From 0303ac536a2e6835a83f8ea2b199f00744d033f9 Mon Sep 17 00:00:00 2001 From: marabra Date: Tue, 22 Jul 2014 09:30:27 +0200 Subject: [PATCH] Added GNSS-SDR statistics over PVT and gnuplot scripts --- .../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 264 ++++- .../PVT/gnuradio_blocks/hybrid_pvt_cc.h | 95 ++ src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 32 +- src/algorithms/PVT/libs/hybrid_ls_pvt.h | 9 +- src/utils/gnuplot/4_GPS_3_GAL.plt | 41 + .../4_GPS_3_GAL_GNSS_SDR_solutions.txt | 1001 +++++++++++++++++ .../4_GPS_3_GAL_accuracy_precision.jpeg | Bin 0 -> 47887 bytes .../gnuplot/8_GALILEO_accuracy_precision.jpeg | Bin 0 -> 53272 bytes .../gnuplot/8_GAL_GNSS_SDR_solutions.txt | 1001 +++++++++++++++++ src/utils/gnuplot/8_GPS.plt | 40 + .../gnuplot/8_GPS_GNSS_SDR_solutions.txt | 1001 +++++++++++++++++ .../gnuplot/8_GPS_accuracy_precision.jpeg | Bin 0 -> 55402 bytes src/utils/gnuplot/8_Galileo.plt | 40 + .../gnuplot/8_sat_accuracy_precision.jpeg | Bin 0 -> 50195 bytes .../gnuplot/8_sat_accuracy_precision.plt | 50 + .../4_GPS_3_GAL_GNSS_SDR_statitics.txt | 23 + .../statistics/8_GAL_GNSS_SDR_statitics.txt | 23 + .../statistics/8_GPS_GNSS_SDR_statitics.txt | 23 + 18 files changed, 3637 insertions(+), 6 deletions(-) create mode 100644 src/utils/gnuplot/4_GPS_3_GAL.plt create mode 100644 src/utils/gnuplot/4_GPS_3_GAL_GNSS_SDR_solutions.txt create mode 100644 src/utils/gnuplot/4_GPS_3_GAL_accuracy_precision.jpeg create mode 100644 src/utils/gnuplot/8_GALILEO_accuracy_precision.jpeg create mode 100644 src/utils/gnuplot/8_GAL_GNSS_SDR_solutions.txt create mode 100644 src/utils/gnuplot/8_GPS.plt create mode 100644 src/utils/gnuplot/8_GPS_GNSS_SDR_solutions.txt create mode 100644 src/utils/gnuplot/8_GPS_accuracy_precision.jpeg create mode 100644 src/utils/gnuplot/8_Galileo.plt create mode 100644 src/utils/gnuplot/8_sat_accuracy_precision.jpeg create mode 100644 src/utils/gnuplot/8_sat_accuracy_precision.plt create mode 100644 src/utils/gnuplot/statistics/4_GPS_3_GAL_GNSS_SDR_statitics.txt create mode 100644 src/utils/gnuplot/statistics/8_GAL_GNSS_SDR_statitics.txt create mode 100644 src/utils/gnuplot/statistics/8_GPS_GNSS_SDR_statitics.txt diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc index c1b28f7d0..713118a58 100644 --- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc @@ -91,6 +91,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptrset_averaging_depth(d_averaging_depth); d_sample_counter = 0; + valid_solution_counter = 0; d_last_sample_nav_output = 0; d_rx_time = 0.0; d_TOW_at_curr_symbol_constellation = 0.0; @@ -211,8 +212,264 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items, if (d_ls_pvt->b_valid_position == true) { + valid_solution_counter ++; + + d_kml_dump.print_position_hybrid(d_ls_pvt, d_flag_averaging); - //ToDo: Implement Galileo RINEX and Galileo NMEA outputs + + /* *********************************** COMPUTE STATISTICS OVER THE FIRST 1000 SOLUTOINS **********************************/ + if (valid_solution_counter<=1000) + //if (d_ls_pvt->d_valid_observations >= 14) + //if (d_ls_pvt->d_valid_GPS_obs >= 7 or d_ls_pvt->d_valid_GAL_obs >=7) + { + GDOP_vect.push_back (d_ls_pvt->d_GDOP); + //PDOP_vect.push_back (d_ls_pvt->d_PDOP); + + X_vect.push_back (d_ls_pvt->X); // add the last X value to X_vect + Y_vect.push_back (d_ls_pvt->Y); // add the last X value to X_vect + Z_vect.push_back (d_ls_pvt->Z); + + longitude_vect.push_back (d_ls_pvt->d_longitude_d); + latitude_vect.push_back (d_ls_pvt->d_latitude_d); + h_vect.push_back (d_ls_pvt->d_height_m); + + tot_obs_vect.push_back (d_ls_pvt->d_valid_observations); + Gal_obs_vect.push_back (d_ls_pvt->d_valid_GAL_obs); + GPS_obs_vect.push_back (d_ls_pvt->d_valid_GPS_obs); + + time_vect.push_back (d_ls_pvt->d_position_UTC_time); + //valid_solution_16_sat_counter ++; + } + + //if(valid_solution_16_sat_counter ==1000) + + if (valid_solution_counter==1000) + { + //compute ECEF average and standard deviation over the first 1000 solutions + GDOP_sum=std::accumulate( GDOP_vect.begin(), GDOP_vect.end(), 0.0); + GDOP_mean = GDOP_sum / GDOP_vect.size(); + + longitude_vect_sum = std::accumulate( longitude_vect.begin(), longitude_vect.end(), 0.0); + longitude_mean = longitude_vect_sum / longitude_vect.size(); + + //IFEN true solutions +// double ref_longitude= 11.80800563; +// double ref_latitude= 48.17149767; +// +// double ref_X=4171691.011; +// double ref_Y=872120.003; +// double ref_Z=4730005.761; + + //REAL CAPTURE reference solutions (obtained with 4 Galileo) + double ref_longitude= 1.987686994; + double ref_latitude= 41.274786935; + double ref_X=4797680.560; + double ref_Y= 166506.414; + double ref_Z=4185453.947; + + //compute mean value for precision + latitude_vect_sum = std::accumulate( latitude_vect.begin(), latitude_vect.end(), 0.0); + latitude_mean = latitude_vect_sum / latitude_vect.size(); + + X_vect_sum = std::accumulate(X_vect.begin(), X_vect.end(), 0.0); + X_vect_mean = X_vect_sum / X_vect.size(); + + X_vect_sq_sum = std::inner_product(X_vect.begin(), X_vect.end(), X_vect.begin(), 0.0); + X_vect_stdev = std::sqrt(X_vect_sq_sum / X_vect.size() - X_vect_mean * X_vect_mean); + + Y_vect_sum = std::accumulate(Y_vect.begin(), Y_vect.end(), 0.0); + Y_vect_mean = Y_vect_sum / Y_vect.size(); + + + Y_vect_sq_sum = std::inner_product(Y_vect.begin(), Y_vect.end(), Y_vect.begin(), 0.0); + Y_vect_stdev = std::sqrt(Y_vect_sq_sum / Y_vect.size() - Y_vect_mean * Y_vect_mean); + + Z_vect_sum = std::accumulate(Z_vect.begin(), Z_vect.end(), 0.0); + Z_vect_mean = Z_vect_sum / Z_vect.size(); + + Z_vect_sq_sum = std::inner_product(Z_vect.begin(), Z_vect.end(), Z_vect.begin(), 0.0); + Z_vect_stdev = std::sqrt(Z_vect_sq_sum / Z_vect.size() - Z_vect_mean * Z_vect_mean); + + + std::fstream file_solutions; + std::ofstream file_statitics; + + //std::fstream file_RES_X; + file_solutions.open ("GNSS_SDR_solutions.txt", std::fstream::out); + //file_statitics.open ("GNSS_SDR_statitics.txt", std::ofstream::out | std::ofstream::app); + file_statitics.open ("GNSS_SDR_statitics.txt", std::ofstream::out); + + file_solutions.setf(file_solutions.fixed, file_solutions.floatfield); + file_statitics.setf(file_statitics.fixed, file_statitics.floatfield); + + + file_statitics << std::setprecision(9); + + file_solutions << std::setw(13)<< "time" << std::setw(26)<<"X [m]" << std::setw(20)<< "Y [m]"<< std::setw(20)<< "Z [m]" << // X Y Z solutions + std::setw(20)<<"Long [deg]" << std::setw(15)<< "Lat [deg]"<< std::setw(15)<< "h [m]"<< // long, lat, h solutions + std::setw(18)<<"E(Acc) [m]" << std::setw(18)<< "N(Acc) [m]"<d_valid_GPS_obs << std::endl; + file_statitics << "Num of GALILEO observation " << d_ls_pvt->d_valid_GAL_obs << std::endl; + + file_statitics << "GDOP mean= " << GDOP_mean << std::endl << std::endl; + + file_statitics << "ENU computed at (IFEN true coordinates): ref Longitude = " << ref_longitude << ", Ref Latitude = " << ref_latitude << " for Accuracy"<Print_Nmea_Line(d_ls_pvt, d_flag_averaging); // // if (!b_rinex_header_writen) // & we have utc data in nav message! @@ -260,6 +517,11 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items, << " using "<d_valid_observations<<" observations is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = " << d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP << " GDOP = " << d_ls_pvt->d_GDOP; + + + + + } // MULTIPLEXED FILE RECORDING - Record results to file diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h index 40f5cb4e9..d05407bf8 100644 --- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h +++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h @@ -109,11 +109,106 @@ private: int d_output_rate_ms; int d_display_rate_ms; long unsigned int d_sample_counter; + long unsigned int valid_solution_counter; + long unsigned int valid_solution_16_sat_counter; long unsigned int d_last_sample_nav_output; Kml_Printer d_kml_dump; Nmea_Printer *d_nmea_printer; double d_rx_time; double d_TOW_at_curr_symbol_constellation; + /* *********variable used for final statistics****/ + + std::vector GDOP_vect; + std::vector PDOP_vect; + + double PDOP_sum; + double PDOP_mean; + double GDOP_sum; + double GDOP_mean; + std::vector tot_obs_vect; + std::vector Gal_obs_vect; + std::vector GPS_obs_vect; + + std::vector time_vect; + + std::vector longitude_vect; + std::vector latitude_vect; + std::vector h_vect; + std::vector X_vect; + std::vector X_vect_res; + std::vector X_vect_res_precision; + std::vector Y_vect; + std::vector Y_vect_res; + std::vector Y_vect_res_precision; + std::vector Z_vect; + std::vector Z_vect_res; + std::vector Z_vect_res_precision; + std::vector E_res; + std::vector N_res; + std::vector Up_res; + std::vector E_res_precision; + std::vector N_res_precision; + std::vector Up_res_precision; + + double longitude_vect_sum; + double longitude_mean; + double latitude_vect_sum; + double latitude_mean; + + double X_vect_sum; + double X_vect_mean; + double X_vect_sq_sum; + double X_vect_stdev; + + double Y_vect_sum; + double Y_vect_mean; + double Y_vect_sq_sum; + double Y_vect_stdev; + + double Z_vect_sum; + double Z_vect_mean; + double Z_vect_sq_sum; + double Z_vect_stdev; + + //precision + double E_res_sum_precision; + double E_res_mean_precision; + double E_res_sq_sum_precision; + double E_res_stdev_precision; + + double N_res_sum_precision; + double N_res_mean_precision; + double N_res_sq_sum_precision; + double N_res_stdev_precision; + + double Up_res_sum_precision; + double Up_res_mean_precision; + double Up_res_sq_sum_precision; + double Up_res_stdev_precision; + + //accuracy + double E_res_sum; + double E_res_mean; + double E_res_sq_sum; + double E_res_stdev; + + double N_res_sum; + double N_res_mean; + double N_res_sq_sum; + double N_res_stdev; + + double Up_res_sum; + double Up_res_mean; + double Up_res_sq_sum; + double Up_res_stdev; + + double DRMS; //2D-65% + double DUE_DRMS; //2D-95% + double CEP; //2D-50% + double MRSE; //3D-61% + double SEP; //3D-50% + /* END variable used for final statistics */ + hybrid_ls_pvt *d_ls_pvt; bool pseudoranges_pairCompare_min(std::pair a, std::pair b); diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc index 141bd96d7..f656f7036 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc @@ -244,6 +244,8 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do // ******************************************************************************** int valid_obs = 0; //valid observations counter int obs_counter = 0; + int valid_obs_GPS_counter = 0; + int valid_obs_GALILEO_counter = 0; for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin(); gnss_pseudoranges_iter != gnss_pseudoranges_map.end(); gnss_pseudoranges_iter++) @@ -298,7 +300,7 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN; d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz; valid_obs++; - + valid_obs_GALILEO_counter ++; Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST //debug @@ -334,6 +336,8 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do } + + } else if (gnss_pseudoranges_iter->second.System == 'G') { @@ -373,7 +377,7 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN; d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz; valid_obs++; - + valid_obs_GPS_counter++; // SV ECEF DEBUG OUTPUT LOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN << " X=" << gps_ephemeris_iter->second.d_satpos_X @@ -398,6 +402,7 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first; } + } @@ -412,6 +417,8 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do // ****** SOLVE LEAST SQUARES****************************************************** // ******************************************************************************** d_valid_observations = valid_obs; + d_valid_GPS_obs = valid_obs_GPS_counter; + d_valid_GAL_obs = valid_obs_GALILEO_counter; LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs; if (valid_obs >= 4) @@ -454,6 +461,14 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " [deg], Height= " << d_height_m << " [m]"; + //std::cout <<"X = " << mypos(0) << "Y = " << mypos(1) << "Z = " << mypos(2) << std::endl; + X = (double)mypos(0); + Y = (double)mypos(1); + Z = (double)mypos(2); + int count_solutions; + + + // ###### Compute DOPs ######## // 1- Rotation matrix from ECEF coordinates to ENU coordinates // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates @@ -470,7 +485,20 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do F(2,1) = cos((GPS_TWO_PI*d_latitude_d)/360.0); F(2,2) = sin((GPS_TWO_PI*d_latitude_d/360.0)); +// std::fstream fs; +// fs.open ("append_all_solutions.txt", std::fstream::out | std::fstream::app); //file printed for debug purposes +// fs.setf(fs.fixed, fs.floatfield); +// fs << std::setprecision(5); +// fs << boost::posix_time::to_simple_string(p_time) <<'\t'<< '\t'<< X << '\t'<< '\t'<< Y << '\t'<< '\t'<< Z << '\t'<< '\t' << +// d_latitude_d << '\t'<< '\t'<< d_longitude_d << '\t'<< '\t'<< d_height_m << '\t'<< '\t' << +// valid_obs << '\t'<< '\t'<< valid_obs_GALILEO_counter <<'\t'<< '\t'<< valid_obs_GPS_counter << std::endl; +// fs.close(); + + // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS) + + + arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); arma::mat DOP_ENU = arma::zeros(3, 3); diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.h b/src/algorithms/PVT/libs/hybrid_ls_pvt.h index 22f540d84..b49d930ba 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.h +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.h @@ -68,6 +68,8 @@ private: public: int d_nchannels; //!< Number of available channels for positioning int d_valid_observations; //!< Number of valid pseudorange observations (valid satellites) + int d_valid_GPS_obs; //!< Number of valid GPS pseudorange observations (valid GPS satellites) -- used for hybrid configuration + int d_valid_GAL_obs; //!< Number of valid GALILEO pseudorange observations (valid GALILEO satellites) -- used for hybrid configuration int d_visible_satellites_IDs[PVT_MAX_CHANNELS]; //!< Array with the IDs of the valid satellites double d_visible_satellites_El[PVT_MAX_CHANNELS]; //!< Array with the LOS Elevation of the valid satellites double d_visible_satellites_Az[PVT_MAX_CHANNELS]; //!< Array with the LOS Azimuth of the valid satellites @@ -87,13 +89,14 @@ public: double d_galileo_current_time; boost::posix_time::ptime d_position_UTC_time; - bool b_valid_position; - + int count_valid_position; double d_latitude_d; //!< Latitude in degrees double d_longitude_d; //!< Longitude in degrees double d_height_m; //!< Height [m] - + double X; + double Y; + double Z; //averaging std::deque d_hist_latitude_d; std::deque d_hist_longitude_d; diff --git a/src/utils/gnuplot/4_GPS_3_GAL.plt b/src/utils/gnuplot/4_GPS_3_GAL.plt new file mode 100644 index 000000000..5a59f2aff --- /dev/null +++ b/src/utils/gnuplot/4_GPS_3_GAL.plt @@ -0,0 +1,41 @@ +#set terminal pdf color font "Bold,14" +#set output "IFEN_accuracy.pdf" + +set terminal jpeg font "Helvetica, 14" +set output "4_GPS_3_GAL_accuracy_precision.jpeg" + +set grid +set xrange [-10:10] +set yrange [-5:15] +set ylabel "North [m]" +set xlabel "East [m]" + +set key Left left +set title "IFEN simulated data, 4 GPS, 8 Gal - Accuracy and Precision" +#file1="8_GPS_GNSS_SDR_solutions.txt" +#file2="8_GAL_GNSS_SDR_solutions.txt" +file3="4_GPS_3_GAL_GNSS_SDR_solutions.txt" + +#values to copy from statistic file +DRMS= 3.077806456 +DUE_DRMS= 6.155612912 +CEP= 2.565164055 + + +#difference with respect to the reference position +#values to copy from statistic file +delta_E= -1.812 # combined +delta_N= 3.596 # combined + +set parametric +#dummy variable is t for curves, u/v for surfaces +set size square +set angle degree +set trange [0:360] +#radius_6_GPS=6 + +plot file3 u 9:10 with points pointsize 0.3 lc rgb "green" notitle,\ +DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\ +DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\ +CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP" + diff --git a/src/utils/gnuplot/4_GPS_3_GAL_GNSS_SDR_solutions.txt b/src/utils/gnuplot/4_GPS_3_GAL_GNSS_SDR_solutions.txt new file mode 100644 index 000000000..8e4462747 --- /dev/null +++ b/src/utils/gnuplot/4_GPS_3_GAL_GNSS_SDR_solutions.txt @@ -0,0 +1,1001 @@ + time X [m] Y [m] Z [m] Long [deg] Lat [deg] h [m] E(Acc) [m] N(Acc) [m] Up(Acc) [m] E(Pre) [m] N(Pre) [m] Up(Pre) [m] Tot Sat Gal GPS GDOP +2013-Sep-20 09:11:16 4171693.97233 872117.53398 4730015.03429 11.80796 48.17154 533.09677 -3.02276 4.40094 8.50611 -1.20980 0.80488 -0.48942 7 3 4 2.38 +2013-Sep-20 09:11:16 4171693.33830 872116.34933 4730014.33700 11.80795 48.17154 532.00164 -4.05260 4.57900 7.41098 -2.23964 0.98294 -1.58455 7 3 4 2.38 +2013-Sep-20 09:11:16 4171693.05315 872118.15688 4730014.15668 11.80798 48.17154 531.92781 -2.22494 4.39110 7.33715 -0.41198 0.79504 -1.65838 7 3 4 2.38 +2013-Sep-20 09:11:16 4171692.12670 872118.20356 4730011.97295 11.80798 48.17153 529.70220 -1.98967 3.60338 5.11154 -0.17671 0.00732 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4171695.90195 872122.87945 4730017.22237 11.80803 48.17153 536.71635 1.81473 3.63768 12.12569 0.62312 1.71460 -1.64887 8 8 0 1.77 +2013-Sep-20 09:11:06 4171695.87749 872123.03123 4730016.66439 11.80803 48.17153 536.30532 1.96830 3.26026 11.71466 0.77668 1.33718 -2.05990 8 8 0 1.77 +2013-Sep-20 09:11:06 4171695.91773 872123.24279 4730016.35685 11.80803 48.17152 536.13130 2.16715 2.99355 11.54064 0.97554 1.07047 -2.23392 8 8 0 1.77 +2013-Sep-20 09:11:06 4171695.80487 872123.64854 4730016.04804 11.80804 48.17152 535.88289 2.58741 2.80805 11.29223 1.39580 0.88497 -2.48233 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.04572 872123.57449 4730016.18529 11.80804 48.17152 536.13228 2.46564 2.73520 11.54162 1.27403 0.81213 -2.23294 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.85509 872123.52515 4730015.79008 11.80804 48.17151 536.35940 2.25173 1.88882 11.76875 1.06011 -0.03425 -2.00582 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.91214 872123.33123 4730015.96118 11.80803 48.17152 536.49768 2.05024 1.99089 11.90702 0.85862 0.06781 -1.86754 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.23707 872123.07517 4730016.02781 11.80803 48.17152 536.07170 1.93773 2.56675 11.48104 0.74612 0.64368 -2.29352 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.58685 872123.30575 4730016.13060 11.80803 48.17152 536.40809 2.09185 2.34502 11.81744 0.90024 0.42194 -1.95712 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.87751 872123.33042 4730016.34070 11.80803 48.17152 536.75776 2.05653 2.26937 12.16711 0.86491 0.34630 -1.60746 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.53195 872123.66688 4730015.87975 11.80804 48.17152 536.23462 2.45658 2.16271 11.64396 1.26497 0.23963 -2.13060 8 8 0 1.77 +2013-Sep-20 09:11:06 4171696.57287 872123.68392 4730016.09343 11.80804 48.17152 536.42288 2.46489 2.27277 11.83222 1.27327 0.34969 -1.94234 8 8 0 1.77 +2013-Sep-20 09:11:06 4171697.02839 872123.70216 4730016.50696 11.80804 48.17152 537.03087 2.38953 2.21352 12.44021 1.19791 0.29045 -1.33435 8 8 0 1.77 +2013-Sep-20 09:11:06 4171697.69570 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872121.38148 4730019.42828 11.80800 48.17152 540.95334 -0.52854 2.21129 16.36269 -1.72016 0.28821 2.58812 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.31261 872121.53254 4730019.50423 11.80800 48.17152 541.11208 -0.40624 2.14781 16.52142 -1.59786 0.22473 2.74686 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.89777 872121.61524 4730019.60038 11.80800 48.17151 541.57700 -0.44503 1.77252 16.98635 -1.63665 -0.15056 3.21178 8 8 0 1.77 +2013-Sep-20 09:11:45 4171701.43846 872121.50501 4730019.69455 11.80800 48.17151 541.98509 -0.66358 1.45776 17.39444 -1.85520 -0.46532 3.61987 8 8 0 1.77 +2013-Sep-20 09:11:45 4171701.49240 872121.42833 4730019.58022 11.80800 48.17151 541.92464 -0.74968 1.35386 17.33399 -1.94129 -0.56922 3.55943 8 8 0 1.77 +2013-Sep-20 09:11:45 4171701.07004 872121.33254 4730019.00074 11.80800 48.17151 541.20407 -0.75701 1.29007 16.61341 -1.94863 -0.63300 2.83885 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.97352 872121.32348 4730019.12476 11.80800 48.17151 541.23223 -0.74613 1.44457 16.64157 -1.93774 -0.47851 2.86701 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.89373 872121.23329 4730018.86608 11.80799 48.17151 540.97509 -0.81807 1.34399 16.38444 -2.00969 -0.57908 2.60987 8 8 0 1.77 +2013-Sep-20 09:11:45 4171701.37283 872121.32846 4730019.41306 11.80799 48.17151 541.70840 -0.82296 1.34482 17.11775 -2.01458 -0.57826 3.34319 8 8 0 1.77 +2013-Sep-20 09:11:45 4171701.83106 872120.93870 4730020.08757 11.80799 48.17151 542.45695 -1.29824 1.51987 17.86629 -2.48986 -0.40321 4.09173 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.94903 872120.81950 4730019.50724 11.80799 48.17151 541.43247 -1.23442 1.79435 16.84181 -2.42604 -0.12873 3.06725 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.77325 872120.83683 4730019.85572 11.80799 48.17152 541.57976 -1.18149 2.15232 16.98910 -2.37311 0.22925 3.21454 8 8 0 1.77 +2013-Sep-20 09:11:45 4171700.20884 872121.00436 4730018.81691 11.80799 48.17151 540.46011 -0.90200 1.84566 15.86946 -2.09362 -0.07742 2.09489 8 8 0 1.77 +2013-Sep-20 09:11:46 4171699.72112 872121.43452 4730018.67812 11.80800 48.17152 540.09702 -0.38115 2.04324 15.50636 -1.57277 0.12016 1.73180 8 8 0 1.77 diff --git a/src/utils/gnuplot/8_GPS.plt b/src/utils/gnuplot/8_GPS.plt new file mode 100644 index 000000000..7ff4e6bd5 --- /dev/null +++ b/src/utils/gnuplot/8_GPS.plt @@ -0,0 +1,40 @@ +#set terminal pdf color font "Bold,14" +#set output "IFEN_accuracy.pdf" + +set terminal jpeg font "Helvetica, 14" +set output "8_GPS_accuracy_precision.jpeg" + +set grid +set xrange [-8:8] +set yrange [-8:8] +set ylabel "North [m]" +set xlabel "East [m]" + +set key Left left +set title "IFEN simulated data, 8 GPS - Accuracy and Precision" +file1="8_GPS_GNSS_SDR_solutions.txt" +#file2="8_GAL_GNSS_SDR_solutions.txt" +#file3="8_GPS_GNSS_SDR_solutions.txt" + +#values to copy from statistic file +DRMS= 2.034509899 +DUE_DRMS= 4.069019799 +CEP= 1.678044871 + +#difference with respect to the reference position +#values to copy from statistic file +delta_E=-0.560 #gps +delta_N=1.323 #gps + +set parametric +#dummy variable is t for curves, u/v for surfaces +set size square +set angle degree +set trange [0:360] +#radius_6_GPS=6 + +plot file1 u 9:10 with points pointsize 0.3 lc rgb "red" notitle,\ +DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\ +DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\ +CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP" + diff --git a/src/utils/gnuplot/8_GPS_GNSS_SDR_solutions.txt b/src/utils/gnuplot/8_GPS_GNSS_SDR_solutions.txt new file mode 100644 index 000000000..78744a067 --- /dev/null +++ b/src/utils/gnuplot/8_GPS_GNSS_SDR_solutions.txt @@ -0,0 +1,1001 @@ + time X [m] Y [m] Z [m] Long [deg] Lat [deg] h [m] E(Acc) [m] N(Acc) [m] Up(Acc) [m] E(Pre) [m] N(Pre) [m] Up(Pre) [m] Tot Sat Gal GPS GDOP +1999-Aug-27 09:09:17 4171696.06632 872121.00018 4730014.78492 11.80800 48.17152 534.75093 -0.05841 2.17880 10.16027 0.50199 0.85511 -0.63258 8 0 8 2.00 +1999-Aug-27 09:09:17 4171695.88605 872119.68584 4730014.82036 11.80799 48.17152 534.48029 -1.30804 2.53433 9.88964 -0.74764 1.21065 -0.90322 8 0 8 2.00 +1999-Aug-27 09:09:18 4171696.40670 872119.79288 4730014.34609 11.80799 48.17151 534.48137 -1.30981 1.82197 9.89072 -0.74941 0.49829 -0.90214 8 0 8 2.00 +1999-Aug-27 09:09:18 4171698.20885 872120.51947 4730014.34802 11.80799 48.17150 535.75840 -0.96738 0.39802 11.16774 -0.40698 -0.92567 0.37488 8 0 8 2.00 +1999-Aug-27 09:09:18 4171702.27793 872120.49428 4730015.18457 11.80798 48.17148 539.03457 -1.82470 -2.00813 14.44391 -1.26430 -3.33182 3.65105 8 0 8 2.00 +1999-Aug-27 09:09:18 4171699.74782 872120.39698 4730014.70421 11.80799 48.17149 537.01172 -1.40220 -0.46825 12.42107 -0.84180 -1.79194 1.62821 8 0 8 2.00 +1999-Aug-27 09:09:18 4171699.15761 872121.32123 4730014.44286 11.80800 48.17149 536.55782 -0.37673 -0.35299 11.96717 0.18367 -1.67667 1.17431 8 0 8 2.00 +1999-Aug-27 09:09:18 4171695.94636 872120.49857 4730012.84683 11.80800 48.17151 533.16001 -0.52485 1.05026 8.56935 0.03555 -0.27343 -2.22350 8 0 8 2.00 +1999-Aug-27 09:09:18 4171695.25129 872119.76318 4730014.45124 11.80799 48.17152 533.80143 -1.10245 2.73935 9.21077 -0.54205 1.41567 -1.58208 8 0 8 2.00 +1999-Aug-27 09:09:18 4171695.16469 872121.05173 4730014.78341 11.80801 48.17152 534.16826 0.17655 2.82756 9.57760 0.73695 1.50387 -1.21525 8 0 8 2.00 +1999-Aug-27 09:09:18 4171696.64867 872121.19256 4730016.40527 11.80801 48.17152 536.36473 0.01073 2.80533 11.77407 0.57113 1.48165 0.98122 8 0 8 2.00 +1999-Aug-27 09:09:18 4171692.76552 872120.73763 4730014.38277 11.80801 48.17154 532.26070 0.36005 4.35816 7.67005 0.92045 3.03448 -3.12281 8 0 8 2.00 +1999-Aug-27 09:09:18 4171695.49138 872121.53628 4730018.18595 11.80801 48.17154 536.98304 0.58400 4.78456 12.39238 1.14439 3.46088 1.59952 8 0 8 2.00 +1999-Aug-27 09:09:18 4171696.93316 872121.12598 4730017.43636 11.80800 48.17153 537.30967 -0.11265 3.29562 12.71901 0.44775 1.97193 1.92616 8 0 8 2.00 +1999-Aug-27 09:09:18 4171697.35095 872121.67098 4730018.84384 11.80801 48.17153 538.70555 0.33532 3.84645 14.11490 0.89572 2.52276 3.32204 8 0 8 2.00 +1999-Aug-27 09:09:18 4171698.89293 872121.22674 4730019.31976 11.80800 48.17153 540.00615 -0.41506 3.10689 15.41549 0.14534 1.78320 4.62263 8 0 8 2.00 +1999-Aug-27 09:09:18 4171699.15121 872121.54749 4730016.54754 11.80800 48.17151 538.15281 -0.15395 1.02080 13.56216 0.40645 -0.30289 2.76930 8 0 8 2.00 +1999-Aug-27 09:09:18 4171694.90892 872119.71605 4730013.67957 11.80799 48.17152 532.99650 -1.07852 2.48162 8.40584 -0.51812 1.15794 -2.38701 8 0 8 2.00 +1999-Aug-27 09:09:18 4171692.41588 872119.13610 4730013.11721 11.80799 48.17153 530.87088 -1.13603 4.01338 6.28022 -0.57564 2.68970 -4.51264 8 0 8 2.00 +1999-Aug-27 09:09:18 4171699.63356 872120.55401 4730014.57715 11.80799 48.17149 536.86388 -1.22511 -0.49359 12.27323 -0.66471 -1.81728 1.48037 8 0 8 2.00 +1999-Aug-27 09:09:18 4171700.85643 872120.06378 4730014.86843 11.80798 48.17149 537.81230 -1.95520 -1.11652 13.22165 -1.39481 -2.44020 2.42879 8 0 8 2.00 +1999-Aug-27 09:09:18 4171701.89475 872121.33150 4730013.76763 11.80799 48.17147 537.84287 -0.92679 -2.80127 13.25221 -0.36639 -4.12496 2.45935 8 0 8 2.00 +1999-Aug-27 09:09:18 4171700.18412 872122.62597 4730012.58046 11.80801 48.17147 536.01822 0.69034 -2.54268 11.42757 1.25074 -3.86637 0.63471 8 0 8 2.00 +1999-Aug-27 09:09:18 4171697.57154 872120.46629 4730014.33879 11.80799 48.17151 535.32823 -0.88901 0.86481 10.73758 -0.32862 -0.45887 -0.05528 8 0 8 2.00 +1999-Aug-27 09:09:18 4171700.00459 872121.36077 4730014.31739 11.80800 48.17149 537.02263 -0.51135 -1.06045 12.43197 0.04905 -2.38414 1.63911 8 0 8 2.00 +1999-Aug-27 09:09:18 4171700.83364 872121.75541 4730014.81654 11.80800 48.17149 537.98962 -0.29471 -1.39244 13.39896 0.26568 -2.71613 2.60610 8 0 8 2.00 +1999-Aug-27 09:09:18 4171691.05768 872120.37346 4730013.62547 11.80801 48.17154 530.53186 0.35307 5.15431 5.94120 0.91347 3.83062 -4.85166 8 0 8 2.00 +1999-Aug-27 09:09:19 4171687.50657 872118.91940 4730009.49557 11.80800 48.17154 524.93791 -0.34355 5.21187 0.34725 0.21684 3.88819 -10.44560 8 0 8 2.00 +1999-Aug-27 09:09:19 4171696.71721 872119.36081 4730014.10628 11.80798 48.17151 534.44641 -1.79628 1.50144 9.85576 -1.23588 0.17775 -0.93710 8 0 8 2.00 +1999-Aug-27 09:09:19 4171696.31779 872118.42098 4730013.93628 11.80797 48.17151 533.93074 -2.63448 1.82270 9.34009 -2.07409 0.49901 -1.45277 8 0 8 2.00 +1999-Aug-27 09:09:19 4171694.85857 872119.19354 4730014.00161 11.80798 48.17152 533.13229 -1.57967 2.81279 8.54163 -1.01927 1.48911 -2.25122 8 0 8 2.00 +1999-Aug-27 09:09:19 4171696.32786 872120.53001 4730015.60726 11.80800 48.17152 535.47026 -0.57214 2.60815 10.87961 -0.01175 1.28447 0.08675 8 0 8 2.00 +1999-Aug-27 09:09:19 4171695.06688 872120.80667 4730013.61388 11.80801 48.17152 533.19951 -0.04331 2.15630 8.60885 0.51709 0.83262 -2.18401 8 0 8 2.00 +1999-Aug-27 09:09:19 4171697.29174 872119.77460 4730011.88774 11.80799 48.17149 533.22480 -1.50881 -0.46025 8.63414 -0.94842 -1.78393 -2.15871 8 0 8 2.00 +1999-Aug-27 09:09:19 4171695.80482 872120.06301 4730012.41930 11.80799 48.17151 532.68960 -0.92223 0.93480 8.09895 -0.36184 -0.38889 -2.69391 8 0 8 2.00 +1999-Aug-27 09:09:19 4171697.11970 872119.96889 4730013.32425 11.80799 48.17150 534.20942 -1.28343 0.59362 9.61877 -0.72304 -0.73007 -1.17409 8 0 8 2.00 +1999-Aug-27 09:09:19 4171697.39820 872120.76331 4730013.51870 11.80800 48.17150 534.64452 -0.56281 0.39903 10.05387 -0.00241 -0.92465 -0.73899 8 0 8 2.00 +1999-Aug-27 09:09:19 4171699.71186 872120.40542 4730015.27760 11.80799 48.17150 537.41665 -1.38658 -0.06091 12.82600 -0.82618 -1.38460 2.03314 8 0 8 2.00 +1999-Aug-27 09:09:19 4171699.30564 872122.12980 4730014.83518 11.80801 48.17149 537.05714 0.38444 -0.32261 12.46649 0.94483 -1.64630 1.67363 8 0 8 2.00 +1999-Aug-27 09:09:19 4171692.43846 872120.33396 4730012.61079 11.80801 48.17153 530.67173 0.03185 3.47653 6.08108 0.59224 2.15285 -4.71178 8 0 8 2.00 +1999-Aug-27 09:09:19 4171693.21098 872121.69044 4730014.32957 11.80802 48.17153 532.64189 1.20155 3.85249 8.05123 1.76194 2.52881 -2.74162 8 0 8 2.00 +1999-Aug-27 09:09:19 4171693.86721 872120.18962 4730014.45907 11.80800 48.17153 532.96195 -0.40181 3.68906 8.37129 0.15859 2.36538 -2.42157 8 0 8 2.00 +1999-Aug-27 09:09:19 4171698.71781 872121.40717 4730017.22188 11.80800 48.17151 538.35323 -0.20261 1.80803 13.76257 0.35779 0.48434 2.96971 8 0 8 2.00 +1999-Aug-27 09:09:19 4171699.98798 872122.00531 4730015.74601 11.80801 48.17150 538.16428 0.12295 -0.19387 13.57362 0.68335 -1.51756 2.78076 8 0 8 2.00 +1999-Aug-27 09:09:19 4171702.23571 872124.12091 4730017.33868 11.80803 48.17149 541.10706 1.73383 -1.09374 16.51640 2.29422 -2.41743 5.72354 8 0 8 2.00 +1999-Aug-27 09:09:19 4171703.66160 872123.93996 4730017.05561 11.80802 48.17148 541.80224 1.26492 -2.29494 17.21159 1.82532 -3.61863 6.41873 8 0 8 2.00 +1999-Aug-27 09:09:19 4171700.17890 872122.19994 4730016.23255 11.80801 48.17150 538.67801 0.27440 -0.03833 14.08736 0.83480 -1.36202 3.29450 8 0 8 2.00 +1999-Aug-27 09:09:19 4171697.52445 872121.64690 4730017.13141 11.80801 48.17152 537.53952 0.27625 2.58154 12.94886 0.83665 1.25786 2.15601 8 0 8 2.00 +1999-Aug-27 09:09:19 4171694.37948 872120.48604 4730017.31347 11.80800 48.17154 535.46375 -0.21648 5.17383 10.87310 0.34392 3.85015 0.08024 8 0 8 2.00 +1999-Aug-27 09:09:19 4171694.72972 872120.10541 4730015.28313 11.80800 48.17153 534.12754 -0.66073 3.62238 9.53688 -0.10034 2.29869 -1.25598 8 0 8 2.00 +1999-Aug-27 09:09:19 4171698.19767 872120.41898 4730017.15531 11.80799 48.17152 537.82923 -1.06345 2.29369 13.23857 -0.50305 0.97000 2.44571 8 0 8 2.00 +1999-Aug-27 09:09:19 4171698.26754 872119.74055 4730014.76840 11.80798 48.17150 536.00365 -1.74182 0.75434 11.41300 -1.18143 -0.56935 0.62014 8 0 8 2.00 +1999-Aug-27 09:09:20 4171696.99939 872121.56118 4730012.25156 11.80801 48.17150 533.54887 0.29979 -0.27681 8.95822 0.86018 -1.60050 -1.83464 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.21647 872121.07300 4730009.54888 11.80801 48.17150 529.65169 0.39141 0.02501 5.06104 0.95181 -1.29868 -5.73182 8 0 8 2.00 +1999-Aug-27 09:09:20 4171695.44362 872121.88269 4730012.56076 11.80802 48.17151 532.80755 0.93286 1.01512 8.21690 1.49325 -0.30857 -2.57596 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.83915 872119.52523 4730014.96864 11.80799 48.17153 533.88546 -1.25103 3.42129 9.29480 -0.69063 2.09761 -1.49805 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.83635 872120.68506 4730014.91086 11.80800 48.17153 533.99886 -0.11517 3.20795 9.40820 0.44523 1.88427 -1.38466 8 0 8 2.00 +1999-Aug-27 09:09:20 4171695.79298 872121.03515 4730014.69556 11.80801 48.17152 534.51068 0.03176 2.31324 9.92002 0.59216 0.98955 -0.87283 8 0 8 2.00 +1999-Aug-27 09:09:20 4171697.75683 872120.14324 4730014.16804 11.80799 48.17150 535.27786 -1.24315 0.66505 10.68721 -0.68275 -0.65863 -0.10565 8 0 8 2.00 +1999-Aug-27 09:09:20 4171700.33516 872120.56118 4730015.29096 11.80799 48.17149 537.85475 -1.36166 -0.53037 13.26410 -0.80127 -1.85406 2.47124 8 0 8 2.00 +1999-Aug-27 09:09:20 4171698.18473 872117.92565 4730013.18441 11.80796 48.17150 534.52161 -3.50137 0.03510 9.93096 -2.94097 -1.28858 -0.86190 8 0 8 2.00 +1999-Aug-27 09:09:20 4171695.52019 872119.15720 4730014.94197 11.80798 48.17152 534.25993 -1.75063 2.96289 9.66928 -1.19023 1.63920 -1.12358 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.88506 872120.08880 4730014.02193 11.80800 48.17152 533.28690 -0.70877 2.67051 8.69625 -0.14838 1.34683 -2.09661 8 0 8 2.00 +1999-Aug-27 09:09:20 4171693.82362 872120.37903 4730015.57385 11.80800 48.17154 533.79001 -0.20749 4.43542 9.19936 0.35291 3.11174 -1.59350 8 0 8 2.00 +1999-Aug-27 09:09:20 4171693.83316 872119.22015 4730012.33073 11.80799 48.17152 531.22150 -1.34380 2.44232 6.63084 -0.78340 1.11864 -4.16201 8 0 8 2.00 +1999-Aug-27 09:09:20 4171695.12240 872119.82948 4730012.90829 11.80799 48.17151 532.57663 -1.01118 1.79425 7.98597 -0.45078 0.47057 -2.80689 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.42510 872119.73886 4730013.51030 11.80799 48.17152 532.55765 -0.95718 2.71815 7.96699 -0.39679 1.39446 -2.82587 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.96146 872121.56456 4730012.63614 11.80802 48.17151 532.50555 0.72013 1.46557 7.91490 1.28052 0.14189 -2.87796 8 0 8 2.00 +1999-Aug-27 09:09:20 4171697.88040 872121.63481 4730016.04733 11.80801 48.17151 536.96243 0.19158 1.60079 12.37178 0.75197 0.27711 1.57892 8 0 8 2.00 +1999-Aug-27 09:09:20 4171700.17713 872123.03665 4730015.94819 11.80802 48.17149 538.57915 1.09376 -0.35426 13.98849 1.65416 -1.67795 3.19564 8 0 8 2.00 +1999-Aug-27 09:09:20 4171699.17846 872122.03655 4730016.34697 11.80801 48.17150 538.08789 0.31919 0.79259 13.49724 0.87959 -0.53110 2.70438 8 0 8 2.00 +1999-Aug-27 09:09:20 4171696.47075 872121.42370 4730014.25602 11.80801 48.17151 534.67863 0.27339 1.46651 10.08797 0.83378 0.14283 -0.70489 8 0 8 2.00 +1999-Aug-27 09:09:20 4171693.84722 872120.90043 4730014.86401 11.80801 48.17153 533.34764 0.29806 3.86531 8.75699 0.85845 2.54163 -2.03587 8 0 8 2.00 +1999-Aug-27 09:09:20 4171694.34839 872120.49578 4730014.82261 11.80800 48.17153 533.58873 -0.20059 3.53386 8.99808 0.35981 2.21018 -1.79478 8 0 8 2.00 +1999-Aug-27 09:09:20 4171695.56278 872121.11545 4730015.15883 11.80801 48.17152 534.71657 0.15747 2.77786 10.12591 0.71787 1.45417 -0.66694 8 0 8 2.00 +1999-Aug-27 09:09:20 4171688.86834 872119.94660 4730011.78669 11.80801 48.17155 527.67426 0.38325 5.58996 3.08361 0.94364 4.26627 -7.70925 8 0 8 2.00 +1999-Aug-27 09:09:20 4171693.87341 872120.97816 4730013.78871 11.80801 48.17153 532.57410 0.36878 3.11724 7.98344 0.92918 1.79355 -2.80942 8 0 8 2.00 +1999-Aug-27 09:09:21 4171692.49418 872120.61323 4730013.68775 11.80801 48.17153 531.54871 0.29381 4.11153 6.95805 0.85421 2.78785 -3.83480 8 0 8 2.00 +1999-Aug-27 09:09:21 4171688.04342 872120.08485 4730011.73852 11.80801 48.17155 527.11874 0.68739 6.13843 2.52808 1.24778 4.81474 -8.26478 8 0 8 2.00 +1999-Aug-27 09:09:21 4171690.26676 872119.77888 4730014.50173 11.80800 48.17156 530.58734 -0.06708 6.40623 5.99669 0.49332 5.08254 -4.79617 8 0 8 2.00 +1999-Aug-27 09:09:21 4171694.50317 872122.32494 4730017.54632 11.80803 48.17154 535.96895 1.55819 4.95851 11.37829 2.11859 3.63482 0.58544 8 0 8 2.00 +1999-Aug-27 09:09:21 4171692.79089 872120.98460 4730014.29909 11.80801 48.17154 532.24862 0.59660 4.24619 7.65797 1.15700 2.92251 -3.13489 8 0 8 2.00 +1999-Aug-27 09:09:21 4171698.76090 872120.39522 4730016.70553 11.80799 48.17151 537.85850 -1.20196 1.58654 13.26785 -0.64156 0.26285 2.47499 8 0 8 2.00 +1999-Aug-27 09:09:21 4171704.29728 872123.80645 4730017.80307 11.80802 48.17148 542.75595 1.00416 -2.23975 18.16530 1.56455 -3.56344 7.37244 8 0 8 2.00 +1999-Aug-27 09:09:21 4171700.64259 872121.02241 4730014.97815 11.80799 48.17149 537.88529 -0.97311 -1.03355 13.29464 -0.41271 -2.35724 2.50178 8 0 8 2.00 +1999-Aug-27 09:09:21 4171699.25135 872119.95723 4730013.41049 11.80798 48.17149 535.66361 -1.73104 -0.90187 11.07296 -1.17065 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[-8:8] +set ylabel "North [m]" +set xlabel "East [m]" + +set key Left left +set title "IFEN simulated data, 8 Galileo - Accuracy and Precision" +#file1="8_GPS_GNSS_SDR_solutions.txt" +file2="8_GAL_GNSS_SDR_solutions.txt" +#file3="8_GPS_GNSS_SDR_solutions.txt" + +#values to copy from statistic file +DRMS= 1.870121081 +DUE_DRMS= 3.740242162 +CEP= 1.556390643 + +#difference with respect to the reference position +#values to copy from statistic file +delta_E=1.191 #galileo +delta_N=1.923 #galileo + +set parametric +#dummy variable is t for curves, u/v for surfaces +set size square +set angle degree +set trange [0:360] +#radius_6_GPS=6 + +plot file2 u 9:10 with points pointsize 0.3 lc rgb "blue" notitle,\ +DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\ +DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\ +CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP" + diff --git 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z3!l{V(ps=zPCcu?+f+Y#ASD5~^{OT)G{3KjF^HCcY3NkHd_@tSfh*4m(RiFF_6e+Y z%8s?~e`JM*A=JYC-$A!ZnrKJ-tJ3bGV;$hutOF5zES>W@O@d1M6+2T@KE+8=&*4RH zfd7`e_)sRzOfQPzxQcdS2oz?N=5+{pyZ>85BZ`Y+ z%Jx);BO9AJndUE5i)$TxS*A{f`c&p8)HOSJe%fu<7j(WRIx gnuplot 8_sat_IFEN_accuracy_precision.plt + +#set terminal pdf color font "Bold,14" +#set output "IFEN_solutions_pdf" +set terminal jpeg font "Helvetica, 14" +set output "8_sat_accuracy_precision.jpeg" + +set grid +set xrange [-15:15] +set yrange [-10:20] +set ylabel "North [m]" +set xlabel "East [m]" + +set key Left left +set title "Accuracy-Precision (with respect to CORRECT coordinates)- 2DRMS" +file1="4_GPS_3_GAL_GNSS_SDR_solutions.txt" +file2="8_GAL_GNSS_SDR_solutions.txt" +file3="8_GPS_GNSS_SDR_solutions.txt" + +#values to copy from statistic file +DRMS_1=2*3.077 #it is 2*DRMS combined +DRMS_2=2*1.87 # gal +DRMS_3=2*2.034 # gps + +#difference with respect to the reference position + +#values to copy from statistic file +delta_E_1=-1.812 #combined +delta_N_1= 3.596 #combined + +delta_E_2= 1.191 #gal +delta_N_2= 1.923 #gal + +delta_E_3= -0.560 #gps +delta_N_3= 1.323 #gps + +set parametric +#dummy variable is t for curves, u/v for surfaces +set size square +set angle degree +set trange [0:360] + +plot file1 u 9:10 with points pointsize 0.3 lc rgb "green" title "4 GPS-3 GAL",\ +file3 u 9:10 with points pointsize 0.3 lc rgb "red" title "8 GPS",\ +file2 u 9:10 with points pointsize 0.3 lc rgb "blue" title "8 GAL",\ +DRMS_1*sin(t)+delta_E_1,DRMS_1*cos(t)+delta_N_1 lw 2 lc rgb "green" notitle,\ +DRMS_3*sin(t)+delta_E_3,DRMS_3*cos(t)+delta_N_3 lw 2 lc rgb "red" notitle,\ +DRMS_2*sin(t)+delta_E_2,DRMS_2*cos(t)+delta_N_2 lw 2 lc rgb "blue" notitle + diff --git a/src/utils/gnuplot/statistics/4_GPS_3_GAL_GNSS_SDR_statitics.txt b/src/utils/gnuplot/statistics/4_GPS_3_GAL_GNSS_SDR_statitics.txt new file mode 100644 index 000000000..158166f50 --- /dev/null +++ b/src/utils/gnuplot/statistics/4_GPS_3_GAL_GNSS_SDR_statitics.txt @@ -0,0 +1,23 @@ +Num of GPS observation 4 +Num of GALILEO observation 3 +GDOP mean= 2.380532594 + +ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy +ENU computed at (average coordinates) mean Longitude = 11.807981252, mean Latitude = 48.171530020 for Precision + +ACCURACY (respect true position) +East offset [m] = -1.812959237, East st. dev = 1.899085141 +Nord offset [m] = 3.596061973,Noth st. dev = 2.422058671 +Up offset [m] = 8.995532878, Up st. dev = 3.881428324 + +DRMS= 3.077806456 +DUE_DRMS= 6.155612912 +CEP= 2.565164055 +MRSE= 4.953622757 +SEP= 12.514572993 + +PRECISION (respect average solution) +East offset [m] = 0.000000000, East st. dev = 1.899086239 +Nord offset [m] = -0.000000001, ,Noth st. dev = 2.422059160 +Up offset [m]= -0.000000003, Up st. dev = 3.881427482 +---------------------------------------------------------------------------------------------- diff --git a/src/utils/gnuplot/statistics/8_GAL_GNSS_SDR_statitics.txt b/src/utils/gnuplot/statistics/8_GAL_GNSS_SDR_statitics.txt new file mode 100644 index 000000000..88c48dde2 --- /dev/null +++ b/src/utils/gnuplot/statistics/8_GAL_GNSS_SDR_statitics.txt @@ -0,0 +1,23 @@ +Num of GPS observation 0 +Num of GALILEO observation 8 +GDOP mean= 1.769225604 + +ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy +ENU computed at (average coordinates) mean Longitude = 11.808021645, mean Latitude = 48.171514975 for Precision + +ACCURACY (respect true position) +East offset [m] = 1.191616778, East st. dev = 1.370472661 +Nord offset [m] = 1.923075914,Noth st. dev = 1.272461214 +Up offset [m] = 13.774563698, Up st. dev = 3.492269580 + +DRMS= 1.870121081 +DUE_DRMS= 3.740242162 +CEP= 1.556390643 +MRSE= 3.961476957 +SEP= 8.003582836 + +PRECISION (respect average solution) +East offset [m] = -0.000000002, East st. dev = 1.370472897 +Nord offset [m] = -0.000000001, ,Noth st. dev = 1.272461012 +Up offset [m]= 0.000000002, Up st. dev = 3.492269562 +---------------------------------------------------------------------------------------------- diff --git a/src/utils/gnuplot/statistics/8_GPS_GNSS_SDR_statitics.txt b/src/utils/gnuplot/statistics/8_GPS_GNSS_SDR_statitics.txt new file mode 100644 index 000000000..a0ce5df5f --- /dev/null +++ b/src/utils/gnuplot/statistics/8_GPS_GNSS_SDR_statitics.txt @@ -0,0 +1,23 @@ +Num of GPS observation 8 +Num of GALILEO observation 0 +GDOP mean= 2.002216944 + +ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy +ENU computed at (average coordinates) mean Longitude = 11.807998091, mean Latitude = 48.171509585 for Precision + +ACCURACY (respect true position) +East offset [m] = -0.560396234, East st. dev = 1.105718017 +Nord offset [m] = 1.323685667,Noth st. dev = 1.707810937 +Up offset [m] = 10.792857384, Up st. dev = 3.121160956 + +DRMS= 2.034509899 +DUE_DRMS= 4.069019799 +CEP= 1.678044871 +MRSE= 3.725704798 +SEP= 7.079246885 + +PRECISION (respect average solution) +East offset [m] = 0.000000000, East st. dev = 1.105718027 +Nord offset [m] = -0.000000005, ,Noth st. dev = 1.707811217 +Up offset [m]= -0.000000005, Up st. dev = 3.121160800 +----------------------------------------------------------------------------------------------