clc;
clear;
load UWBIns.mat

  
x =  lightHousePosX * 100;
y = -lightHousePosZ * 100;



theta = -1 / pi;
% Ðýת×ø±ê
xt = x * cos(theta) - y * sin(theta);
yt = x * sin(theta) + y * cos(theta);

x0 = xt(1) - imuPosX(1);
y0 = yt(1) - imuPosY(1);

xt = xt - x0 + 20;
yt = yt - y0 - 10;

plot(xt,yt);
hold on;
plot(imuPosX,imuPosY);
hold on;
plot(uwbPosX,uwbPosY,'.');
hold on;
plot(syncPosX,syncPosY,'.');