iW2D7a9tJzj5D7g+HFee9Tz00dERP+o6mZ+GrBa0hbg68DXbf+0rKR2Nh5dSdIqiseAzJw586i5c+d26tKT0q5du5g2LYOEtJMcVUuO6kmeqm3ZsuVh27NHe1zbCsr2mQCSfp2izehKSfsD6ykqrJtsPz2GeGEU89PbXgOsAViwYIE3b948xkv2h8HBQRYvXtztMHpaclQtOaoneaom6d6xHFer2rf9Q9sX214CnAD8C3AycPNYLloa9fz0ERHRP6rG4nvBCLs2Ahttj9gJoon56SMion9UtUF9l6I7uYC5wGPl8gHAvcBhIx1oe0W7E5ftWO8cRawREdFH2j7isz3P9mHAN4HX255l+0DgdcA3OhFgRET0p7pdT461vW73iu3rgVc1E1JERET1I77dHpT058AXy/U/Ah5sJqSIiIj6d1ArgNnAP5afF5bbIiIiGlHrDqrsrXd2w7FEREQ8o1YFJWk2cB7wG8DM3dttn9BQXBER0efqPuL7e+CHFNNsfJhi4NhbGoopIiKidgV1oO3PAU/Z/rbtP6YYUSIiIqIRdXvxPVV+/Ymk11L04BtplImIiIhxq1tBfbQcJPY9wKeA/YBzGosqIiL6XmUFJWk6MN/2dcB2xj8PVERERKXKNqhyOo288xQRER1V9xHfTZI+DawF/nv3RtvfaySqiIjoe3UrqJeXXy9o2WbSky8iIhpSdySJtDtFRERHtW2DkvS6qhPUKRMRETFaVXdQF0p6gGKSwpF8DLhuuB2SlgB/A0wHLrf98SH7VwIXAg+Umz5t+/IacUdExBRXVUH9B3BRRZkfDbex7J6+GvhdYBtwi6QB25uGFF1r+6w6wUZERP9oW0HZXjyOc78S2Gr7bgBJXwKWA0MrqIiIiD3U7cU3FgcD97esbwOOGabcSZIWAVuAc2zfP7SApFXAKoDZs2czODg48dFOIU888URyVCE5qpYc1ZM8NafJCqqOrwHX2N4h6QzgKobpum57DbAGYMGCBV68eHFHg5xsBgcHSY7aS46qJUf1JE/NqRxJQtI0Sa8aw7kfAOa0rB/CLztDAGD7Eds7ytXLgaPGcJ2IiJiC6gx1tIuis8No3QLMlzRP0t7AKcBAawFJB7WsLgP+bQzXiYiIKajufFA3SjpJUrvu5s9ieydwFnADRcVzre27JF0gaVlZ7F2S7pJ0O/AuYOUoYo+IiCmsbhvUGcC7gacl/Q/Fe1G2vV+7g2yvA9YN2faBluX3Ae8bVcQREdEX6g51tG/TgURERLSq3YuvfCy3qFwdLOeHioiIaEStNihJHwfOpnjJdhNwtqS/bDKwiIjob3XvoJYCLy979CHpKuA20n4UERENqduLD+CAluX9JziOiIiIZ6l7B/Ux4DZJ6yl68C0Czm8sqoiI6HuVFZSkacAu4Fjgt8rNf2b7p00GFhER/a2ygrK9S9J5tq9lyEgQERERTanbBvVNSe+VNEfSC3Z/Go0sIiL6Wt02qDeVX9/Zss3AYRMbTkRERKFuG9T5ttd2IJ6IiAig/mjm53YgloiIiGekDSoiInpS2qAiIqIn1R3NfF7TgURERLRq+4hP0nktyycP2fexqpNLWiJps6StkvYYeULScyStLfffLOnQUcQeERFTWFUb1Ckty0MHhl3S7kBJ0ymmin8NsBBYIWnhkGKnA4/Z/jXgYuATlRFHRERfqKqgNMLycOtDvRLYavtu278AvgQsH1JmOXBVufwV4MTRTCsfERFTV1UblEdYHm59qIOB+1vWtwHHjFTG9k5J24EDgYdbC0laBawqV3dIurPi2v1uFkNyGHtIjqolR/UkT9UWjOWgqgrqZZIep7hb+pVymXJ95lguOBa21wBrACTdavvoTl17MkqOqiVH1ZKjepKnapJuHctxbSso29PHFg4ADwBzWtYPKbcNV2abpL0o5pl6ZBzXjIiIKWI0ExaO1i3AfEnzJO1N0eFi6GjoA8BbyuU3AN+yXfXoMCIi+kDdF3VHrWxTOgu4AZgOXGH7LkkXALfaHgA+B3xB0lbgUZ7da3Aka5qKeQpJjqolR9WSo3qSp2pjypFywxIREb2o6kXd32+z7+SR9kVERIxXVRvUOknrJR08zL6hL+5GRERMmKoK6g7gamCjpDcM2dfoC7UZJqlajRy9W9ImSXdIulHSi7oRZzdV5ail3EmSLKnvugvXyZGkN5bfS3dJurrTMXZbjZ+1ueUf87eVP29LuxFnN0m6QtJDI72nqsIlZQ7vkHRk5Ultj/gBvld+PZyiV97fAc9t3dfEh6JTxb9TjJa+N3A7sHBImXcAl5bLpwBrm4qnFz81c3R8y//XmcnRnjkqy+0LbAA2Akd3O+5eyxEwH7gNeH65/sJux92DOVoDnFkuLwTu6XbcXcjTIuBI4M4R9i8Frqe4uTkWuLnqnLW6mdveAhwH/Adwm6ShI0JMtAyTVK0yR7bX236yXN1I8S5aP6nzfQTwEYpxIH/eyeB6RJ0cvR1YbfsxANsPdTjGbquTIwP7lcv7Aw92ML6eYHsDRW/skSwHPu/CRuAASQe1O2ftsfhs77R9PnAGcA3FX1VNGW6YpKHtYM8aJgnYPUxSv6iTo1anU/z10k8qc1Q+Zphj+586GVgPqfN9dDhwuKSbJG2U1Hag6CmoTo4+BJwqaRuwDvjTzoQ2qYz2d1ble1AfHrrB9qCkoygqqpgEJJ0KHA38Trdj6SWSpgEXASu7HEqv24viD9LFFHfhGyS91PZ/djOoHrMCuNL2JyUdR/F+5xG2d3U7sMms7R2U7a+OsP0x2x9vJKLCaIZJok+HSaqTIyS9Gng/sMz2jg7F1iuqcrQvcAQwKOkeiufiA33WUaLO99E2YMD2U7Z/DGyh2ScovaZOjk4HrgWw/R2KsUpndSS6yaPW76xWTQ51NB4ZJqlaZY4kvQK4jKJy6rd2A6jIke3ttmfZPtT2oRTtdMtsj2lgy0mqzs/aVynunpA0i+KR390djLHb6uToPuBEAEkvoaigftbRKHvfAHBa2ZvvWGC77Z+0O6CxoY7Gw80NkzRl1MzRhcA+wJfL/iP32V7WtaA7rGaO+lrNHN0A/J6kTcDTwLm2++ZpRc0cvQf4rKRzKDpMrOyzP5iRdA3FHzKzyra4DwIzAGxfStE2txTYCjwJvLXynH2Ww4iImCR69RFfRET0uVRQERHRk1JBRURET0oFFRERPSkVVERE9KRUUBER0ZNSQUWMgaQDJX2//PxU0gPl8hOS/raB610p6ceS/qRNmd8up8QYdrqDiMkm70FFjJOkDwFP2P6/DV7jSuA621+pKHdoWe6IpmKJ6JTcQUVMIEmLJV1XLn9I0lWS/p+keyX9oaS/kvQDSV+XNKMsd5Skb0v6rqQbqqYgKI85WdKdkm6XtKHpf1dEN6SCimjWi4ETgGXAF4H1tl8K/A/w2rKS+hTwBttHAVcAf1HjvB8Aft/2y8pzR0w5PTkWX8QUcr3tpyT9gGIct6+X238AHAosoBhR/RvleInTgbYDaJZuAq6UdC3wDxMddEQvSAUV0awdALZ3SXqqZQDRXRQ/fwLusn3caE5q+0/Kma1fC3xX0lH9NIBr9Ic84ovors3A7HKSOyTNkPQbVQdJerHtm21/gGJahzlVx0RMNrmDiugi27+Q9AbgEkn7U/xM/jVwV8WhF0qaT3EHdiNwe6OBRnRBuplHTALpZh79KI/4IiaH7cBHql7UBb4GPNyxqCIalDuoiIjoSbmDioiInpQKKiIielIqqIiI6EmpoCIioif9f/Ws2tgWzK+QAAAAAElFTkSuQmCC",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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gYwwOsW9kcPHu5dOreHLG7M17gD2BT3bjRr5bVcdPregJGrM/M2nM3lwMPDfJdcC9wFurasmfmRizN28BPprkTQwGTJw8I78Uk+Q8Br+4LOuuwb0D2Bmgqj7M4JrcC4AbgV8Af7TgZ85I7yRJi8xiPsUnSVrCDChJUpMMKElSkwwoSVKTDChJUpMMKGk7SbJPkqu6Pz9M8v1ueXOSD/Xw9c5JclOSU0ds84xu1vF5Z5iWWuYwc6kHSU4DNlfVe3v8GucAn6+qTy2w3cHddk/oqxapDx5BST1LsirJ57vl05KsSfLVJN9J8uIk705ydZKLkuzcbXdkkq8k2ZTk4oVmfe72eWmSa5J8I8n6vv9dUt8MKGnyHgs8Gzge+Cfg0qp6InAn8MIupP4WOLGqjgTOBs4Y43PfDjyvqn6n+2xpUVu0Ux1Ji9iFVbUlydUMpsy5qFt/NXAwsILBZLVf6qah2hEYOWdZ5zLgnCQXAJ/Z3kVLk2ZASZN3F0BV3Zdky5y52u5j8DMZ4NqqOuaBfGhVnZrkqcALgU1JjpyFOfK0dHmKT2rP9cDy7nlCJNk5yW8vtFOSx1bVFVX1dgYzaD9qoX2klnkEJTWmqu5OciJwVpKHMfg5fT9w7QK7vifJYQyOwC4BvtFroVLPHGYuLVIOM9dS5yk+afG6DTh9oRt1gc8Bt06sKmk78QhKktQkj6AkSU0yoCRJTTKgJElNMqAkSU0yoCRJTfo/M3Cm7SscTzMAAAAASUVORK5CYII=",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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dleTGJK8Zc8zTulXHl11hWmqZl5lLPUhyOrBYVe/q8XOcBXyyqj62wnGHdscd1VctUh8cQUk9S7IxySe77dOTnJ3kS0luTvJrSd6R5Ookn06ye3fchiRfTLI1yWdWWvW5O+dFSa5JcmWSi/v+uqS+GVDS9D0aeCZwAvBh4AtV9VjgDuD4LqT+GjipqjYAZwJvn+B13wI8t6oe1722tKqt2qWOpFXsU1W1PcnVDJbM+XT3/NXAocB6BovVfq5bhmpXYOyaZZ1LgLOSnAd8fGcXLU2bASVN350AVXVvku1Da7Xdy+BnMsC2qnrKfXnRqnpNkl8Cjge2JtkwD2vkae1yik9qz3XAuu5+QiTZPckvrnRSkkdX1WVV9RYGK2g/YqVzpJY5gpIaU1V3JTkJOCPJ/gx+Tv8K2LbCqe9McjiDEdhm4MpeC5V65mXm0irlZeZa65zik1av24C3rfSHusBFwK1Tq0raSRxBSZKa5AhKktQkA0qS1CQDSpLUJANKktQkA0qS1KT/AyFulJ8E9771AAAAAElFTkSuQmCC",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# plot_ekf_state_history(ekfs[0])\n",
    "# plot_ekf_cov_history(ekfs[0])\n",
    "plot_mc_states(ekfs)\n",
    "plot_mc_residuals(ekfs)\n",
    "plot_mc_tests(ekfs)\n",
    "plot_mc_flags(ekfs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "evaluate_ekfs(ekfs, cfs)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3.8.10 64-bit",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  },
  "orig_nbformat": 4,
  "vscode": {
   "interpreter": {
    "hash": "31f2aee4e71d21fbe5cf8b01ff0e069b9275f58929596ceb00d14d90e3e16cd6"
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}