mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 15:23:04 +00:00
Add Matlab parsing and plotting functions for Kalman filter tracking block
This commit is contained in:
Gerald LaMountain
63
conf/gnss-sdr-kalman-bayes.conf
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63
conf/gnss-sdr-kalman-bayes.conf
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
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GNSS-SDR.internal_fs_sps=2000000
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GNSS-SDR.internal_fs_hz=2000000
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=File_Signal_Source
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SignalSource.filename=/home/glamountain/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
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SignalSource.item_type=ishort
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SignalSource.sampling_frequency=4000000
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SignalSource.freq=1575420000
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SignalSource.samples=0
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;######### SIGNAL_CONDITIONER CONFIG ############
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SignalConditioner.implementation=Signal_Conditioner
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DataTypeAdapter.implementation=Ishort_To_Complex
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InputFilter.implementation=Pass_Through
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InputFilter.item_type=gr_complex
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Resampler.implementation=Direct_Resampler
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Resampler.sample_freq_in=4000000
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Resampler.sample_freq_out=2000000
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Resampler.item_type=gr_complex
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;######### CHANNELS GLOBAL CONFIG ############
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Channels_1C.count=8
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Channels.in_acquisition=1
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Channel.signal=1C
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;######### ACQUISITION GLOBAL CONFIG ############
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Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition_1C.item_type=gr_complex
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Acquisition_1C.threshold=0.008
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Acquisition_1C.doppler_max=10000
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Acquisition_1C.doppler_step=250
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Acquisition_1C.dump=false
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Acquisition_1C.dump_filename=../data/kalman/acq_dump
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;######### TRACKING GLOBAL CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
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Tracking_1C.item_type=gr_complex
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Tracking_1C.pll_bw_hz=40.0;
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Tracking_1C.dll_bw_hz=4.0;
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Tracking_1C.order=3;
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Tracking_1C.dump=true
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Tracking_1C.dump_filename=../data/kalman/epl_tracking_ch_
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Tracking_1C.bce_run = true;
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Tracking_1C.p_transient = 0;
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Tracking_1C.s_transient = 100;
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;######### TELEMETRY DECODER GPS CONFIG ############
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TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
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;######### OBSERVABLES CONFIG ############
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Observables.implementation=GPS_L1_CA_Observables
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;######### PVT CONFIG ############
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PVT.implementation=GPS_L1_CA_PVT
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PVT.averaging_depth=100
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PVT.flag_averaging=true
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PVT.output_rate_ms=10
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PVT.display_rate_ms=500
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93
src/utils/matlab/gps_l1_ca_kf_plot_sample.m
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93
src/utils/matlab/gps_l1_ca_kf_plot_sample.m
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@@ -0,0 +1,93 @@
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% Reads GNSS-SDR Tracking dump binary file using the provided
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% function and plots some internal variables
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% Javier Arribas, 2011. jarribas(at)cttc.es
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% -------------------------------------------------------------------------
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%
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% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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%
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% GNSS-SDR is a software defined Global Navigation
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% Satellite Systems receiver
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%
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% This file is part of GNSS-SDR.
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%
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% GNSS-SDR is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% at your option) any later version.
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%
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% GNSS-SDR is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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%
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% -------------------------------------------------------------------------
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%
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close all;
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clear all;
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if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
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addpath('./libs')
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end
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samplingFreq = 6625000; %[Hz]
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channels = 8;
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first_channel = 0;
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code_period = 0.001;
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path = '/archive/'; %% CHANGE THIS PATH
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figpath = [path];
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for N=1:1:channels
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tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
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GNSS_tracking(N) = gps_l1_ca_kf_read_tracking_dump(tracking_log_path);
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end
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% GNSS-SDR format conversion to MATLAB GPS receiver
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for N=1:1:channels
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trackResults(N).status = 'T'; %fake track
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trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
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trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
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trackResults(N).carrFreqRate = GNSS_tracking(N).carrier_dopplerrate_hz2.';
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trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
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trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
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trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
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trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
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trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
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trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
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trackResults(N).I_E = GNSS_tracking(N).E.';
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trackResults(N).I_L = GNSS_tracking(N).L.';
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trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
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trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
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trackResults(N).PRN = GNSS_tracking(N).PRN.';
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trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
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kalmanResults(N).PRN = GNSS_tracking(N).PRN.';
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kalmanResults(N).innovation = GNSS_tracking(N).carr_error.';
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kalmanResults(N).state1 = GNSS_tracking(N).carr_nco.';
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kalmanResults(N).state2 = GNSS_tracking(N).carrier_doppler_hz.';
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kalmanResults(N).state3 = GNSS_tracking(N).carrier_dopplerrate_hz2.';
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kalmanResults(N).r_noise_cov = GNSS_tracking(N).carr_noise_sigma2.';
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kalmanResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
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% Use original MATLAB tracking plot function
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settings.numberOfChannels = channels;
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settings.msToProcess = length(GNSS_tracking(N).E);
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settings.codePeriod = code_period;
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settings.timeStartInSeconds = 20;
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%plotTracking(N, trackResults, settings)
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plotKalman(N, kalmanResults, settings)
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saveas(gcf, [figpath 'epl_tracking_ch_' num2str(N) '_PRN_' num2str(trackResults(N).PRN(end)) '.png'], 'png')
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end
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158
src/utils/matlab/libs/gps_l1_ca_kf_read_tracking_dump.m
Normal file
158
src/utils/matlab/libs/gps_l1_ca_kf_read_tracking_dump.m
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@@ -0,0 +1,158 @@
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% Usage: gps_l1_ca_kf_read_tracking_dump (filename, [count])
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%
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% Opens GNSS-SDR tracking binary log file .dat and returns the contents
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% Read GNSS-SDR Tracking dump binary file into MATLAB.
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% Javier Arribas, 2011. jarribas(at)cttc.es
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% -------------------------------------------------------------------------
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%
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% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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%
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% GNSS-SDR is a software defined Global Navigation
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% Satellite Systems receiver
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%
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% This file is part of GNSS-SDR.
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%
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% GNSS-SDR is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% at your option) any later version.
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%
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% GNSS-SDR is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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%
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% -------------------------------------------------------------------------
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%
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function [GNSS_tracking] = gps_l1_ca_kf_read_tracking_dump (filename, count)
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m = nargchk (1,2,nargin);
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num_float_vars = 19;
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num_unsigned_long_int_vars = 1;
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num_double_vars = 1;
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num_unsigned_int_vars = 1;
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if(~isempty(strfind(computer('arch'), '64')))
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% 64-bit computer
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double_size_bytes = 8;
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unsigned_long_int_size_bytes = 8;
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float_size_bytes = 4;
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unsigned_int_size_bytes = 4;
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else
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double_size_bytes = 8;
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unsigned_long_int_size_bytes = 4;
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float_size_bytes = 4;
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unsigned_int_size_bytes = 4;
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end
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skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
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double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;
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bytes_shift = 0;
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if (m)
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usage (m);
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end
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if (nargin < 2)
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count = Inf;
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end
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%loops_counter = fread (f, count, 'uint32',4*12);
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f = fopen (filename, 'rb');
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if (f < 0)
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else
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v1 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v2 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v3 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v4 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v5 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v6 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
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bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v10 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v11 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v12 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v13 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v14 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v15 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v18 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v19 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next float
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v20 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
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bytes_shift = bytes_shift + float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next double
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v21 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
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bytes_shift = bytes_shift + double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next unsigned int
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v22 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
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fclose (f);
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GNSS_tracking.VE = v1;
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GNSS_tracking.E = v2;
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GNSS_tracking.P = v3;
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GNSS_tracking.L = v4;
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GNSS_tracking.VL = v5;
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GNSS_tracking.prompt_I = v6;
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GNSS_tracking.prompt_Q = v7;
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GNSS_tracking.PRN_start_sample = v8;
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GNSS_tracking.acc_carrier_phase_rad = v9;
|
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GNSS_tracking.carrier_doppler_hz = v10;
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GNSS_tracking.carrier_dopplerrate_hz2 = v11;
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GNSS_tracking.code_freq_hz = v12;
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GNSS_tracking.carr_error = v13;
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GNSS_tracking.carr_noise_sigma2 = v14;
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GNSS_tracking.carr_nco = v15;
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GNSS_tracking.code_error = v16;
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GNSS_tracking.code_nco = v17;
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GNSS_tracking.CN0_SNV_dB_Hz = v18;
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||||||
|
GNSS_tracking.carrier_lock_test = v19;
|
||||||
|
GNSS_tracking.var1 = v20;
|
||||||
|
GNSS_tracking.var2 = v21;
|
||||||
|
GNSS_tracking.PRN = v22;
|
||||||
|
end
|
||||||
135
src/utils/matlab/libs/plotKalman.m
Normal file
135
src/utils/matlab/libs/plotKalman.m
Normal file
@@ -0,0 +1,135 @@
|
|||||||
|
function plotKalman(channelList, trackResults, settings)
|
||||||
|
% This function plots the tracking results for the given channel list.
|
||||||
|
%
|
||||||
|
% plotTracking(channelList, trackResults, settings)
|
||||||
|
%
|
||||||
|
% Inputs:
|
||||||
|
% channelList - list of channels to be plotted.
|
||||||
|
% trackResults - tracking results from the tracking function.
|
||||||
|
% settings - receiver settings.
|
||||||
|
|
||||||
|
%--------------------------------------------------------------------------
|
||||||
|
% SoftGNSS v3.0
|
||||||
|
%
|
||||||
|
% Copyright (C) Darius Plausinaitis
|
||||||
|
% Written by Darius Plausinaitis
|
||||||
|
%--------------------------------------------------------------------------
|
||||||
|
%This program is free software; you can redistribute it and/or
|
||||||
|
%modify it under the terms of the GNU General Public License
|
||||||
|
%as published by the Free Software Foundation; either version 2
|
||||||
|
%of the License, or (at your option) any later version.
|
||||||
|
%
|
||||||
|
%This program is distributed in the hope that it will be useful,
|
||||||
|
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
%GNU General Public License for more details.
|
||||||
|
%
|
||||||
|
%You should have received a copy of the GNU General Public License
|
||||||
|
%along with this program; if not, write to the Free Software
|
||||||
|
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||||
|
%USA.
|
||||||
|
%--------------------------------------------------------------------------
|
||||||
|
|
||||||
|
% Protection - if the list contains incorrect channel numbers
|
||||||
|
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
||||||
|
|
||||||
|
%=== For all listed channels ==============================================
|
||||||
|
for channelNr = channelList
|
||||||
|
|
||||||
|
%% Select (or create) and clear the figure ================================
|
||||||
|
% The number 200 is added just for more convenient handling of the open
|
||||||
|
% figure windows, when many figures are closed and reopened.
|
||||||
|
% Figures drawn or opened by the user, will not be "overwritten" by
|
||||||
|
% this function.
|
||||||
|
|
||||||
|
figure(channelNr +200);
|
||||||
|
clf(channelNr +200);
|
||||||
|
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
||||||
|
' (PRN ', ...
|
||||||
|
num2str(trackResults(channelNr).PRN(end-1)), ...
|
||||||
|
') results']);
|
||||||
|
|
||||||
|
timeStart = settings.timeStartInSeconds;
|
||||||
|
|
||||||
|
%% Draw axes ==============================================================
|
||||||
|
% Row 1
|
||||||
|
handles(1, 1) = subplot(4, 2, 1);
|
||||||
|
handles(1, 2) = subplot(4, 2, 2);
|
||||||
|
% Row 2
|
||||||
|
handles(2, 1) = subplot(4, 2, 3);
|
||||||
|
handles(2, 2) = subplot(4, 2, 4);
|
||||||
|
% Row 3
|
||||||
|
handles(3, 1) = subplot(4, 2, [5 6]);
|
||||||
|
% Row 4
|
||||||
|
handles(4, 1) = subplot(4, 2, [7 8]);
|
||||||
|
|
||||||
|
%% Plot all figures =======================================================
|
||||||
|
|
||||||
|
timeAxisInSeconds = (1:settings.msToProcess)/1000;
|
||||||
|
|
||||||
|
%----- CNo for signal----------------------------------
|
||||||
|
plot (handles(1, 1), timeAxisInSeconds, ...
|
||||||
|
trackResults(channelNr).CNo(1:settings.msToProcess), 'b');
|
||||||
|
|
||||||
|
grid (handles(1, 1));
|
||||||
|
axis (handles(1, 1), 'tight');
|
||||||
|
xlabel(handles(1, 1), 'Time (s)');
|
||||||
|
ylabel(handles(1, 1), 'CNo (dB-Hz)');
|
||||||
|
title (handles(1, 1), 'Carrier to Noise Ratio');
|
||||||
|
|
||||||
|
%----- PLL discriminator filtered----------------------------------
|
||||||
|
plot (handles(1, 2), timeAxisInSeconds, ...
|
||||||
|
trackResults(channelNr).state1(1:settings.msToProcess), 'b');
|
||||||
|
|
||||||
|
grid (handles(1, 2));
|
||||||
|
axis (handles(1, 2), 'tight');
|
||||||
|
xlim (handles(1, 2), [timeStart, timeAxisInSeconds(end)]);
|
||||||
|
xlabel(handles(1, 2), 'Time (s)');
|
||||||
|
ylabel(handles(1, 2), 'Phase Amplitude');
|
||||||
|
title (handles(1, 2), 'Filtered Carrier Phase');
|
||||||
|
|
||||||
|
%----- Carrier Frequency --------------------------------
|
||||||
|
plot (handles(2, 1), timeAxisInSeconds(2:end), ...
|
||||||
|
trackResults(channelNr).state2(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
|
||||||
|
|
||||||
|
grid (handles(2, 1));
|
||||||
|
axis (handles(2, 1));
|
||||||
|
xlim (handles(2, 1), [timeStart, timeAxisInSeconds(end)]);
|
||||||
|
xlabel(handles(2, 1), 'Time (s)');
|
||||||
|
ylabel(handles(2, 1), 'Freq (hz)');
|
||||||
|
title (handles(2, 1), 'Filtered Doppler Frequency');
|
||||||
|
|
||||||
|
%----- Carrier Frequency Rate --------------------------------
|
||||||
|
plot (handles(2, 2), timeAxisInSeconds(2:end), ...
|
||||||
|
trackResults(channelNr).state3(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
|
||||||
|
|
||||||
|
grid (handles(2, 2));
|
||||||
|
axis (handles(2, 2));
|
||||||
|
xlim (handles(2, 2), [timeStart, timeAxisInSeconds(end)]);
|
||||||
|
xlabel(handles(2, 2), 'Time (s)');
|
||||||
|
ylabel(handles(2, 2), 'Freq (hz)');
|
||||||
|
title (handles(2, 2), 'Filtered Doppler Frequency Rate');
|
||||||
|
|
||||||
|
%----- PLL discriminator unfiltered--------------------------------
|
||||||
|
plot (handles(3, 1), timeAxisInSeconds, ...
|
||||||
|
trackResults(channelNr).innovation, 'r');
|
||||||
|
|
||||||
|
grid (handles(3, 1));
|
||||||
|
axis (handles(3, 1), 'auto');
|
||||||
|
xlim (handles(3, 1), [timeStart, timeAxisInSeconds(end)]);
|
||||||
|
xlabel(handles(3, 1), 'Time (s)');
|
||||||
|
ylabel(handles(3, 1), 'Amplitude');
|
||||||
|
title (handles(3, 1), 'Raw PLL discriminator (Innovation)');
|
||||||
|
|
||||||
|
|
||||||
|
%----- PLL discriminator covariance --------------------------------
|
||||||
|
plot (handles(4, 1), timeAxisInSeconds, ...
|
||||||
|
trackResults(channelNr).r_noise_cov, 'r');
|
||||||
|
|
||||||
|
grid (handles(4, 1));
|
||||||
|
axis (handles(4, 1), 'auto');
|
||||||
|
xlim (handles(4, 1), [timeStart, timeAxisInSeconds(end)]);
|
||||||
|
xlabel(handles(4, 1), 'Time (s)');
|
||||||
|
ylabel(handles(4, 1), 'Variance');
|
||||||
|
title (handles(4, 1), 'Estimated Noise Variance');
|
||||||
|
end % for channelNr = channelList
|
||||||
Reference in New Issue
Block a user