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Added matlab utils for double estimator tracking

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Cillian O'Driscoll
2015-11-20 15:14:10 +00:00
parent 36a53eda3d
commit 32b2ebd666
2 changed files with 400 additions and 0 deletions
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208
src/utils/matlab/libs/galileo_e1_de_read_tracking_dump.m Normal file
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% /*!
% * \file galileo_e1_dll_pll_veml_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR 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 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR 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 GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function [GNSS_tracking] = galileo_e1_de_read_tracking_dump (filename, count)
%% usage: galileo_e1_de_read_tracking_dump(filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_float_vars=20;
num_unsigned_long_int_vars=1;
num_double_vars=1;
double_size_bytes=8;
unsigned_long_int_size_bytes=8;
float_size_bytes=4;
skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
usage (m);
end
if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v6 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v7 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v9 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v10 = fread (f, count, '*float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v11 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v12 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v13 = fread (f, count, '*float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v14 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v15 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v16 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v17 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v18 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v19 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v20 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v21 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v22 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
fclose (f);
%%%%%%%% output vars %%%%%%%%
% // EPR
% d_dump_file.write((char*)&tmp_VE, sizeof(float));
% d_dump_file.write((char*)&tmp_E, sizeof(float));
% d_dump_file.write((char*)&tmp_P, sizeof(float));
% d_dump_file.write((char*)&tmp_L, sizeof(float));
% d_dump_file.write((char*)&tmp_VL, sizeof(float));
% // PROMPT I and Q (to analyze navigation symbols)
% d_dump_file.write((char*)&prompt_I, sizeof(float));
% d_dump_file.write((char*)&prompt_Q, sizeof(float));
% // PRN start sample stamp
% //tmp_float=(float)d_sample_counter;
% d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
% // accumulated carrier phase
% d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
%
% // carrier and code frequency
% d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
% d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
%
% //PLL commands
% d_dump_file.write((char*)&carr_error, sizeof(float));
% d_dump_file.write((char*)&carr_nco, sizeof(float));
%
% //DLL commands
% d_dump_file.write((char*)&code_error, sizeof(float));
% d_dump_file.write((char*)&code_nco, sizeof(float));
%
% // CN0 and carrier lock test
% d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
% d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
%
% // AUX vars (for debug purposes)
% tmp_float = d_rem_code_phase_samples;
% d_dump_file.write((char*)&tmp_float, sizeof(float));
% tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
% d_dump_file.write((char*)&tmp_double, sizeof(double));
VE=v1;
E=v2;
P=v3;
L=v4;
VL=v5;
prompt_I=v6;
prompt_Q=v7;
PRN_start_sample=v8;
acc_carrier_phase_rad=v9;
carrier_doppler_hz=v10;
code_freq_hz=v11;
carr_error=v12;
carr_nco=v13;
code_error=v14;
code_nco=v15;
subcarrier_error=v16;
subcarrier_nco=v17;
CN0_SNV_dB_Hz=v18;
carrier_lock_test=v19;
rem_code_phase=v20;
var2=v21;
rem_subcarrier_phase=v22;
GNSS_tracking.VE=VE;
GNSS_tracking.E=E;
GNSS_tracking.P=P;
GNSS_tracking.L=L;
GNSS_tracking.VL=VL;
GNSS_tracking.prompt_I=prompt_I;
GNSS_tracking.prompt_Q=prompt_Q;
GNSS_tracking.PRN_start_sample=PRN_start_sample;
GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
GNSS_tracking.code_freq_hz=code_freq_hz;
GNSS_tracking.carr_error=carr_error;
GNSS_tracking.carr_nco=carr_nco;
GNSS_tracking.code_error=code_error;
GNSS_tracking.code_nco=code_nco;
GNSS_tracking.subcarrier_error=subcarrier_error;
GNSS_tracking.subcarrier_nco=subcarrier_nco;
GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
GNSS_tracking.carrier_lock_test=carrier_lock_test;
GNSS_tracking.rem_code_phase=rem_code_phase;
GNSS_tracking.var2=var2;
GNSS_tracking.rem_subcarrier_phase=rem_subcarrier_phase;
end

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src/utils/matlab/libs/plotDETracking.m Normal file
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function plotDETracking(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.
%--------------------------------------------------------------------------
%CVS record:
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
% 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 +400);
clf(channelNr +400);
set(channelNr +400, 'Name', ['Channel ', num2str(channelNr), ...
' (PRN ', ...
num2str(trackResults(channelNr).PRN), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(4, 3, 1);
handles(1, 2) = subplot(4, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(4, 3, 4);
handles(2, 2) = subplot(4, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(4, 3, 7);
handles(3, 2) = subplot(4, 3, 8);
handles(3, 3) = subplot(4, 3, 9);
% Row 4
handles(4, 1) = subplot(4, 3, 10);
handles(4, 2) = subplot(4, 3, 11);
handles(4, 3) = subplot(4, 3, 12);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_P,...
trackResults(channelNr).Q_P, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_P);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_VE.^2 + ...
trackResults(channelNr).Q_VE.^2)', ...
sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)', ...
sqrt(trackResults(channelNr).I_VL.^2 + ...
trackResults(channelNr).Q_VL.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{VE}^2 + Q_{VE}^2}$', ...
'$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$', ...
'$\sqrt{I_{VL}^2 + Q_{VL}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt, 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
%----- SLL discriminator unfiltered--------------------------------
plot (handles(4, 1), timeAxisInSeconds, ...
trackResults(channelNr).sllDiscr, 'r');
grid (handles(4, 1));
axis (handles(4, 1), 'tight');
xlabel(handles(4, 1), 'Time (s)');
ylabel(handles(4, 1), 'Amplitude');
title (handles(4, 1), 'Raw SLL discriminator');
%----- SLL discriminator filtered----------------------------------
plot (handles(4, 2), timeAxisInSeconds, ...
trackResults(channelNr).sllDiscrFilt, 'b');
grid (handles(4, 2));
axis (handles(4, 2), 'tight');
xlabel(handles(4, 2), 'Time (s)');
ylabel(handles(4, 2), 'Amplitude');
title (handles(4, 2), 'Filtered SLL discriminator');
%----- Subcarrier/Code offset---------------------------------
plot (handles(4, 3), timeAxisInSeconds, ...
trackResults(channelNr).codeSubCarrOff, 'b');
grid (handles(4, 3));
axis (handles(4, 3), 'tight');
xlabel(handles(4, 3), 'Time (s)');
ylabel(handles(4, 3), 'delta (chips)');
title (handles(4, 3), 'Subcarrier/Code Off.');
end % for channelNr = channelList