mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-09-11 23:09:47 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
commit
3f93c91111
@ -1,83 +1,83 @@
|
|||||||
% Reads GNSS-SDR Tracking dump binary file using the provided
|
% Reads GNSS-SDR Tracking dump binary file using the provided
|
||||||
% function and plots some internal variables
|
% function and plots some internal variables
|
||||||
% Javier Arribas, 2011. jarribas(at)cttc.es
|
% Javier Arribas, 2011. jarribas(at)cttc.es
|
||||||
% Antonio Ramos, 2018. antonio.ramos(at)cttc.es
|
% Antonio Ramos, 2018. antonio.ramos(at)cttc.es
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
close all;
|
close all;
|
||||||
clear all;
|
clear all;
|
||||||
|
|
||||||
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
||||||
addpath('./libs')
|
addpath('./libs')
|
||||||
end
|
end
|
||||||
|
|
||||||
samplingFreq = 5000000; %[Hz]
|
samplingFreq = 5000000; %[Hz]
|
||||||
coherent_integration_time_ms = 20; %[ms]
|
coherent_integration_time_ms = 20; %[ms]
|
||||||
channels = 5; % Number of channels
|
channels = 5; % Number of channels
|
||||||
first_channel = 0; % Number of the first channel
|
first_channel = 0; % Number of the first channel
|
||||||
|
|
||||||
path = '/dump_dir/'; %% CHANGE THIS PATH
|
path = '/dump_dir/'; %% CHANGE THIS PATH
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
tracking_log_path = [path 'track_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch_ BY YOUR dump_filename
|
tracking_log_path = [path 'track_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch_ BY YOUR dump_filename
|
||||||
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
||||||
end
|
end
|
||||||
|
|
||||||
% GNSS-SDR format conversion to MATLAB GPS receiver
|
% GNSS-SDR format conversion to MATLAB GPS receiver
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
trackResults(N).status = 'T'; %fake track
|
trackResults(N).status = 'T'; %fake track
|
||||||
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
||||||
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
||||||
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
||||||
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
||||||
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
||||||
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
||||||
|
|
||||||
trackResults(N).I_P = GNSS_tracking(N).P.';
|
trackResults(N).I_P = GNSS_tracking(N).P.';
|
||||||
trackResults(N).Q_P = zeros(1,length(GNSS_tracking(N).P));
|
trackResults(N).Q_P = zeros(1,length(GNSS_tracking(N).P));
|
||||||
|
|
||||||
trackResults(N).I_VE = GNSS_tracking(N).VE.';
|
trackResults(N).I_VE = GNSS_tracking(N).VE.';
|
||||||
trackResults(N).I_E = GNSS_tracking(N).E.';
|
trackResults(N).I_E = GNSS_tracking(N).E.';
|
||||||
trackResults(N).I_L = GNSS_tracking(N).L.';
|
trackResults(N).I_L = GNSS_tracking(N).L.';
|
||||||
trackResults(N).I_VL = GNSS_tracking(N).VL.';
|
trackResults(N).I_VL = GNSS_tracking(N).VL.';
|
||||||
trackResults(N).Q_VE = zeros(1,length(GNSS_tracking(N).VE));
|
trackResults(N).Q_VE = zeros(1,length(GNSS_tracking(N).VE));
|
||||||
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
|
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
|
||||||
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
|
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
|
||||||
trackResults(N).data_I = GNSS_tracking(N).prompt_I.';
|
trackResults(N).data_I = GNSS_tracking(N).prompt_I.';
|
||||||
trackResults(N).data_Q = GNSS_tracking(N).prompt_Q.';
|
trackResults(N).data_Q = GNSS_tracking(N).prompt_Q.';
|
||||||
trackResults(N).PRN = GNSS_tracking(N).PRN.';
|
trackResults(N).PRN = GNSS_tracking(N).PRN.';
|
||||||
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
||||||
|
|
||||||
% Use original MATLAB tracking plot function
|
% Use original MATLAB tracking plot function
|
||||||
settings.numberOfChannels = channels;
|
settings.numberOfChannels = channels;
|
||||||
settings.msToProcess = length(GNSS_tracking(N).E) * coherent_integration_time_ms;
|
settings.msToProcess = length(GNSS_tracking(N).E) * coherent_integration_time_ms;
|
||||||
plotVEMLTracking(N, trackResults, settings)
|
plotVEMLTracking(N, trackResults, settings)
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
@ -1,79 +1,79 @@
|
|||||||
% Reads GNSS-SDR Tracking dump binary file using the provided
|
% Reads GNSS-SDR Tracking dump binary file using the provided
|
||||||
% function and plots some internal variables
|
% function and plots some internal variables
|
||||||
% Javier Arribas, 2011. jarribas(at)cttc.es
|
% Javier Arribas, 2011. jarribas(at)cttc.es
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
close all;
|
close all;
|
||||||
clear all;
|
clear all;
|
||||||
|
|
||||||
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
||||||
addpath('./libs')
|
addpath('./libs')
|
||||||
end
|
end
|
||||||
|
|
||||||
samplingFreq = 5000000; %[Hz]
|
samplingFreq = 5000000; %[Hz]
|
||||||
channels = 7; % Number of channels
|
channels = 7; % Number of channels
|
||||||
first_channel = 0; % Number of the first channel
|
first_channel = 0; % Number of the first channel
|
||||||
|
|
||||||
path = '/Users/carlesfernandez/git/cttc/build/'; %% CHANGE THIS PATH
|
path = '/Users/carlesfernandez/git/cttc/build/'; %% CHANGE THIS PATH
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
tracking_log_path = [path 'track_ch' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch BY YOUR dump_filename
|
tracking_log_path = [path 'track_ch' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch BY YOUR dump_filename
|
||||||
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
||||||
end
|
end
|
||||||
|
|
||||||
% GNSS-SDR format conversion to MATLAB GPS receiver
|
% GNSS-SDR format conversion to MATLAB GPS receiver
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
trackResults(N).status = 'T'; %fake track
|
trackResults(N).status = 'T'; %fake track
|
||||||
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
||||||
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
||||||
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
||||||
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
||||||
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
||||||
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
||||||
|
|
||||||
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
||||||
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
||||||
|
|
||||||
trackResults(N).I_VE = GNSS_tracking(N).VE.';
|
trackResults(N).I_VE = GNSS_tracking(N).VE.';
|
||||||
trackResults(N).I_E = GNSS_tracking(N).E.';
|
trackResults(N).I_E = GNSS_tracking(N).E.';
|
||||||
trackResults(N).I_L = GNSS_tracking(N).L.';
|
trackResults(N).I_L = GNSS_tracking(N).L.';
|
||||||
trackResults(N).I_VL = GNSS_tracking(N).VL.';
|
trackResults(N).I_VL = GNSS_tracking(N).VL.';
|
||||||
trackResults(N).Q_VE = zeros(1,length(GNSS_tracking(N).VE));
|
trackResults(N).Q_VE = zeros(1,length(GNSS_tracking(N).VE));
|
||||||
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
|
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
|
||||||
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
|
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
|
||||||
trackResults(N).PRN = GNSS_tracking(N).PRN.';
|
trackResults(N).PRN = GNSS_tracking(N).PRN.';
|
||||||
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
||||||
|
|
||||||
% Use original MATLAB tracking plot function
|
% Use original MATLAB tracking plot function
|
||||||
settings.numberOfChannels = channels;
|
settings.numberOfChannels = channels;
|
||||||
settings.msToProcess = length(GNSS_tracking(N).E)*4;
|
settings.msToProcess = length(GNSS_tracking(N).E)*4;
|
||||||
plotVEMLTracking(N, trackResults, settings)
|
plotVEMLTracking(N, trackResults, settings)
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
@ -92,4 +92,4 @@ for N=1:1:channels
|
|||||||
t = t/1000;
|
t = t/1000;
|
||||||
plot(t, GNSS_tracking(N).carrier_doppler_hz / 1000);
|
plot(t, GNSS_tracking(N).carrier_doppler_hz / 1000);
|
||||||
xlabel('Time(s)'); ylabel('Doppler(KHz)'); title(['Doppler frequency channel ' num2str(N)]);
|
xlabel('Time(s)'); ylabel('Doppler(KHz)'); title(['Doppler frequency channel ' num2str(N)]);
|
||||||
end
|
end
|
||||||
|
@ -1,73 +1,73 @@
|
|||||||
% Reads GNSS-SDR Tracking dump binary file using the provided
|
% Reads GNSS-SDR Tracking dump binary file using the provided
|
||||||
% function and plots some internal variables
|
% function and plots some internal variables
|
||||||
% Damian Miralles, 2017. dmiralles2009(at)gmail.com
|
% Damian Miralles, 2017. dmiralles2009(at)gmail.com
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
close all;
|
close all;
|
||||||
clear all;
|
clear all;
|
||||||
|
|
||||||
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
||||||
addpath('./libs')
|
addpath('./libs')
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
samplingFreq = 6625000; %[Hz]
|
samplingFreq = 6625000; %[Hz]
|
||||||
channels = 5;
|
channels = 5;
|
||||||
first_channel = 0;
|
first_channel = 0;
|
||||||
|
|
||||||
path = '/archive/'; %% CHANGE THIS PATH
|
path = '/archive/'; %% CHANGE THIS PATH
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE glo_tracking_ch_ BY YOUR dump_filename
|
tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE glo_tracking_ch_ BY YOUR dump_filename
|
||||||
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
||||||
end
|
end
|
||||||
|
|
||||||
% GNSS-SDR format conversion to MATLAB GPS receiver
|
% GNSS-SDR format conversion to MATLAB GPS receiver
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
trackResults(N).status = 'T'; %fake track
|
trackResults(N).status = 'T'; %fake track
|
||||||
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
||||||
trackResults(N).carrFreq = GNSS_tracking(N).carrier_freq_hz.';
|
trackResults(N).carrFreq = GNSS_tracking(N).carrier_freq_hz.';
|
||||||
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
||||||
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
||||||
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
||||||
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
||||||
|
|
||||||
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
||||||
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
||||||
|
|
||||||
trackResults(N).I_E = GNSS_tracking(N).E.';
|
trackResults(N).I_E = GNSS_tracking(N).E.';
|
||||||
trackResults(N).I_L = GNSS_tracking(N).L.';
|
trackResults(N).I_L = GNSS_tracking(N).L.';
|
||||||
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
||||||
trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
|
trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
|
||||||
|
|
||||||
% Use original MATLAB tracking plot function
|
% Use original MATLAB tracking plot function
|
||||||
settings.numberOfChannels = channels;
|
settings.numberOfChannels = channels;
|
||||||
settings.msToProcess = length(GNSS_tracking(N).E);
|
settings.msToProcess = length(GNSS_tracking(N).E);
|
||||||
plotTracking(N, trackResults, settings)
|
plotTracking(N, trackResults, settings)
|
||||||
end
|
end
|
||||||
|
@ -1,75 +1,75 @@
|
|||||||
% Reads GNSS-SDR Tracking dump binary file using the provided
|
% Reads GNSS-SDR Tracking dump binary file using the provided
|
||||||
% function and plots some internal variables
|
% function and plots some internal variables
|
||||||
% Javier Arribas, 2011. jarribas(at)cttc.es
|
% Javier Arribas, 2011. jarribas(at)cttc.es
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
close all;
|
close all;
|
||||||
clear all;
|
clear all;
|
||||||
|
|
||||||
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
|
||||||
addpath('./libs')
|
addpath('./libs')
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
samplingFreq = 6625000; %[Hz]
|
samplingFreq = 6625000; %[Hz]
|
||||||
channels = 5;
|
channels = 5;
|
||||||
first_channel = 0;
|
first_channel = 0;
|
||||||
|
|
||||||
path = '/archive/'; %% CHANGE THIS PATH
|
path = '/archive/'; %% CHANGE THIS PATH
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
|
tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
|
||||||
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
|
||||||
end
|
end
|
||||||
|
|
||||||
% GNSS-SDR format conversion to MATLAB GPS receiver
|
% GNSS-SDR format conversion to MATLAB GPS receiver
|
||||||
|
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
trackResults(N).status = 'T'; %fake track
|
trackResults(N).status = 'T'; %fake track
|
||||||
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
|
||||||
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
|
||||||
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
|
||||||
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
|
||||||
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
|
||||||
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
|
||||||
|
|
||||||
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
|
||||||
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
|
||||||
|
|
||||||
trackResults(N).I_E = GNSS_tracking(N).E.';
|
trackResults(N).I_E = GNSS_tracking(N).E.';
|
||||||
trackResults(N).I_L = GNSS_tracking(N).L.';
|
trackResults(N).I_L = GNSS_tracking(N).L.';
|
||||||
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
|
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
|
trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
|
||||||
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
|
||||||
|
|
||||||
% Use original MATLAB tracking plot function
|
% Use original MATLAB tracking plot function
|
||||||
settings.numberOfChannels = channels;
|
settings.numberOfChannels = channels;
|
||||||
settings.msToProcess = length(GNSS_tracking(N).E);
|
settings.msToProcess = length(GNSS_tracking(N).E);
|
||||||
plotTracking(N, trackResults, settings)
|
plotTracking(N, trackResults, settings)
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
|
@ -1,39 +1,39 @@
|
|||||||
% Reads GNSS-SDR Tracking dump binary file using the provided
|
% Reads GNSS-SDR Tracking dump binary file using the provided
|
||||||
% function and plots some internal variables
|
% function and plots some internal variables
|
||||||
% Javier Arribas, 2011. jarribas(at)cttc.es
|
% Javier Arribas, 2011. jarribas(at)cttc.es
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
%close all;
|
%close all;
|
||||||
%clear all;
|
%clear all;
|
||||||
samplingFreq = 64e6/16; %[Hz]
|
samplingFreq = 64e6/16; %[Hz]
|
||||||
channels=4;
|
channels=4;
|
||||||
path='/home/javier/workspace/gnss-sdr-ref/trunk/install/';
|
path='/home/javier/workspace/gnss-sdr-ref/trunk/install/';
|
||||||
clear PRN_absolute_sample_start;
|
clear PRN_absolute_sample_start;
|
||||||
for N=1:1:channels
|
for N=1:1:channels
|
||||||
telemetry_log_path=[path 'telemetry' num2str(N-1) '.dat'];
|
telemetry_log_path=[path 'telemetry' num2str(N-1) '.dat'];
|
||||||
GNSS_telemetry(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path);
|
GNSS_telemetry(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path);
|
||||||
end
|
end
|
||||||
|
|
||||||
|
@ -55,4 +55,4 @@ error_ms=preambles_timestamp_sdr_ms(common_start_index:(common_start_index+lengt
|
|||||||
%
|
%
|
||||||
% plot(GNSS_observables.preamble_delay_ms(channel,:));
|
% plot(GNSS_observables.preamble_delay_ms(channel,:));
|
||||||
%
|
%
|
||||||
% plot(GNSS_observables.prn_delay_ms(channel,:),'r')
|
% plot(GNSS_observables.prn_delay_ms(channel,:),'r')
|
||||||
|
@ -1,58 +1,58 @@
|
|||||||
function [phi, lambda, h] = cart2geo(X, Y, Z, i)
|
function [phi, lambda, h] = cart2geo(X, Y, Z, i)
|
||||||
% CART2GEO Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
% CART2GEO Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||||
% coordinates (phi, lambda, h) on a selected reference ellipsoid.
|
% coordinates (phi, lambda, h) on a selected reference ellipsoid.
|
||||||
%
|
%
|
||||||
% [phi, lambda, h] = cart2geo(X, Y, Z, i);
|
% [phi, lambda, h] = cart2geo(X, Y, Z, i);
|
||||||
%
|
%
|
||||||
% Choices i of Reference Ellipsoid for Geographical Coordinates
|
% Choices i of Reference Ellipsoid for Geographical Coordinates
|
||||||
% 1. International Ellipsoid 1924
|
% 1. International Ellipsoid 1924
|
||||||
% 2. International Ellipsoid 1967
|
% 2. International Ellipsoid 1967
|
||||||
% 3. World Geodetic System 1972
|
% 3. World Geodetic System 1972
|
||||||
% 4. Geodetic Reference System 1980
|
% 4. Geodetic Reference System 1980
|
||||||
% 5. World Geodetic System 1984
|
% 5. World Geodetic System 1984
|
||||||
|
|
||||||
% Kai Borre 10-13-98
|
% Kai Borre 10-13-98
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
% Revision: 1.0 Date: 1998/10/23
|
% Revision: 1.0 Date: 1998/10/23
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
a = [6378388 6378160 6378135 6378137 6378137];
|
a = [6378388 6378160 6378135 6378137 6378137];
|
||||||
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
||||||
|
|
||||||
lambda = atan2(Y,X);
|
lambda = atan2(Y,X);
|
||||||
ex2 = (2-f(i))*f(i)/((1-f(i))^2);
|
ex2 = (2-f(i))*f(i)/((1-f(i))^2);
|
||||||
c = a(i)*sqrt(1+ex2);
|
c = a(i)*sqrt(1+ex2);
|
||||||
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i)))*f(i))));
|
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i)))*f(i))));
|
||||||
|
|
||||||
h = 0.1; oldh = 0;
|
h = 0.1; oldh = 0;
|
||||||
iterations = 0;
|
iterations = 0;
|
||||||
while abs(h-oldh) > 1.e-12
|
while abs(h-oldh) > 1.e-12
|
||||||
oldh = h;
|
oldh = h;
|
||||||
N = c/sqrt(1+ex2*cos(phi)^2);
|
N = c/sqrt(1+ex2*cos(phi)^2);
|
||||||
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i))*f(i)*N/(N+h)))));
|
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i))*f(i)*N/(N+h)))));
|
||||||
h = sqrt(X^2+Y^2)/cos(phi)-N;
|
h = sqrt(X^2+Y^2)/cos(phi)-N;
|
||||||
|
|
||||||
iterations = iterations + 1;
|
iterations = iterations + 1;
|
||||||
if iterations > 100
|
if iterations > 100
|
||||||
fprintf('Failed to approximate h with desired precision. h-oldh: %e.\n', h-oldh);
|
fprintf('Failed to approximate h with desired precision. h-oldh: %e.\n', h-oldh);
|
||||||
break;
|
break;
|
||||||
end
|
end
|
||||||
end
|
end
|
||||||
|
|
||||||
phi = phi*180/pi;
|
phi = phi*180/pi;
|
||||||
% b = zeros(1,3);
|
% b = zeros(1,3);
|
||||||
% b(1,1) = fix(phi);
|
% b(1,1) = fix(phi);
|
||||||
% b(2,1) = fix(rem(phi,b(1,1))*60);
|
% b(2,1) = fix(rem(phi,b(1,1))*60);
|
||||||
% b(3,1) = (phi-b(1,1)-b(1,2)/60)*3600;
|
% b(3,1) = (phi-b(1,1)-b(1,2)/60)*3600;
|
||||||
|
|
||||||
lambda = lambda*180/pi;
|
lambda = lambda*180/pi;
|
||||||
% l = zeros(1,3);
|
% l = zeros(1,3);
|
||||||
% l(1,1) = fix(lambda);
|
% l(1,1) = fix(lambda);
|
||||||
% l(2,1) = fix(rem(lambda,l(1,1))*60);
|
% l(2,1) = fix(rem(lambda,l(1,1))*60);
|
||||||
% l(3,1) = (lambda-l(1,1)-l(1,2)/60)*3600;
|
% l(3,1) = (lambda-l(1,1)-l(1,2)/60)*3600;
|
||||||
|
|
||||||
%fprintf('\n phi =%3.0f %3.0f %8.5f',b(1),b(2),b(3))
|
%fprintf('\n phi =%3.0f %3.0f %8.5f',b(1),b(2),b(3))
|
||||||
%fprintf('\n lambda =%3.0f %3.0f %8.5f',l(1),l(2),l(3))
|
%fprintf('\n lambda =%3.0f %3.0f %8.5f',l(1),l(2),l(3))
|
||||||
%fprintf('\n h =%14.3f\n',h)
|
%fprintf('\n h =%14.3f\n',h)
|
||||||
|
|
||||||
%%%%%%%%%%%%%% end cart2geo.m %%%%%%%%%%%%%%%%%%%
|
%%%%%%%%%%%%%% end cart2geo.m %%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,173 +1,173 @@
|
|||||||
function [E, N, U] = cart2utm(X, Y, Z, zone)
|
function [E, N, U] = cart2utm(X, Y, Z, zone)
|
||||||
% CART2UTM Transformation of (X,Y,Z) to (N,E,U) in UTM, zone 'zone'.
|
% CART2UTM Transformation of (X,Y,Z) to (N,E,U) in UTM, zone 'zone'.
|
||||||
%
|
%
|
||||||
% [E, N, U] = cart2utm(X, Y, Z, zone);
|
% [E, N, U] = cart2utm(X, Y, Z, zone);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% X,Y,Z - Cartesian coordinates. Coordinates are referenced
|
% X,Y,Z - Cartesian coordinates. Coordinates are referenced
|
||||||
% with respect to the International Terrestrial Reference
|
% with respect to the International Terrestrial Reference
|
||||||
% Frame 1996 (ITRF96)
|
% Frame 1996 (ITRF96)
|
||||||
% zone - UTM zone of the given position
|
% zone - UTM zone of the given position
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% E, N, U - UTM coordinates (Easting, Northing, Uping)
|
% E, N, U - UTM coordinates (Easting, Northing, Uping)
|
||||||
|
|
||||||
% Kai Borre -11-1994
|
% Kai Borre -11-1994
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
|
|
||||||
% This implementation is based upon
|
% This implementation is based upon
|
||||||
% O. Andersson & K. Poder (1981) Koordinattransformationer
|
% O. Andersson & K. Poder (1981) Koordinattransformationer
|
||||||
% ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
|
% ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
|
||||||
% Vol. 30: 552--571 and Vol. 31: 76
|
% Vol. 30: 552--571 and Vol. 31: 76
|
||||||
%
|
%
|
||||||
% An excellent, general reference (KW) is
|
% An excellent, general reference (KW) is
|
||||||
% R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
|
% R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
|
||||||
% h\"oheren Geod\"asie und Kartographie.
|
% h\"oheren Geod\"asie und Kartographie.
|
||||||
% Erster Band, Springer Verlag
|
% Erster Band, Springer Verlag
|
||||||
|
|
||||||
% Explanation of variables used:
|
% Explanation of variables used:
|
||||||
% f flattening of ellipsoid
|
% f flattening of ellipsoid
|
||||||
% a semi major axis in m
|
% a semi major axis in m
|
||||||
% m0 1 - scale at central meridian; for UTM 0.0004
|
% m0 1 - scale at central meridian; for UTM 0.0004
|
||||||
% Q_n normalized meridian quadrant
|
% Q_n normalized meridian quadrant
|
||||||
% E0 Easting of central meridian
|
% E0 Easting of central meridian
|
||||||
% L0 Longitude of central meridian
|
% L0 Longitude of central meridian
|
||||||
% bg constants for ellipsoidal geogr. to spherical geogr.
|
% bg constants for ellipsoidal geogr. to spherical geogr.
|
||||||
% gb constants for spherical geogr. to ellipsoidal geogr.
|
% gb constants for spherical geogr. to ellipsoidal geogr.
|
||||||
% gtu constants for ellipsoidal N, E to spherical N, E
|
% gtu constants for ellipsoidal N, E to spherical N, E
|
||||||
% utg constants for spherical N, E to ellipoidal N, E
|
% utg constants for spherical N, E to ellipoidal N, E
|
||||||
% tolutm tolerance for utm, 1.2E-10*meridian quadrant
|
% tolutm tolerance for utm, 1.2E-10*meridian quadrant
|
||||||
% tolgeo tolerance for geographical, 0.00040 second of arc
|
% tolgeo tolerance for geographical, 0.00040 second of arc
|
||||||
|
|
||||||
% B, L refer to latitude and longitude. Southern latitude is negative
|
% B, L refer to latitude and longitude. Southern latitude is negative
|
||||||
% International ellipsoid of 1924, valid for ED50
|
% International ellipsoid of 1924, valid for ED50
|
||||||
|
|
||||||
a = 6378388;
|
a = 6378388;
|
||||||
f = 1/297;
|
f = 1/297;
|
||||||
ex2 = (2-f)*f / ((1-f)^2);
|
ex2 = (2-f)*f / ((1-f)^2);
|
||||||
c = a * sqrt(1+ex2);
|
c = a * sqrt(1+ex2);
|
||||||
vec = [X; Y; Z-4.5];
|
vec = [X; Y; Z-4.5];
|
||||||
alpha = .756e-6;
|
alpha = .756e-6;
|
||||||
R = [ 1 -alpha 0;
|
R = [ 1 -alpha 0;
|
||||||
alpha 1 0;
|
alpha 1 0;
|
||||||
0 0 1];
|
0 0 1];
|
||||||
trans = [89.5; 93.8; 127.6];
|
trans = [89.5; 93.8; 127.6];
|
||||||
scale = 0.9999988;
|
scale = 0.9999988;
|
||||||
v = scale*R*vec + trans; % coordinate vector in ED50
|
v = scale*R*vec + trans; % coordinate vector in ED50
|
||||||
L = atan2(v(2), v(1));
|
L = atan2(v(2), v(1));
|
||||||
N1 = 6395000; % preliminary value
|
N1 = 6395000; % preliminary value
|
||||||
B = atan2(v(3)/((1-f)^2*N1), norm(v(1:2))/N1); % preliminary value
|
B = atan2(v(3)/((1-f)^2*N1), norm(v(1:2))/N1); % preliminary value
|
||||||
U = 0.1; oldU = 0;
|
U = 0.1; oldU = 0;
|
||||||
|
|
||||||
iterations = 0;
|
iterations = 0;
|
||||||
while abs(U-oldU) > 1.e-4
|
while abs(U-oldU) > 1.e-4
|
||||||
oldU = U;
|
oldU = U;
|
||||||
N1 = c/sqrt(1+ex2*(cos(B))^2);
|
N1 = c/sqrt(1+ex2*(cos(B))^2);
|
||||||
B = atan2(v(3)/((1-f)^2*N1+U), norm(v(1:2))/(N1+U) );
|
B = atan2(v(3)/((1-f)^2*N1+U), norm(v(1:2))/(N1+U) );
|
||||||
U = norm(v(1:2))/cos(B)-N1;
|
U = norm(v(1:2))/cos(B)-N1;
|
||||||
|
|
||||||
iterations = iterations + 1;
|
iterations = iterations + 1;
|
||||||
if iterations > 100
|
if iterations > 100
|
||||||
fprintf('Failed to approximate U with desired precision. U-oldU: %e.\n', U-oldU);
|
fprintf('Failed to approximate U with desired precision. U-oldU: %e.\n', U-oldU);
|
||||||
break;
|
break;
|
||||||
end
|
end
|
||||||
end
|
end
|
||||||
|
|
||||||
% Normalized meridian quadrant, KW p. 50 (96), p. 19 (38b), p. 5 (21)
|
% Normalized meridian quadrant, KW p. 50 (96), p. 19 (38b), p. 5 (21)
|
||||||
m0 = 0.0004;
|
m0 = 0.0004;
|
||||||
n = f / (2-f);
|
n = f / (2-f);
|
||||||
m = n^2 * (1/4 + n*n/64);
|
m = n^2 * (1/4 + n*n/64);
|
||||||
w = (a*(-n-m0+m*(1-m0))) / (1+n);
|
w = (a*(-n-m0+m*(1-m0))) / (1+n);
|
||||||
Q_n = a + w;
|
Q_n = a + w;
|
||||||
|
|
||||||
% Easting and longitude of central meridian
|
% Easting and longitude of central meridian
|
||||||
E0 = 500000;
|
E0 = 500000;
|
||||||
L0 = (zone-30)*6 - 3;
|
L0 = (zone-30)*6 - 3;
|
||||||
|
|
||||||
% Check tolerance for reverse transformation
|
% Check tolerance for reverse transformation
|
||||||
tolutm = pi/2 * 1.2e-10 * Q_n;
|
tolutm = pi/2 * 1.2e-10 * Q_n;
|
||||||
tolgeo = 0.000040;
|
tolgeo = 0.000040;
|
||||||
|
|
||||||
% Coefficients of trigonometric series
|
% Coefficients of trigonometric series
|
||||||
|
|
||||||
% ellipsoidal to spherical geographical, KW p. 186--187, (51)-(52)
|
% ellipsoidal to spherical geographical, KW p. 186--187, (51)-(52)
|
||||||
% bg[1] = n*(-2 + n*(2/3 + n*(4/3 + n*(-82/45))));
|
% bg[1] = n*(-2 + n*(2/3 + n*(4/3 + n*(-82/45))));
|
||||||
% bg[2] = n^2*(5/3 + n*(-16/15 + n*(-13/9)));
|
% bg[2] = n^2*(5/3 + n*(-16/15 + n*(-13/9)));
|
||||||
% bg[3] = n^3*(-26/15 + n*34/21);
|
% bg[3] = n^3*(-26/15 + n*34/21);
|
||||||
% bg[4] = n^4*1237/630;
|
% bg[4] = n^4*1237/630;
|
||||||
|
|
||||||
% spherical to ellipsoidal geographical, KW p. 190--191, (61)-(62)
|
% spherical to ellipsoidal geographical, KW p. 190--191, (61)-(62)
|
||||||
% gb[1] = n*(2 + n*(-2/3 + n*(-2 + n*116/45)));
|
% gb[1] = n*(2 + n*(-2/3 + n*(-2 + n*116/45)));
|
||||||
% gb[2] = n^2*(7/3 + n*(-8/5 + n*(-227/45)));
|
% gb[2] = n^2*(7/3 + n*(-8/5 + n*(-227/45)));
|
||||||
% gb[3] = n^3*(56/15 + n*(-136/35));
|
% gb[3] = n^3*(56/15 + n*(-136/35));
|
||||||
% gb[4] = n^4*4279/630;
|
% gb[4] = n^4*4279/630;
|
||||||
|
|
||||||
% spherical to ellipsoidal N, E, KW p. 196, (69)
|
% spherical to ellipsoidal N, E, KW p. 196, (69)
|
||||||
% gtu[1] = n*(1/2 + n*(-2/3 + n*(5/16 + n*41/180)));
|
% gtu[1] = n*(1/2 + n*(-2/3 + n*(5/16 + n*41/180)));
|
||||||
% gtu[2] = n^2*(13/48 + n*(-3/5 + n*557/1440));
|
% gtu[2] = n^2*(13/48 + n*(-3/5 + n*557/1440));
|
||||||
% gtu[3] = n^3*(61/240 + n*(-103/140));
|
% gtu[3] = n^3*(61/240 + n*(-103/140));
|
||||||
% gtu[4] = n^4*49561/161280;
|
% gtu[4] = n^4*49561/161280;
|
||||||
|
|
||||||
% ellipsoidal to spherical N, E, KW p. 194, (65)
|
% ellipsoidal to spherical N, E, KW p. 194, (65)
|
||||||
% utg[1] = n*(-1/2 + n*(2/3 + n*(-37/96 + n*1/360)));
|
% utg[1] = n*(-1/2 + n*(2/3 + n*(-37/96 + n*1/360)));
|
||||||
% utg[2] = n^2*(-1/48 + n*(-1/15 + n*437/1440));
|
% utg[2] = n^2*(-1/48 + n*(-1/15 + n*437/1440));
|
||||||
% utg[3] = n^3*(-17/480 + n*37/840);
|
% utg[3] = n^3*(-17/480 + n*37/840);
|
||||||
% utg[4] = n^4*(-4397/161280);
|
% utg[4] = n^4*(-4397/161280);
|
||||||
|
|
||||||
% With f = 1/297 we get
|
% With f = 1/297 we get
|
||||||
|
|
||||||
bg = [-3.37077907e-3;
|
bg = [-3.37077907e-3;
|
||||||
4.73444769e-6;
|
4.73444769e-6;
|
||||||
-8.29914570e-9;
|
-8.29914570e-9;
|
||||||
1.58785330e-11];
|
1.58785330e-11];
|
||||||
|
|
||||||
gb = [ 3.37077588e-3;
|
gb = [ 3.37077588e-3;
|
||||||
6.62769080e-6;
|
6.62769080e-6;
|
||||||
1.78718601e-8;
|
1.78718601e-8;
|
||||||
5.49266312e-11];
|
5.49266312e-11];
|
||||||
|
|
||||||
gtu = [ 8.41275991e-4;
|
gtu = [ 8.41275991e-4;
|
||||||
7.67306686e-7;
|
7.67306686e-7;
|
||||||
1.21291230e-9;
|
1.21291230e-9;
|
||||||
2.48508228e-12];
|
2.48508228e-12];
|
||||||
|
|
||||||
utg = [-8.41276339e-4;
|
utg = [-8.41276339e-4;
|
||||||
-5.95619298e-8;
|
-5.95619298e-8;
|
||||||
-1.69485209e-10;
|
-1.69485209e-10;
|
||||||
-2.20473896e-13];
|
-2.20473896e-13];
|
||||||
|
|
||||||
% Ellipsoidal latitude, longitude to spherical latitude, longitude
|
% Ellipsoidal latitude, longitude to spherical latitude, longitude
|
||||||
neg_geo = 'FALSE';
|
neg_geo = 'FALSE';
|
||||||
|
|
||||||
if B < 0
|
if B < 0
|
||||||
neg_geo = 'TRUE ';
|
neg_geo = 'TRUE ';
|
||||||
end
|
end
|
||||||
|
|
||||||
Bg_r = abs(B);
|
Bg_r = abs(B);
|
||||||
[res_clensin] = clsin(bg, 4, 2*Bg_r);
|
[res_clensin] = clsin(bg, 4, 2*Bg_r);
|
||||||
Bg_r = Bg_r + res_clensin;
|
Bg_r = Bg_r + res_clensin;
|
||||||
L0 = L0*pi / 180;
|
L0 = L0*pi / 180;
|
||||||
Lg_r = L - L0;
|
Lg_r = L - L0;
|
||||||
|
|
||||||
% Spherical latitude, longitude to complementary spherical latitude
|
% Spherical latitude, longitude to complementary spherical latitude
|
||||||
% i.e. spherical N, E
|
% i.e. spherical N, E
|
||||||
cos_BN = cos(Bg_r);
|
cos_BN = cos(Bg_r);
|
||||||
Np = atan2(sin(Bg_r), cos(Lg_r)*cos_BN);
|
Np = atan2(sin(Bg_r), cos(Lg_r)*cos_BN);
|
||||||
Ep = atanh(sin(Lg_r) * cos_BN);
|
Ep = atanh(sin(Lg_r) * cos_BN);
|
||||||
|
|
||||||
%Spherical normalized N, E to ellipsoidal N, E
|
%Spherical normalized N, E to ellipsoidal N, E
|
||||||
Np = 2 * Np;
|
Np = 2 * Np;
|
||||||
Ep = 2 * Ep;
|
Ep = 2 * Ep;
|
||||||
[dN, dE] = clksin(gtu, 4, Np, Ep);
|
[dN, dE] = clksin(gtu, 4, Np, Ep);
|
||||||
Np = Np/2;
|
Np = Np/2;
|
||||||
Ep = Ep/2;
|
Ep = Ep/2;
|
||||||
Np = Np + dN;
|
Np = Np + dN;
|
||||||
Ep = Ep + dE;
|
Ep = Ep + dE;
|
||||||
N = Q_n * Np;
|
N = Q_n * Np;
|
||||||
E = Q_n*Ep + E0;
|
E = Q_n*Ep + E0;
|
||||||
|
|
||||||
if neg_geo == 'TRUE '
|
if neg_geo == 'TRUE '
|
||||||
N = -N + 20000000;
|
N = -N + 20000000;
|
||||||
end;
|
end;
|
||||||
|
|
||||||
%%%%%%%%%%%%%%%%%%%% end cart2utm.m %%%%%%%%%%%%%%%%%%%%
|
%%%%%%%%%%%%%%%%%%%% end cart2utm.m %%%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,26 +1,26 @@
|
|||||||
function corrTime = check_t(time)
|
function corrTime = check_t(time)
|
||||||
% CHECK_T accounting for beginning or end of week crossover.
|
% CHECK_T accounting for beginning or end of week crossover.
|
||||||
%
|
%
|
||||||
% corrTime = check_t(time);
|
% corrTime = check_t(time);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% time - time in seconds
|
% time - time in seconds
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% corrTime - corrected time (seconds)
|
% corrTime - corrected time (seconds)
|
||||||
|
|
||||||
% Kai Borre 04-01-96
|
% Kai Borre 04-01-96
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
half_week = 302400; % seconds
|
half_week = 302400; % seconds
|
||||||
|
|
||||||
corrTime = time;
|
corrTime = time;
|
||||||
|
|
||||||
if time > half_week
|
if time > half_week
|
||||||
corrTime = time - 2*half_week;
|
corrTime = time - 2*half_week;
|
||||||
elseif time < -half_week
|
elseif time < -half_week
|
||||||
corrTime = time + 2*half_week;
|
corrTime = time + 2*half_week;
|
||||||
end
|
end
|
||||||
|
|
||||||
%%%%%%% end check_t.m %%%%%%%%%%%%%%%%%
|
%%%%%%% end check_t.m %%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,36 +1,36 @@
|
|||||||
function [re, im] = clksin(ar, degree, arg_real, arg_imag)
|
function [re, im] = clksin(ar, degree, arg_real, arg_imag)
|
||||||
% Clenshaw summation of sinus with complex argument
|
% Clenshaw summation of sinus with complex argument
|
||||||
% [re, im] = clksin(ar, degree, arg_real, arg_imag);
|
% [re, im] = clksin(ar, degree, arg_real, arg_imag);
|
||||||
|
|
||||||
% Written by Kai Borre
|
% Written by Kai Borre
|
||||||
% December 20, 1995
|
% December 20, 1995
|
||||||
%
|
%
|
||||||
% See also WGS2UTM or CART2UTM
|
% See also WGS2UTM or CART2UTM
|
||||||
%
|
%
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
sin_arg_r = sin(arg_real);
|
sin_arg_r = sin(arg_real);
|
||||||
cos_arg_r = cos(arg_real);
|
cos_arg_r = cos(arg_real);
|
||||||
sinh_arg_i = sinh(arg_imag);
|
sinh_arg_i = sinh(arg_imag);
|
||||||
cosh_arg_i = cosh(arg_imag);
|
cosh_arg_i = cosh(arg_imag);
|
||||||
|
|
||||||
r = 2 * cos_arg_r * cosh_arg_i;
|
r = 2 * cos_arg_r * cosh_arg_i;
|
||||||
i =-2 * sin_arg_r * sinh_arg_i;
|
i =-2 * sin_arg_r * sinh_arg_i;
|
||||||
|
|
||||||
hr1 = 0; hr = 0; hi1 = 0; hi = 0;
|
hr1 = 0; hr = 0; hi1 = 0; hi = 0;
|
||||||
|
|
||||||
for t = degree : -1 : 1
|
for t = degree : -1 : 1
|
||||||
hr2 = hr1;
|
hr2 = hr1;
|
||||||
hr1 = hr;
|
hr1 = hr;
|
||||||
hi2 = hi1;
|
hi2 = hi1;
|
||||||
hi1 = hi;
|
hi1 = hi;
|
||||||
z = ar(t) + r*hr1 - i*hi - hr2;
|
z = ar(t) + r*hr1 - i*hi - hr2;
|
||||||
hi = i*hr1 + r*hi1 - hi2;
|
hi = i*hr1 + r*hi1 - hi2;
|
||||||
hr = z;
|
hr = z;
|
||||||
end
|
end
|
||||||
|
|
||||||
r = sin_arg_r * cosh_arg_i;
|
r = sin_arg_r * cosh_arg_i;
|
||||||
i = cos_arg_r * sinh_arg_i;
|
i = cos_arg_r * sinh_arg_i;
|
||||||
|
|
||||||
re = r*hr - i*hi;
|
re = r*hr - i*hi;
|
||||||
im = r*hi + i*hr;
|
im = r*hi + i*hr;
|
||||||
|
@ -1,24 +1,24 @@
|
|||||||
function result = clsin(ar, degree, argument)
|
function result = clsin(ar, degree, argument)
|
||||||
% Clenshaw summation of sinus of argument.
|
% Clenshaw summation of sinus of argument.
|
||||||
%
|
%
|
||||||
% result = clsin(ar, degree, argument);
|
% result = clsin(ar, degree, argument);
|
||||||
|
|
||||||
% Written by Kai Borre
|
% Written by Kai Borre
|
||||||
% December 20, 1995
|
% December 20, 1995
|
||||||
%
|
%
|
||||||
% See also WGS2UTM or CART2UTM
|
% See also WGS2UTM or CART2UTM
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
cos_arg = 2 * cos(argument);
|
cos_arg = 2 * cos(argument);
|
||||||
hr1 = 0;
|
hr1 = 0;
|
||||||
hr = 0;
|
hr = 0;
|
||||||
|
|
||||||
for t = degree : -1 : 1
|
for t = degree : -1 : 1
|
||||||
hr2 = hr1;
|
hr2 = hr1;
|
||||||
hr1 = hr;
|
hr1 = hr;
|
||||||
hr = ar(t) + cos_arg*hr1 - hr2;
|
hr = ar(t) + cos_arg*hr1 - hr2;
|
||||||
end
|
end
|
||||||
|
|
||||||
result = hr * sin(argument);
|
result = hr * sin(argument);
|
||||||
|
|
||||||
%%%%%%%%%%%%%%%%%%%%%%% end clsin.m %%%%%%%%%%%%%%%%%%%%%
|
%%%%%%%%%%%%%%%%%%%%%%% end clsin.m %%%%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,43 +1,43 @@
|
|||||||
function dmsOutput = deg2dms(deg)
|
function dmsOutput = deg2dms(deg)
|
||||||
% DEG2DMS Conversion of degrees to degrees, minutes, and seconds.
|
% DEG2DMS Conversion of degrees to degrees, minutes, and seconds.
|
||||||
% The output format (dms format) is: (degrees*100 + minutes + seconds/100)
|
% The output format (dms format) is: (degrees*100 + minutes + seconds/100)
|
||||||
|
|
||||||
% Written by Kai Borre
|
% Written by Kai Borre
|
||||||
% February 7, 2001
|
% February 7, 2001
|
||||||
% Updated by Darius Plausinaitis
|
% Updated by Darius Plausinaitis
|
||||||
|
|
||||||
%%% Save the sign for later processing
|
%%% Save the sign for later processing
|
||||||
neg_arg = false;
|
neg_arg = false;
|
||||||
if deg < 0
|
if deg < 0
|
||||||
% Only positive numbers should be used while spliting into deg/min/sec
|
% Only positive numbers should be used while spliting into deg/min/sec
|
||||||
deg = -deg;
|
deg = -deg;
|
||||||
neg_arg = true;
|
neg_arg = true;
|
||||||
end
|
end
|
||||||
|
|
||||||
%%% Split degrees minutes and seconds
|
%%% Split degrees minutes and seconds
|
||||||
int_deg = floor(deg);
|
int_deg = floor(deg);
|
||||||
decimal = deg - int_deg;
|
decimal = deg - int_deg;
|
||||||
min_part = decimal*60;
|
min_part = decimal*60;
|
||||||
min = floor(min_part);
|
min = floor(min_part);
|
||||||
sec_part = min_part - floor(min_part);
|
sec_part = min_part - floor(min_part);
|
||||||
sec = sec_part*60;
|
sec = sec_part*60;
|
||||||
|
|
||||||
%%% Check for overflow
|
%%% Check for overflow
|
||||||
if sec == 60
|
if sec == 60
|
||||||
min = min + 1;
|
min = min + 1;
|
||||||
sec = 0;
|
sec = 0;
|
||||||
end
|
end
|
||||||
if min == 60
|
if min == 60
|
||||||
int_deg = int_deg + 1;
|
int_deg = int_deg + 1;
|
||||||
min = 0;
|
min = 0;
|
||||||
end
|
end
|
||||||
|
|
||||||
%%% Construct the output
|
%%% Construct the output
|
||||||
dmsOutput = int_deg * 100 + min + sec/100;
|
dmsOutput = int_deg * 100 + min + sec/100;
|
||||||
|
|
||||||
%%% Correct the sign
|
%%% Correct the sign
|
||||||
if neg_arg == true
|
if neg_arg == true
|
||||||
dmsOutput = -dmsOutput;
|
dmsOutput = -dmsOutput;
|
||||||
end
|
end
|
||||||
|
|
||||||
%%%%%%%%%%%%%%%%%%% end deg2dms.m %%%%%%%%%%%%%%%%
|
%%%%%%%%%%%%%%%%%%% end deg2dms.m %%%%%%%%%%%%%%%%
|
||||||
|
@ -1,12 +1,12 @@
|
|||||||
|
|
||||||
function deg = dms2deg(dms)
|
function deg = dms2deg(dms)
|
||||||
% DMS2DEG Conversion of degrees, minutes, and seconds to degrees.
|
% DMS2DEG Conversion of degrees, minutes, and seconds to degrees.
|
||||||
|
|
||||||
% Written by Javier Arribas 2011
|
% Written by Javier Arribas 2011
|
||||||
% December 7, 2011
|
% December 7, 2011
|
||||||
|
|
||||||
%if (dms(1)>=0)
|
%if (dms(1)>=0)
|
||||||
deg=dms(1)+dms(2)/60+dms(3)/3600;
|
deg=dms(1)+dms(2)/60+dms(3)/3600;
|
||||||
%else
|
%else
|
||||||
%deg=dms(1)-dms(2)/60-dms(3)/3600;
|
%deg=dms(1)-dms(2)/60-dms(3)/3600;
|
||||||
%end
|
%end
|
||||||
|
@ -1,104 +1,103 @@
|
|||||||
function [dout,mout,sout] = dms2mat(dms,n)
|
function [dout,mout,sout] = dms2mat(dms,n)
|
||||||
|
|
||||||
% DMS2MAT Converts a dms vector format to a [deg min sec] matrix
|
% DMS2MAT Converts a dms vector format to a [deg min sec] matrix
|
||||||
%
|
%
|
||||||
% [d,m,s] = DMS2MAT(dms) converts a dms vector format to a
|
% [d,m,s] = DMS2MAT(dms) converts a dms vector format to a
|
||||||
% deg:min:sec matrix. The vector format is dms = 100*deg + min + sec/100.
|
% deg:min:sec matrix. The vector format is dms = 100*deg + min + sec/100.
|
||||||
% This allows compressed dms data to be expanded to a d,m,s triple,
|
% This allows compressed dms data to be expanded to a d,m,s triple,
|
||||||
% for easier reporting and viewing of the data.
|
% for easier reporting and viewing of the data.
|
||||||
%
|
%
|
||||||
% [d,m,s] = DMS2MAT(dms,n) uses n digits in the accuracy of the
|
% [d,m,s] = DMS2MAT(dms,n) uses n digits in the accuracy of the
|
||||||
% seconds calculation. n = -2 uses accuracy in the hundredths position,
|
% seconds calculation. n = -2 uses accuracy in the hundredths position,
|
||||||
% n = 0 uses accuracy in the units position. Default is n = -5.
|
% n = 0 uses accuracy in the units position. Default is n = -5.
|
||||||
% For further discussion of the input n, see ROUNDN.
|
% For further discussion of the input n, see ROUNDN.
|
||||||
%
|
%
|
||||||
% mat = DMS2MAT(...) returns a single output argument of mat = [d m s].
|
% mat = DMS2MAT(...) returns a single output argument of mat = [d m s].
|
||||||
% This is useful only if the input dms is a single column vector.
|
% This is useful only if the input dms is a single column vector.
|
||||||
%
|
%
|
||||||
% See also MAT2DMS
|
% See also MAT2DMS
|
||||||
|
|
||||||
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
||||||
% Written by: E. Byrns, E. Brown
|
% Written by: E. Byrns, E. Brown
|
||||||
% Revision: 1.10 $Date: 2002/03/20 21:25:06
|
% Revision: 1.10 $Date: 2002/03/20 21:25:06
|
||||||
|
|
||||||
|
|
||||||
if nargin == 0
|
if nargin == 0
|
||||||
error('Incorrect number of arguments')
|
error('Incorrect number of arguments')
|
||||||
elseif nargin == 1
|
elseif nargin == 1
|
||||||
n = -5;
|
n = -5;
|
||||||
end
|
end
|
||||||
|
|
||||||
% Test for empty arguments
|
% Test for empty arguments
|
||||||
|
|
||||||
if isempty(dms); dout = []; mout = []; sout = []; return; end
|
if isempty(dms); dout = []; mout = []; sout = []; return; end
|
||||||
|
|
||||||
% Test for complex arguments
|
% Test for complex arguments
|
||||||
|
|
||||||
if ~isreal(dms)
|
if ~isreal(dms)
|
||||||
warning('Imaginary parts of complex ANGLE argument ignored')
|
warning('Imaginary parts of complex ANGLE argument ignored')
|
||||||
dms = real(dms);
|
dms = real(dms);
|
||||||
end
|
end
|
||||||
|
|
||||||
% Don't let seconds be rounded beyond the tens place.
|
% Don't let seconds be rounded beyond the tens place.
|
||||||
% If you did, then 55 seconds rounds to 100, which is not good.
|
% If you did, then 55 seconds rounds to 100, which is not good.
|
||||||
|
|
||||||
if n == 2; n = 1; end
|
if n == 2; n = 1; end
|
||||||
|
|
||||||
% Construct a sign vector which has +1 when dms >= 0 and -1 when dms < 0.
|
% Construct a sign vector which has +1 when dms >= 0 and -1 when dms < 0.
|
||||||
|
|
||||||
signvec = sign(dms);
|
signvec = sign(dms);
|
||||||
signvec = signvec + (signvec == 0); % Ensure +1 when dms = 0
|
signvec = signvec + (signvec == 0); % Ensure +1 when dms = 0
|
||||||
|
|
||||||
% Decompress the dms data vector
|
% Decompress the dms data vector
|
||||||
|
|
||||||
dms = abs(dms);
|
dms = abs(dms);
|
||||||
d = fix(dms/100); % Degrees
|
d = fix(dms/100); % Degrees
|
||||||
m = fix(dms) - abs(100*d); % Minutes
|
m = fix(dms) - abs(100*d); % Minutes
|
||||||
[s,msg] = roundn(100*rem(dms,1),n); % Seconds: Truncate to roundoff error
|
[s,msg] = roundn(100*rem(dms,1),n); % Seconds: Truncate to roundoff error
|
||||||
if ~isempty(msg); error(msg); end
|
if ~isempty(msg); error(msg); end
|
||||||
|
|
||||||
% Adjust for 60 seconds or 60 minutes.
|
% Adjust for 60 seconds or 60 minutes.
|
||||||
% Test for seconds > 60 to allow for round-off from roundn,
|
% Test for seconds > 60 to allow for round-off from roundn,
|
||||||
% Test for minutes > 60 as a ripple effect from seconds > 60
|
% Test for minutes > 60 as a ripple effect from seconds > 60
|
||||||
|
|
||||||
|
|
||||||
indx = find(s >= 60);
|
indx = find(s >= 60);
|
||||||
if ~isempty(indx); m(indx) = m(indx) + 1; s(indx) = s(indx) - 60; end
|
if ~isempty(indx); m(indx) = m(indx) + 1; s(indx) = s(indx) - 60; end
|
||||||
indx = find(m >= 60);
|
indx = find(m >= 60);
|
||||||
if ~isempty(indx); d(indx) = d(indx) + 1; m(indx) = m(indx) - 60; end
|
if ~isempty(indx); d(indx) = d(indx) + 1; m(indx) = m(indx) - 60; end
|
||||||
|
|
||||||
% Data consistency checks
|
% Data consistency checks
|
||||||
|
|
||||||
if any(m > 59) | any (m < 0)
|
if any(m > 59) | any (m < 0)
|
||||||
error('Minutes must be >= 0 and <= 59')
|
error('Minutes must be >= 0 and <= 59')
|
||||||
|
|
||||||
elseif any(s >= 60) | any( s < 0)
|
elseif any(s >= 60) | any( s < 0)
|
||||||
error('Seconds must be >= 0 and < 60')
|
error('Seconds must be >= 0 and < 60')
|
||||||
end
|
end
|
||||||
|
|
||||||
% Determine where to store the sign of the angle. It should be
|
% Determine where to store the sign of the angle. It should be
|
||||||
% associated with the largest nonzero component of d:m:s.
|
% associated with the largest nonzero component of d:m:s.
|
||||||
|
|
||||||
dsign = signvec .* (d~=0);
|
dsign = signvec .* (d~=0);
|
||||||
msign = signvec .* (d==0 & m~=0);
|
msign = signvec .* (d==0 & m~=0);
|
||||||
ssign = signvec .* (d==0 & m==0 & s~=0);
|
ssign = signvec .* (d==0 & m==0 & s~=0);
|
||||||
|
|
||||||
% In the application of signs below, the comparison with 0 is used so that
|
% In the application of signs below, the comparison with 0 is used so that
|
||||||
% the sign vector contains only +1 and -1. Any zero occurances causes
|
% the sign vector contains only +1 and -1. Any zero occurances causes
|
||||||
% data to be lost when the sign has been applied to a higher component
|
% data to be lost when the sign has been applied to a higher component
|
||||||
% of d:m:s. Use fix function to eliminate potential round-off errors.
|
% of d:m:s. Use fix function to eliminate potential round-off errors.
|
||||||
|
|
||||||
d = ((dsign==0) + dsign).*fix(d); % Apply signs to the degrees
|
d = ((dsign==0) + dsign).*fix(d); % Apply signs to the degrees
|
||||||
m = ((msign==0) + msign).*fix(m); % Apply signs to minutes
|
m = ((msign==0) + msign).*fix(m); % Apply signs to minutes
|
||||||
s = ((ssign==0) + ssign).*s; % Apply signs to seconds
|
s = ((ssign==0) + ssign).*s; % Apply signs to seconds
|
||||||
|
|
||||||
% Set the output arguments
|
% Set the output arguments
|
||||||
|
|
||||||
if nargout <= 1
|
if nargout <= 1
|
||||||
dout = [d m s];
|
dout = [d m s];
|
||||||
elseif nargout == 3
|
elseif nargout == 3
|
||||||
dout = d; mout = m; sout = s;
|
dout = d; mout = m; sout = s;
|
||||||
else
|
else
|
||||||
error('Invalid number of output arguments')
|
error('Invalid number of output arguments')
|
||||||
end
|
end
|
||||||
|
|
||||||
|
@ -1,31 +1,31 @@
|
|||||||
function X_sat_rot = e_r_corr(traveltime, X_sat)
|
function X_sat_rot = e_r_corr(traveltime, X_sat)
|
||||||
% E_R_CORR Returns rotated satellite ECEF coordinates due to Earth
|
% E_R_CORR Returns rotated satellite ECEF coordinates due to Earth
|
||||||
% rotation during signal travel time
|
% rotation during signal travel time
|
||||||
%
|
%
|
||||||
% X_sat_rot = e_r_corr(traveltime, X_sat);
|
% X_sat_rot = e_r_corr(traveltime, X_sat);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% travelTime - signal travel time
|
% travelTime - signal travel time
|
||||||
% X_sat - satellite's ECEF coordinates
|
% X_sat - satellite's ECEF coordinates
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% X_sat_rot - rotated satellite's coordinates (ECEF)
|
% X_sat_rot - rotated satellite's coordinates (ECEF)
|
||||||
|
|
||||||
% Written by Kai Borre
|
% Written by Kai Borre
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
Omegae_dot = 7.292115147e-5; % rad/sec
|
Omegae_dot = 7.292115147e-5; % rad/sec
|
||||||
|
|
||||||
%--- Find rotation angle --------------------------------------------------
|
%--- Find rotation angle --------------------------------------------------
|
||||||
omegatau = Omegae_dot * traveltime;
|
omegatau = Omegae_dot * traveltime;
|
||||||
|
|
||||||
%--- Make a rotation matrix -----------------------------------------------
|
%--- Make a rotation matrix -----------------------------------------------
|
||||||
R3 = [ cos(omegatau) sin(omegatau) 0;
|
R3 = [ cos(omegatau) sin(omegatau) 0;
|
||||||
-sin(omegatau) cos(omegatau) 0;
|
-sin(omegatau) cos(omegatau) 0;
|
||||||
0 0 1];
|
0 0 1];
|
||||||
|
|
||||||
%--- Do the rotation ------------------------------------------------------
|
%--- Do the rotation ------------------------------------------------------
|
||||||
X_sat_rot = R3 * X_sat;
|
X_sat_rot = R3 * X_sat;
|
||||||
|
|
||||||
%%%%%%%% end e_r_corr.m %%%%%%%%%%%%%%%%%%%%
|
%%%%%%%% end e_r_corr.m %%%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,69 +1,69 @@
|
|||||||
function utmZone = findUtmZone(latitude, longitude)
|
function utmZone = findUtmZone(latitude, longitude)
|
||||||
% Function finds the UTM zone number for given longitude and latitude.
|
% Function finds the UTM zone number for given longitude and latitude.
|
||||||
% The longitude value must be between -180 (180 degree West) and 180 (180
|
% The longitude value must be between -180 (180 degree West) and 180 (180
|
||||||
% degree East) degree. The latitude must be within -80 (80 degree South) and
|
% degree East) degree. The latitude must be within -80 (80 degree South) and
|
||||||
% 84 (84 degree North).
|
% 84 (84 degree North).
|
||||||
%
|
%
|
||||||
% utmZone = findUtmZone(latitude, longitude);
|
% utmZone = findUtmZone(latitude, longitude);
|
||||||
%
|
%
|
||||||
% Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
|
% Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
|
||||||
% 15 deg 30 min).
|
% 15 deg 30 min).
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%
|
%
|
||||||
% Copyright (C) Darius Plausinaitis
|
% Copyright (C) Darius Plausinaitis
|
||||||
% Written by Darius Plausinaitis
|
% Written by Darius Plausinaitis
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
%This program is free software; you can redistribute it and/or
|
%This program is free software; you can redistribute it and/or
|
||||||
%modify it under the terms of the GNU General Public License
|
%modify it under the terms of the GNU General Public License
|
||||||
%as published by the Free Software Foundation; either version 2
|
%as published by the Free Software Foundation; either version 2
|
||||||
%of the License, or (at your option) any later version.
|
%of the License, or (at your option) any later version.
|
||||||
%
|
%
|
||||||
%This program is distributed in the hope that it will be useful,
|
%This program is distributed in the hope that it will be useful,
|
||||||
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
%GNU General Public License for more details.
|
%GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
%You should have received a copy of the GNU General Public License
|
%You should have received a copy of the GNU General Public License
|
||||||
%along with this program; if not, write to the Free Software
|
%along with this program; if not, write to the Free Software
|
||||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||||
%USA.
|
%USA.
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
%% Check value bounds =====================================================
|
%% Check value bounds =====================================================
|
||||||
|
|
||||||
if ((longitude > 180) || (longitude < -180))
|
if ((longitude > 180) || (longitude < -180))
|
||||||
error('Longitude value exceeds limits (-180:180).');
|
error('Longitude value exceeds limits (-180:180).');
|
||||||
end
|
end
|
||||||
|
|
||||||
if ((latitude > 84) || (latitude < -80))
|
if ((latitude > 84) || (latitude < -80))
|
||||||
error('Latitude value exceeds limits (-80:84).');
|
error('Latitude value exceeds limits (-80:84).');
|
||||||
end
|
end
|
||||||
|
|
||||||
%% Find zone ==============================================================
|
%% Find zone ==============================================================
|
||||||
|
|
||||||
% Start at 180 deg west = -180 deg
|
% Start at 180 deg west = -180 deg
|
||||||
|
|
||||||
utmZone = fix((180 + longitude)/ 6) + 1;
|
utmZone = fix((180 + longitude)/ 6) + 1;
|
||||||
|
|
||||||
%% Correct zone numbers for particular areas ==============================
|
%% Correct zone numbers for particular areas ==============================
|
||||||
|
|
||||||
if (latitude > 72)
|
if (latitude > 72)
|
||||||
% Corrections for zones 31 33 35 37
|
% Corrections for zones 31 33 35 37
|
||||||
if ((longitude >= 0) && (longitude < 9))
|
if ((longitude >= 0) && (longitude < 9))
|
||||||
utmZone = 31;
|
utmZone = 31;
|
||||||
elseif ((longitude >= 9) && (longitude < 21))
|
elseif ((longitude >= 9) && (longitude < 21))
|
||||||
utmZone = 33;
|
utmZone = 33;
|
||||||
elseif ((longitude >= 21) && (longitude < 33))
|
elseif ((longitude >= 21) && (longitude < 33))
|
||||||
utmZone = 35;
|
utmZone = 35;
|
||||||
elseif ((longitude >= 33) && (longitude < 42))
|
elseif ((longitude >= 33) && (longitude < 42))
|
||||||
utmZone = 37;
|
utmZone = 37;
|
||||||
end
|
end
|
||||||
|
|
||||||
elseif ((latitude >= 56) && (latitude < 64))
|
elseif ((latitude >= 56) && (latitude < 64))
|
||||||
% Correction for zone 32
|
% Correction for zone 32
|
||||||
if ((longitude >= 3) && (longitude < 12))
|
if ((longitude >= 3) && (longitude < 12))
|
||||||
utmZone = 32;
|
utmZone = 32;
|
||||||
end
|
end
|
||||||
end
|
end
|
||||||
|
@ -1,46 +1,46 @@
|
|||||||
function [X, Y, Z] = geo2cart(phi, lambda, h, i)
|
function [X, Y, Z] = geo2cart(phi, lambda, h, i)
|
||||||
% GEO2CART Conversion of geographical coordinates (phi, lambda, h) to
|
% GEO2CART Conversion of geographical coordinates (phi, lambda, h) to
|
||||||
% Cartesian coordinates (X, Y, Z).
|
% Cartesian coordinates (X, Y, Z).
|
||||||
%
|
%
|
||||||
% [X, Y, Z] = geo2cart(phi, lambda, h, i);
|
% [X, Y, Z] = geo2cart(phi, lambda, h, i);
|
||||||
%
|
%
|
||||||
% Format for phi and lambda: [degrees minutes seconds].
|
% Format for phi and lambda: [degrees minutes seconds].
|
||||||
% h, X, Y, and Z are in meters.
|
% h, X, Y, and Z are in meters.
|
||||||
%
|
%
|
||||||
% Choices i of Reference Ellipsoid
|
% Choices i of Reference Ellipsoid
|
||||||
% 1. International Ellipsoid 1924
|
% 1. International Ellipsoid 1924
|
||||||
% 2. International Ellipsoid 1967
|
% 2. International Ellipsoid 1967
|
||||||
% 3. World Geodetic System 1972
|
% 3. World Geodetic System 1972
|
||||||
% 4. Geodetic Reference System 1980
|
% 4. Geodetic Reference System 1980
|
||||||
% 5. World Geodetic System 1984
|
% 5. World Geodetic System 1984
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% phi - geocentric latitude (format [degrees minutes seconds])
|
% phi - geocentric latitude (format [degrees minutes seconds])
|
||||||
% lambda - geocentric longitude (format [degrees minutes seconds])
|
% lambda - geocentric longitude (format [degrees minutes seconds])
|
||||||
% h - height
|
% h - height
|
||||||
% i - reference ellipsoid type
|
% i - reference ellipsoid type
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% X, Y, Z - Cartesian coordinates (meters)
|
% X, Y, Z - Cartesian coordinates (meters)
|
||||||
|
|
||||||
% Kai Borre 10-13-98
|
% Kai Borre 10-13-98
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
b = phi(1) + phi(2)/60 + phi(3)/3600;
|
b = phi(1) + phi(2)/60 + phi(3)/3600;
|
||||||
b = b*pi / 180;
|
b = b*pi / 180;
|
||||||
l = lambda(1) + lambda(2)/60 + lambda(3)/3600;
|
l = lambda(1) + lambda(2)/60 + lambda(3)/3600;
|
||||||
l = l*pi / 180;
|
l = l*pi / 180;
|
||||||
|
|
||||||
a = [6378388 6378160 6378135 6378137 6378137];
|
a = [6378388 6378160 6378135 6378137 6378137];
|
||||||
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
||||||
|
|
||||||
ex2 = (2-f(i))*f(i) / ((1-f(i))^2);
|
ex2 = (2-f(i))*f(i) / ((1-f(i))^2);
|
||||||
c = a(i) * sqrt(1+ex2);
|
c = a(i) * sqrt(1+ex2);
|
||||||
N = c / sqrt(1 + ex2*cos(b)^2);
|
N = c / sqrt(1 + ex2*cos(b)^2);
|
||||||
|
|
||||||
X = (N+h) * cos(b) * cos(l);
|
X = (N+h) * cos(b) * cos(l);
|
||||||
Y = (N+h) * cos(b) * sin(l);
|
Y = (N+h) * cos(b) * sin(l);
|
||||||
Z = ((1-f(i))^2*N + h) * sin(b);
|
Z = ((1-f(i))^2*N + h) * sin(b);
|
||||||
|
|
||||||
%%%%%%%%%%%%%% end geo2cart.m %%%%%%%%%%%%%%%%%%%%%%%%
|
%%%%%%%%%%%%%% end geo2cart.m %%%%%%%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,111 +1,111 @@
|
|||||||
function [pos, el, az, dop] = leastSquarePos(satpos, obs, settings)
|
function [pos, el, az, dop] = leastSquarePos(satpos, obs, settings)
|
||||||
% Function calculates the Least Square Solution.
|
% Function calculates the Least Square Solution.
|
||||||
%
|
%
|
||||||
% [pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
% [pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
||||||
% one column per satellite)
|
% one column per satellite)
|
||||||
% obs - Observations - the pseudorange measurements to each
|
% obs - Observations - the pseudorange measurements to each
|
||||||
% satellite:
|
% satellite:
|
||||||
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
||||||
% settings - receiver settings
|
% settings - receiver settings
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% pos - receiver position and receiver clock error
|
% pos - receiver position and receiver clock error
|
||||||
% (in ECEF system: [X, Y, Z, dt])
|
% (in ECEF system: [X, Y, Z, dt])
|
||||||
% el - Satellites elevation angles (degrees)
|
% el - Satellites elevation angles (degrees)
|
||||||
% az - Satellites azimuth angles (degrees)
|
% az - Satellites azimuth angles (degrees)
|
||||||
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
%Based on Kai Borre
|
%Based on Kai Borre
|
||||||
%Copyright (c) by Kai Borre
|
%Copyright (c) by Kai Borre
|
||||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
%=== Initialization =======================================================
|
%=== Initialization =======================================================
|
||||||
nmbOfIterations = 7;
|
nmbOfIterations = 7;
|
||||||
|
|
||||||
dtr = pi/180;
|
dtr = pi/180;
|
||||||
pos = zeros(4, 1);
|
pos = zeros(4, 1);
|
||||||
X = satpos;
|
X = satpos;
|
||||||
nmbOfSatellites = size(satpos, 2);
|
nmbOfSatellites = size(satpos, 2);
|
||||||
|
|
||||||
A = zeros(nmbOfSatellites, 4);
|
A = zeros(nmbOfSatellites, 4);
|
||||||
omc = zeros(nmbOfSatellites, 1);
|
omc = zeros(nmbOfSatellites, 1);
|
||||||
az = zeros(1, nmbOfSatellites);
|
az = zeros(1, nmbOfSatellites);
|
||||||
el = az;
|
el = az;
|
||||||
|
|
||||||
%=== Iteratively find receiver position ===================================
|
%=== Iteratively find receiver position ===================================
|
||||||
for iter = 1:nmbOfIterations
|
for iter = 1:nmbOfIterations
|
||||||
|
|
||||||
for i = 1:nmbOfSatellites
|
for i = 1:nmbOfSatellites
|
||||||
if iter == 1
|
if iter == 1
|
||||||
%--- Initialize variables at the first iteration --------------
|
%--- Initialize variables at the first iteration --------------
|
||||||
Rot_X = X(:, i);
|
Rot_X = X(:, i);
|
||||||
trop = 2;
|
trop = 2;
|
||||||
else
|
else
|
||||||
%--- Update equations -----------------------------------------
|
%--- Update equations -----------------------------------------
|
||||||
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||||
(X(3, i) - pos(3))^2;
|
(X(3, i) - pos(3))^2;
|
||||||
traveltime = sqrt(rho2) / settings.c ;
|
traveltime = sqrt(rho2) / settings.c ;
|
||||||
|
|
||||||
%--- Correct satellite position (do to earth rotation) --------
|
%--- Correct satellite position (do to earth rotation) --------
|
||||||
Rot_X = e_r_corr(traveltime, X(:, i));
|
Rot_X = e_r_corr(traveltime, X(:, i));
|
||||||
|
|
||||||
%--- Find the elevation angel of the satellite ----------------
|
%--- Find the elevation angel of the satellite ----------------
|
||||||
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
||||||
|
|
||||||
if (settings.useTropCorr == 1)
|
if (settings.useTropCorr == 1)
|
||||||
%--- Calculate tropospheric correction --------------------
|
%--- Calculate tropospheric correction --------------------
|
||||||
trop = tropo(sin(el(i) * dtr), ...
|
trop = tropo(sin(el(i) * dtr), ...
|
||||||
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
||||||
else
|
else
|
||||||
% Do not calculate or apply the tropospheric corrections
|
% Do not calculate or apply the tropospheric corrections
|
||||||
trop = 0;
|
trop = 0;
|
||||||
end
|
end
|
||||||
end % if iter == 1 ... ... else
|
end % if iter == 1 ... ... else
|
||||||
|
|
||||||
%--- Apply the corrections ----------------------------------------
|
%--- Apply the corrections ----------------------------------------
|
||||||
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
||||||
|
|
||||||
%--- Construct the A matrix ---------------------------------------
|
%--- Construct the A matrix ---------------------------------------
|
||||||
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
||||||
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
||||||
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
||||||
1 ];
|
1 ];
|
||||||
end % for i = 1:nmbOfSatellites
|
end % for i = 1:nmbOfSatellites
|
||||||
|
|
||||||
% These lines allow the code to exit gracefully in case of any errors
|
% These lines allow the code to exit gracefully in case of any errors
|
||||||
if rank(A) ~= 4
|
if rank(A) ~= 4
|
||||||
pos = zeros(1, 4);
|
pos = zeros(1, 4);
|
||||||
return
|
return
|
||||||
end
|
end
|
||||||
|
|
||||||
%--- Find position update ---------------------------------------------
|
%--- Find position update ---------------------------------------------
|
||||||
x = A \ omc;
|
x = A \ omc;
|
||||||
|
|
||||||
%--- Apply position update --------------------------------------------
|
%--- Apply position update --------------------------------------------
|
||||||
pos = pos + x;
|
pos = pos + x;
|
||||||
|
|
||||||
end % for iter = 1:nmbOfIterations
|
end % for iter = 1:nmbOfIterations
|
||||||
|
|
||||||
pos = pos';
|
pos = pos';
|
||||||
|
|
||||||
%=== Calculate Dilution Of Precision ======================================
|
%=== Calculate Dilution Of Precision ======================================
|
||||||
if nargout == 4
|
if nargout == 4
|
||||||
%--- Initialize output ------------------------------------------------
|
%--- Initialize output ------------------------------------------------
|
||||||
dop = zeros(1, 5);
|
dop = zeros(1, 5);
|
||||||
|
|
||||||
%--- Calculate DOP ----------------------------------------------------
|
%--- Calculate DOP ----------------------------------------------------
|
||||||
Q = inv(A'*A);
|
Q = inv(A'*A);
|
||||||
|
|
||||||
dop(1) = sqrt(trace(Q)); % GDOP
|
dop(1) = sqrt(trace(Q)); % GDOP
|
||||||
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
||||||
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
||||||
dop(4) = sqrt(Q(3,3)); % VDOP
|
dop(4) = sqrt(Q(3,3)); % VDOP
|
||||||
dop(5) = sqrt(Q(4,4)); % TDOP
|
dop(5) = sqrt(Q(4,4)); % TDOP
|
||||||
end
|
end
|
||||||
|
@ -1,124 +1,124 @@
|
|||||||
function dmsvec = mat2dms(d,m,s,n)
|
function dmsvec = mat2dms(d,m,s,n)
|
||||||
% MAT2DMS Converts a [deg min sec] matrix to vector format
|
% MAT2DMS Converts a [deg min sec] matrix to vector format
|
||||||
%
|
%
|
||||||
% dms = MAT2DMS(d,m,s) converts a deg:min:sec matrix into a vector
|
% dms = MAT2DMS(d,m,s) converts a deg:min:sec matrix into a vector
|
||||||
% format. The vector format is dms = 100*deg + min + sec/100.
|
% format. The vector format is dms = 100*deg + min + sec/100.
|
||||||
% This allows d,m,s triple to be compressed into a single value,
|
% This allows d,m,s triple to be compressed into a single value,
|
||||||
% which can then be employed similar to a degree or radian vector.
|
% which can then be employed similar to a degree or radian vector.
|
||||||
% The inputs d, m and s must be of equal size. Minutes and
|
% The inputs d, m and s must be of equal size. Minutes and
|
||||||
% second must be between 0 and 60.
|
% second must be between 0 and 60.
|
||||||
%
|
%
|
||||||
% dms = MAT2DMS(mat) assumes and input matrix of [d m s]. This is
|
% dms = MAT2DMS(mat) assumes and input matrix of [d m s]. This is
|
||||||
% useful only for single column vectors for d, m and s.
|
% useful only for single column vectors for d, m and s.
|
||||||
%
|
%
|
||||||
% dms = MAT2DMS(d,m) and dms = MAT2DMS([d m]) assume that seconds
|
% dms = MAT2DMS(d,m) and dms = MAT2DMS([d m]) assume that seconds
|
||||||
% are zero, s = 0.
|
% are zero, s = 0.
|
||||||
%
|
%
|
||||||
% dms = MAT2DMS(d,m,s,n) uses n as the accuracy of the seconds
|
% dms = MAT2DMS(d,m,s,n) uses n as the accuracy of the seconds
|
||||||
% calculation. n = -2 uses accuracy in the hundredths position,
|
% calculation. n = -2 uses accuracy in the hundredths position,
|
||||||
% n = 0 uses accuracy in the units position. Default is n = -5.
|
% n = 0 uses accuracy in the units position. Default is n = -5.
|
||||||
% For further discussion of the input n, see ROUNDN.
|
% For further discussion of the input n, see ROUNDN.
|
||||||
%
|
%
|
||||||
% See also DMS2MAT
|
% See also DMS2MAT
|
||||||
|
|
||||||
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
||||||
% Written by: E. Byrns, E. Brown
|
% Written by: E. Byrns, E. Brown
|
||||||
% Revision: 1.10 Date: 2002/03/20 21:25:51
|
% Revision: 1.10 Date: 2002/03/20 21:25:51
|
||||||
|
|
||||||
|
|
||||||
if nargin == 0
|
if nargin == 0
|
||||||
error('Incorrect number of arguments')
|
error('Incorrect number of arguments')
|
||||||
|
|
||||||
elseif nargin==1
|
elseif nargin==1
|
||||||
if size(d,2)== 3
|
if size(d,2)== 3
|
||||||
s = d(:,3); m = d(:,2); d = d(:,1);
|
s = d(:,3); m = d(:,2); d = d(:,1);
|
||||||
elseif size(d,2)== 2
|
elseif size(d,2)== 2
|
||||||
m = d(:,2); d = d(:,1); s = zeros(size(d));
|
m = d(:,2); d = d(:,1); s = zeros(size(d));
|
||||||
elseif size(d,2) == 0
|
elseif size(d,2) == 0
|
||||||
d = []; m = []; s = [];
|
d = []; m = []; s = [];
|
||||||
else
|
else
|
||||||
error('Single input matrices must be n-by-2 or n-by-3.');
|
error('Single input matrices must be n-by-2 or n-by-3.');
|
||||||
end
|
end
|
||||||
n = -5;
|
n = -5;
|
||||||
|
|
||||||
elseif nargin == 2
|
elseif nargin == 2
|
||||||
s = zeros(size(d));
|
s = zeros(size(d));
|
||||||
n = -5;
|
n = -5;
|
||||||
|
|
||||||
elseif nargin == 3
|
elseif nargin == 3
|
||||||
n = -5;
|
n = -5;
|
||||||
end
|
end
|
||||||
|
|
||||||
% Test for empty arguments
|
% Test for empty arguments
|
||||||
|
|
||||||
if isempty(d) & isempty(m) & isempty(s); dmsvec = []; return; end
|
if isempty(d) & isempty(m) & isempty(s); dmsvec = []; return; end
|
||||||
|
|
||||||
% Don't let seconds be rounded beyond the tens place.
|
% Don't let seconds be rounded beyond the tens place.
|
||||||
% If you did, then 55 seconds rounds to 100, which is not good.
|
% If you did, then 55 seconds rounds to 100, which is not good.
|
||||||
|
|
||||||
if n == 2; n = 1; end
|
if n == 2; n = 1; end
|
||||||
|
|
||||||
% Complex argument tests
|
% Complex argument tests
|
||||||
|
|
||||||
if any([~isreal(d) ~isreal(m) ~isreal(s)])
|
if any([~isreal(d) ~isreal(m) ~isreal(s)])
|
||||||
warning('Imaginary parts of complex ANGLE argument ignored')
|
warning('Imaginary parts of complex ANGLE argument ignored')
|
||||||
d = real(d); m = real(m); s = real(s);
|
d = real(d); m = real(m); s = real(s);
|
||||||
end
|
end
|
||||||
|
|
||||||
% Dimension and value tests
|
% Dimension and value tests
|
||||||
|
|
||||||
if ~isequal(size(d),size(m),size(s))
|
if ~isequal(size(d),size(m),size(s))
|
||||||
error('Inconsistent dimensions for input arguments')
|
error('Inconsistent dimensions for input arguments')
|
||||||
elseif any(rem(d(~isnan(d)),1) ~= 0 | rem(m(~isnan(m)),1) ~= 0)
|
elseif any(rem(d(~isnan(d)),1) ~= 0 | rem(m(~isnan(m)),1) ~= 0)
|
||||||
error('Degrees and minutes must be integers')
|
error('Degrees and minutes must be integers')
|
||||||
end
|
end
|
||||||
|
|
||||||
if any(abs(m) > 60) | any (abs(m) < 0) % Actually algorithm allows for
|
if any(abs(m) > 60) | any (abs(m) < 0) % Actually algorithm allows for
|
||||||
error('Minutes must be >= 0 and < 60') % up to exactly 60 seconds or
|
error('Minutes must be >= 0 and < 60') % up to exactly 60 seconds or
|
||||||
% 60 minutes, but the error message
|
% 60 minutes, but the error message
|
||||||
elseif any(abs(s) > 60) | any(abs(s) < 0) % doesn't reflect this so that angst
|
elseif any(abs(s) > 60) | any(abs(s) < 0) % doesn't reflect this so that angst
|
||||||
error('Seconds must be >= 0 and < 60') % is minimized in the user docs
|
error('Seconds must be >= 0 and < 60') % is minimized in the user docs
|
||||||
end
|
end
|
||||||
|
|
||||||
% Ensure that only one negative sign is present and at the correct location
|
% Ensure that only one negative sign is present and at the correct location
|
||||||
|
|
||||||
if any((s<0 & m<0) | (s<0 & d<0) | (m<0 & d<0) )
|
if any((s<0 & m<0) | (s<0 & d<0) | (m<0 & d<0) )
|
||||||
error('Multiple negative entries in a DMS specification')
|
error('Multiple negative entries in a DMS specification')
|
||||||
elseif any((s<0 & (m~=0 | d~= 0)) | (m<0 & d~=0))
|
elseif any((s<0 & (m~=0 | d~= 0)) | (m<0 & d~=0))
|
||||||
error('Incorrect negative DMS specification')
|
error('Incorrect negative DMS specification')
|
||||||
end
|
end
|
||||||
|
|
||||||
% Construct a sign vector which has +1 when
|
% Construct a sign vector which has +1 when
|
||||||
% angle >= 0 and -1 when angle < 0. Note that the sign of the
|
% angle >= 0 and -1 when angle < 0. Note that the sign of the
|
||||||
% angle is associated with the largest nonzero component of d:m:s
|
% angle is associated with the largest nonzero component of d:m:s
|
||||||
|
|
||||||
negvec = (d<0) | (m<0) | (s<0);
|
negvec = (d<0) | (m<0) | (s<0);
|
||||||
signvec = ~negvec - negvec;
|
signvec = ~negvec - negvec;
|
||||||
|
|
||||||
% Convert to all positive numbers. Allows for easier
|
% Convert to all positive numbers. Allows for easier
|
||||||
% adjusting at 60 seconds and 60 minutes
|
% adjusting at 60 seconds and 60 minutes
|
||||||
|
|
||||||
d = abs(d); m = abs(m); s = abs(s);
|
d = abs(d); m = abs(m); s = abs(s);
|
||||||
|
|
||||||
% Truncate seconds to a specified accuracy to eliminate round-off errors
|
% Truncate seconds to a specified accuracy to eliminate round-off errors
|
||||||
|
|
||||||
[s,msg] = roundn(s,n);
|
[s,msg] = roundn(s,n);
|
||||||
if ~isempty(msg); error(msg); end
|
if ~isempty(msg); error(msg); end
|
||||||
|
|
||||||
% Adjust for 60 seconds or 60 minutes. If s > 60, this can only be
|
% Adjust for 60 seconds or 60 minutes. If s > 60, this can only be
|
||||||
% from round-off during roundn since s > 60 is already tested above.
|
% from round-off during roundn since s > 60 is already tested above.
|
||||||
% This round-off effect has happened though.
|
% This round-off effect has happened though.
|
||||||
|
|
||||||
indx = find(s >= 60);
|
indx = find(s >= 60);
|
||||||
if ~isempty(indx); m(indx) = m(indx) + 1; s(indx) = 0; end
|
if ~isempty(indx); m(indx) = m(indx) + 1; s(indx) = 0; end
|
||||||
|
|
||||||
% The user can not put minutes > 60 as input. However, the line
|
% The user can not put minutes > 60 as input. However, the line
|
||||||
% above may create minutes > 60 (since the user can put in m == 60),
|
% above may create minutes > 60 (since the user can put in m == 60),
|
||||||
% thus, the test below includes the greater than condition.
|
% thus, the test below includes the greater than condition.
|
||||||
|
|
||||||
indx = find(m >= 60);
|
indx = find(m >= 60);
|
||||||
if ~isempty(indx); d(indx) = d(indx) + 1; m(indx) = m(indx)-60; end
|
if ~isempty(indx); d(indx) = d(indx) + 1; m(indx) = m(indx)-60; end
|
||||||
|
|
||||||
% Construct the dms vector format
|
% Construct the dms vector format
|
||||||
|
|
||||||
dmsvec = signvec .* (100*d + m + s/100);
|
dmsvec = signvec .* (100*d + m + s/100);
|
||||||
|
@ -1,46 +1,46 @@
|
|||||||
function [x,msg] = roundn(x,n)
|
function [x,msg] = roundn(x,n)
|
||||||
|
|
||||||
% ROUNDN Rounds input data at specified power of 10
|
% ROUNDN Rounds input data at specified power of 10
|
||||||
%
|
%
|
||||||
% y = ROUNDN(x) rounds the input data x to the nearest hundredth.
|
% y = ROUNDN(x) rounds the input data x to the nearest hundredth.
|
||||||
%
|
%
|
||||||
% y = ROUNDN(x,n) rounds the input data x at the specified power
|
% y = ROUNDN(x,n) rounds the input data x at the specified power
|
||||||
% of tens position. For example, n = -2 rounds the input data to
|
% of tens position. For example, n = -2 rounds the input data to
|
||||||
% the 10E-2 (hundredths) position.
|
% the 10E-2 (hundredths) position.
|
||||||
%
|
%
|
||||||
% [y,msg] = ROUNDN(...) returns the text of any error condition
|
% [y,msg] = ROUNDN(...) returns the text of any error condition
|
||||||
% encountered in the output variable msg.
|
% encountered in the output variable msg.
|
||||||
%
|
%
|
||||||
% See also ROUND
|
% See also ROUND
|
||||||
|
|
||||||
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
|
||||||
% Written by: E. Byrns, E. Brown
|
% Written by: E. Byrns, E. Brown
|
||||||
% Revision: 1.9 Date: 2002/03/20 21:26:19
|
% Revision: 1.9 Date: 2002/03/20 21:26:19
|
||||||
|
|
||||||
msg = []; % Initialize output
|
msg = []; % Initialize output
|
||||||
|
|
||||||
if nargin == 0
|
if nargin == 0
|
||||||
error('Incorrect number of arguments')
|
error('Incorrect number of arguments')
|
||||||
elseif nargin == 1
|
elseif nargin == 1
|
||||||
n = -2;
|
n = -2;
|
||||||
end
|
end
|
||||||
|
|
||||||
% Test for scalar n
|
% Test for scalar n
|
||||||
|
|
||||||
if max(size(n)) ~= 1
|
if max(size(n)) ~= 1
|
||||||
msg = 'Scalar accuracy required';
|
msg = 'Scalar accuracy required';
|
||||||
if nargout < 2; error(msg); end
|
if nargout < 2; error(msg); end
|
||||||
return
|
return
|
||||||
elseif ~isreal(n)
|
elseif ~isreal(n)
|
||||||
warning('Imaginary part of complex N argument ignored')
|
warning('Imaginary part of complex N argument ignored')
|
||||||
n = real(n);
|
n = real(n);
|
||||||
end
|
end
|
||||||
|
|
||||||
% Compute the exponential factors for rounding at specified
|
% Compute the exponential factors for rounding at specified
|
||||||
% power of 10. Ensure that n is an integer.
|
% power of 10. Ensure that n is an integer.
|
||||||
|
|
||||||
factors = 10 ^ (fix(-n));
|
factors = 10 ^ (fix(-n));
|
||||||
|
|
||||||
% Set the significant digits for the input data
|
% Set the significant digits for the input data
|
||||||
|
|
||||||
x = round(x * factors) / factors;
|
x = round(x * factors) / factors;
|
||||||
|
@ -1,138 +1,138 @@
|
|||||||
function [satPositions, satClkCorr] = satpos(transmitTime, prnList, ...
|
function [satPositions, satClkCorr] = satpos(transmitTime, prnList, ...
|
||||||
eph, settings)
|
eph, settings)
|
||||||
% SATPOS Computation of satellite coordinates X,Y,Z at TRANSMITTIME for
|
% SATPOS Computation of satellite coordinates X,Y,Z at TRANSMITTIME for
|
||||||
% given ephemeris EPH. Coordinates are computed for each satellite in the
|
% given ephemeris EPH. Coordinates are computed for each satellite in the
|
||||||
% list PRNLIST.
|
% list PRNLIST.
|
||||||
%[ satPositions, satClkCorr] = satpos(transmitTime, prnList, eph, settings);
|
%[ satPositions, satClkCorr] = satpos(transmitTime, prnList, eph, settings);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% transmitTime - transmission time
|
% transmitTime - transmission time
|
||||||
% prnList - list of PRN-s to be processed
|
% prnList - list of PRN-s to be processed
|
||||||
% eph - ephemerides of satellites
|
% eph - ephemerides of satellites
|
||||||
% settings - receiver settings
|
% settings - receiver settings
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% satPositions - position of satellites (in ECEF system [X; Y; Z;])
|
% satPositions - position of satellites (in ECEF system [X; Y; Z;])
|
||||||
% satClkCorr - correction of satellite clocks
|
% satClkCorr - correction of satellite clocks
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% Based on Kai Borre 04-09-96
|
% Based on Kai Borre 04-09-96
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
% Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
% Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||||
|
|
||||||
%% Initialize constants ===================================================
|
%% Initialize constants ===================================================
|
||||||
numOfSatellites = size(prnList, 2);
|
numOfSatellites = size(prnList, 2);
|
||||||
|
|
||||||
% GPS constatns
|
% GPS constatns
|
||||||
|
|
||||||
gpsPi = 3.1415926535898; % Pi used in the GPS coordinate
|
gpsPi = 3.1415926535898; % Pi used in the GPS coordinate
|
||||||
% system
|
% system
|
||||||
|
|
||||||
%--- Constants for satellite position calculation -------------------------
|
%--- Constants for satellite position calculation -------------------------
|
||||||
Omegae_dot = 7.2921151467e-5; % Earth rotation rate, [rad/s]
|
Omegae_dot = 7.2921151467e-5; % Earth rotation rate, [rad/s]
|
||||||
GM = 3.986005e14; % Universal gravitational constant times
|
GM = 3.986005e14; % Universal gravitational constant times
|
||||||
% the mass of the Earth, [m^3/s^2]
|
% the mass of the Earth, [m^3/s^2]
|
||||||
F = -4.442807633e-10; % Constant, [sec/(meter)^(1/2)]
|
F = -4.442807633e-10; % Constant, [sec/(meter)^(1/2)]
|
||||||
|
|
||||||
%% Initialize results =====================================================
|
%% Initialize results =====================================================
|
||||||
satClkCorr = zeros(1, numOfSatellites);
|
satClkCorr = zeros(1, numOfSatellites);
|
||||||
satPositions = zeros(3, numOfSatellites);
|
satPositions = zeros(3, numOfSatellites);
|
||||||
|
|
||||||
%% Process each satellite =================================================
|
%% Process each satellite =================================================
|
||||||
|
|
||||||
for satNr = 1 : numOfSatellites
|
for satNr = 1 : numOfSatellites
|
||||||
|
|
||||||
prn = prnList(satNr);
|
prn = prnList(satNr);
|
||||||
|
|
||||||
%% Find initial satellite clock correction --------------------------------
|
%% Find initial satellite clock correction --------------------------------
|
||||||
|
|
||||||
%--- Find time difference ---------------------------------------------
|
%--- Find time difference ---------------------------------------------
|
||||||
dt = check_t(transmitTime - eph(prn).t_oc);
|
dt = check_t(transmitTime - eph(prn).t_oc);
|
||||||
|
|
||||||
%--- Calculate clock correction ---------------------------------------
|
%--- Calculate clock correction ---------------------------------------
|
||||||
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
||||||
eph(prn).a_f0 - ...
|
eph(prn).a_f0 - ...
|
||||||
eph(prn).T_GD;
|
eph(prn).T_GD;
|
||||||
|
|
||||||
time = transmitTime - satClkCorr(satNr);
|
time = transmitTime - satClkCorr(satNr);
|
||||||
|
|
||||||
%% Find satellite's position ----------------------------------------------
|
%% Find satellite's position ----------------------------------------------
|
||||||
|
|
||||||
%Restore semi-major axis
|
%Restore semi-major axis
|
||||||
a = eph(prn).sqrtA * eph(prn).sqrtA;
|
a = eph(prn).sqrtA * eph(prn).sqrtA;
|
||||||
|
|
||||||
%Time correction
|
%Time correction
|
||||||
tk = check_t(time - eph(prn).t_oe);
|
tk = check_t(time - eph(prn).t_oe);
|
||||||
|
|
||||||
%Initial mean motion
|
%Initial mean motion
|
||||||
n0 = sqrt(GM / a^3);
|
n0 = sqrt(GM / a^3);
|
||||||
%Mean motion
|
%Mean motion
|
||||||
n = n0 + eph(prn).deltan;
|
n = n0 + eph(prn).deltan;
|
||||||
|
|
||||||
%Mean anomaly
|
%Mean anomaly
|
||||||
M = eph(prn).M_0 + n * tk;
|
M = eph(prn).M_0 + n * tk;
|
||||||
%Reduce mean anomaly to between 0 and 360 deg
|
%Reduce mean anomaly to between 0 and 360 deg
|
||||||
M = rem(M + 2*gpsPi, 2*gpsPi);
|
M = rem(M + 2*gpsPi, 2*gpsPi);
|
||||||
|
|
||||||
%Initial guess of eccentric anomaly
|
%Initial guess of eccentric anomaly
|
||||||
E = M;
|
E = M;
|
||||||
|
|
||||||
%--- Iteratively compute eccentric anomaly ----------------------------
|
%--- Iteratively compute eccentric anomaly ----------------------------
|
||||||
for ii = 1:10
|
for ii = 1:10
|
||||||
E_old = E;
|
E_old = E;
|
||||||
E = M + eph(prn).e * sin(E);
|
E = M + eph(prn).e * sin(E);
|
||||||
dE = rem(E - E_old, 2*gpsPi);
|
dE = rem(E - E_old, 2*gpsPi);
|
||||||
|
|
||||||
if abs(dE) < 1.e-12
|
if abs(dE) < 1.e-12
|
||||||
% Necessary precision is reached, exit from the loop
|
% Necessary precision is reached, exit from the loop
|
||||||
break;
|
break;
|
||||||
end
|
end
|
||||||
end
|
end
|
||||||
|
|
||||||
%Reduce eccentric anomaly to between 0 and 360 deg
|
%Reduce eccentric anomaly to between 0 and 360 deg
|
||||||
E = rem(E + 2*gpsPi, 2*gpsPi);
|
E = rem(E + 2*gpsPi, 2*gpsPi);
|
||||||
|
|
||||||
%Compute relativistic correction term
|
%Compute relativistic correction term
|
||||||
dtr = F * eph(prn).e * eph(prn).sqrtA * sin(E);
|
dtr = F * eph(prn).e * eph(prn).sqrtA * sin(E);
|
||||||
|
|
||||||
%Calculate the true anomaly
|
%Calculate the true anomaly
|
||||||
nu = atan2(sqrt(1 - eph(prn).e^2) * sin(E), cos(E)-eph(prn).e);
|
nu = atan2(sqrt(1 - eph(prn).e^2) * sin(E), cos(E)-eph(prn).e);
|
||||||
|
|
||||||
%Compute angle phi
|
%Compute angle phi
|
||||||
phi = nu + eph(prn).omega;
|
phi = nu + eph(prn).omega;
|
||||||
%Reduce phi to between 0 and 360 deg
|
%Reduce phi to between 0 and 360 deg
|
||||||
phi = rem(phi, 2*gpsPi);
|
phi = rem(phi, 2*gpsPi);
|
||||||
|
|
||||||
%Correct argument of latitude
|
%Correct argument of latitude
|
||||||
u = phi + ...
|
u = phi + ...
|
||||||
eph(prn).C_uc * cos(2*phi) + ...
|
eph(prn).C_uc * cos(2*phi) + ...
|
||||||
eph(prn).C_us * sin(2*phi);
|
eph(prn).C_us * sin(2*phi);
|
||||||
%Correct radius
|
%Correct radius
|
||||||
r = a * (1 - eph(prn).e*cos(E)) + ...
|
r = a * (1 - eph(prn).e*cos(E)) + ...
|
||||||
eph(prn).C_rc * cos(2*phi) + ...
|
eph(prn).C_rc * cos(2*phi) + ...
|
||||||
eph(prn).C_rs * sin(2*phi);
|
eph(prn).C_rs * sin(2*phi);
|
||||||
%Correct inclination
|
%Correct inclination
|
||||||
i = eph(prn).i_0 + eph(prn).iDot * tk + ...
|
i = eph(prn).i_0 + eph(prn).iDot * tk + ...
|
||||||
eph(prn).C_ic * cos(2*phi) + ...
|
eph(prn).C_ic * cos(2*phi) + ...
|
||||||
eph(prn).C_is * sin(2*phi);
|
eph(prn).C_is * sin(2*phi);
|
||||||
|
|
||||||
%Compute the angle between the ascending node and the Greenwich meridian
|
%Compute the angle between the ascending node and the Greenwich meridian
|
||||||
Omega = eph(prn).omega_0 + (eph(prn).omegaDot - Omegae_dot)*tk - ...
|
Omega = eph(prn).omega_0 + (eph(prn).omegaDot - Omegae_dot)*tk - ...
|
||||||
Omegae_dot * eph(prn).t_oe;
|
Omegae_dot * eph(prn).t_oe;
|
||||||
%Reduce to between 0 and 360 deg
|
%Reduce to between 0 and 360 deg
|
||||||
Omega = rem(Omega + 2*gpsPi, 2*gpsPi);
|
Omega = rem(Omega + 2*gpsPi, 2*gpsPi);
|
||||||
|
|
||||||
%--- Compute satellite coordinates ------------------------------------
|
%--- Compute satellite coordinates ------------------------------------
|
||||||
satPositions(1, satNr) = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
satPositions(1, satNr) = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
||||||
satPositions(2, satNr) = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
satPositions(2, satNr) = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
||||||
satPositions(3, satNr) = sin(u)*r * sin(i);
|
satPositions(3, satNr) = sin(u)*r * sin(i);
|
||||||
|
|
||||||
|
|
||||||
%% Include relativistic correction in clock correction --------------------
|
%% Include relativistic correction in clock correction --------------------
|
||||||
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
||||||
eph(prn).a_f0 - ...
|
eph(prn).a_f0 - ...
|
||||||
eph(prn).T_GD + dtr;
|
eph(prn).T_GD + dtr;
|
||||||
|
|
||||||
end % for satNr = 1 : numOfSatellites
|
end % for satNr = 1 : numOfSatellites
|
||||||
|
@ -1,109 +1,109 @@
|
|||||||
function [dphi, dlambda, h] = togeod(a, finv, X, Y, Z)
|
function [dphi, dlambda, h] = togeod(a, finv, X, Y, Z)
|
||||||
% TOGEOD Subroutine to calculate geodetic coordinates latitude, longitude,
|
% TOGEOD Subroutine to calculate geodetic coordinates latitude, longitude,
|
||||||
% height given Cartesian coordinates X,Y,Z, and reference ellipsoid
|
% height given Cartesian coordinates X,Y,Z, and reference ellipsoid
|
||||||
% values semi-major axis (a) and the inverse of flattening (finv).
|
% values semi-major axis (a) and the inverse of flattening (finv).
|
||||||
%
|
%
|
||||||
% [dphi, dlambda, h] = togeod(a, finv, X, Y, Z);
|
% [dphi, dlambda, h] = togeod(a, finv, X, Y, Z);
|
||||||
%
|
%
|
||||||
% The units of linear parameters X,Y,Z,a must all agree (m,km,mi,ft,..etc)
|
% The units of linear parameters X,Y,Z,a must all agree (m,km,mi,ft,..etc)
|
||||||
% The output units of angular quantities will be in decimal degrees
|
% The output units of angular quantities will be in decimal degrees
|
||||||
% (15.5 degrees not 15 deg 30 min). The output units of h will be the
|
% (15.5 degrees not 15 deg 30 min). The output units of h will be the
|
||||||
% same as the units of X,Y,Z,a.
|
% same as the units of X,Y,Z,a.
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% a - semi-major axis of the reference ellipsoid
|
% a - semi-major axis of the reference ellipsoid
|
||||||
% finv - inverse of flattening of the reference ellipsoid
|
% finv - inverse of flattening of the reference ellipsoid
|
||||||
% X,Y,Z - Cartesian coordinates
|
% X,Y,Z - Cartesian coordinates
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% dphi - latitude
|
% dphi - latitude
|
||||||
% dlambda - longitude
|
% dlambda - longitude
|
||||||
% h - height above reference ellipsoid
|
% h - height above reference ellipsoid
|
||||||
|
|
||||||
% Copyright (C) 1987 C. Goad, Columbus, Ohio
|
% Copyright (C) 1987 C. Goad, Columbus, Ohio
|
||||||
% Reprinted with permission of author, 1996
|
% Reprinted with permission of author, 1996
|
||||||
% Fortran code translated into MATLAB
|
% Fortran code translated into MATLAB
|
||||||
% Kai Borre 03-30-96
|
% Kai Borre 03-30-96
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
h = 0;
|
h = 0;
|
||||||
tolsq = 1.e-10;
|
tolsq = 1.e-10;
|
||||||
maxit = 10;
|
maxit = 10;
|
||||||
|
|
||||||
% compute radians-to-degree factor
|
% compute radians-to-degree factor
|
||||||
rtd = 180/pi;
|
rtd = 180/pi;
|
||||||
|
|
||||||
% compute square of eccentricity
|
% compute square of eccentricity
|
||||||
if finv < 1.e-20
|
if finv < 1.e-20
|
||||||
esq = 0;
|
esq = 0;
|
||||||
else
|
else
|
||||||
esq = (2 - 1/finv) / finv;
|
esq = (2 - 1/finv) / finv;
|
||||||
end
|
end
|
||||||
|
|
||||||
oneesq = 1 - esq;
|
oneesq = 1 - esq;
|
||||||
|
|
||||||
% first guess
|
% first guess
|
||||||
% P is distance from spin axis
|
% P is distance from spin axis
|
||||||
P = sqrt(X^2+Y^2);
|
P = sqrt(X^2+Y^2);
|
||||||
% direct calculation of longitude
|
% direct calculation of longitude
|
||||||
|
|
||||||
if P > 1.e-20
|
if P > 1.e-20
|
||||||
dlambda = atan2(Y,X) * rtd;
|
dlambda = atan2(Y,X) * rtd;
|
||||||
else
|
else
|
||||||
dlambda = 0;
|
dlambda = 0;
|
||||||
end
|
end
|
||||||
|
|
||||||
if (dlambda < 0)
|
if (dlambda < 0)
|
||||||
dlambda = dlambda + 360;
|
dlambda = dlambda + 360;
|
||||||
end
|
end
|
||||||
|
|
||||||
% r is distance from origin (0,0,0)
|
% r is distance from origin (0,0,0)
|
||||||
r = sqrt(P^2 + Z^2);
|
r = sqrt(P^2 + Z^2);
|
||||||
|
|
||||||
if r > 1.e-20
|
if r > 1.e-20
|
||||||
sinphi = Z/r;
|
sinphi = Z/r;
|
||||||
else
|
else
|
||||||
sinphi = 0;
|
sinphi = 0;
|
||||||
end
|
end
|
||||||
|
|
||||||
dphi = asin(sinphi);
|
dphi = asin(sinphi);
|
||||||
|
|
||||||
% initial value of height = distance from origin minus
|
% initial value of height = distance from origin minus
|
||||||
% approximate distance from origin to surface of ellipsoid
|
% approximate distance from origin to surface of ellipsoid
|
||||||
if r < 1.e-20
|
if r < 1.e-20
|
||||||
h = 0;
|
h = 0;
|
||||||
return
|
return
|
||||||
end
|
end
|
||||||
|
|
||||||
h = r - a*(1-sinphi*sinphi/finv);
|
h = r - a*(1-sinphi*sinphi/finv);
|
||||||
|
|
||||||
% iterate
|
% iterate
|
||||||
for i = 1:maxit
|
for i = 1:maxit
|
||||||
sinphi = sin(dphi);
|
sinphi = sin(dphi);
|
||||||
cosphi = cos(dphi);
|
cosphi = cos(dphi);
|
||||||
|
|
||||||
% compute radius of curvature in prime vertical direction
|
% compute radius of curvature in prime vertical direction
|
||||||
N_phi = a/sqrt(1-esq*sinphi*sinphi);
|
N_phi = a/sqrt(1-esq*sinphi*sinphi);
|
||||||
|
|
||||||
% compute residuals in P and Z
|
% compute residuals in P and Z
|
||||||
dP = P - (N_phi + h) * cosphi;
|
dP = P - (N_phi + h) * cosphi;
|
||||||
dZ = Z - (N_phi*oneesq + h) * sinphi;
|
dZ = Z - (N_phi*oneesq + h) * sinphi;
|
||||||
|
|
||||||
% update height and latitude
|
% update height and latitude
|
||||||
h = h + (sinphi*dZ + cosphi*dP);
|
h = h + (sinphi*dZ + cosphi*dP);
|
||||||
dphi = dphi + (cosphi*dZ - sinphi*dP)/(N_phi + h);
|
dphi = dphi + (cosphi*dZ - sinphi*dP)/(N_phi + h);
|
||||||
|
|
||||||
% test for convergence
|
% test for convergence
|
||||||
if (dP*dP + dZ*dZ < tolsq)
|
if (dP*dP + dZ*dZ < tolsq)
|
||||||
break;
|
break;
|
||||||
end
|
end
|
||||||
|
|
||||||
% Not Converged--Warn user
|
% Not Converged--Warn user
|
||||||
if i == maxit
|
if i == maxit
|
||||||
fprintf([' Problem in TOGEOD, did not converge in %2.0f',...
|
fprintf([' Problem in TOGEOD, did not converge in %2.0f',...
|
||||||
' iterations\n'], i);
|
' iterations\n'], i);
|
||||||
end
|
end
|
||||||
end % for i = 1:maxit
|
end % for i = 1:maxit
|
||||||
|
|
||||||
dphi = dphi * rtd;
|
dphi = dphi * rtd;
|
||||||
%%%%%%%% end togeod.m %%%%%%%%%%%%%%%%%%%%%%
|
%%%%%%%% end togeod.m %%%%%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,54 +1,54 @@
|
|||||||
function [Az, El, D] = topocent(X, dx)
|
function [Az, El, D] = topocent(X, dx)
|
||||||
% TOPOCENT Transformation of vector dx into topocentric coordinate
|
% TOPOCENT Transformation of vector dx into topocentric coordinate
|
||||||
% system with origin at X.
|
% system with origin at X.
|
||||||
% Both parameters are 3 by 1 vectors.
|
% Both parameters are 3 by 1 vectors.
|
||||||
%
|
%
|
||||||
% [Az, El, D] = topocent(X, dx);
|
% [Az, El, D] = topocent(X, dx);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% X - vector origin corrdinates (in ECEF system [X; Y; Z;])
|
% X - vector origin corrdinates (in ECEF system [X; Y; Z;])
|
||||||
% dx - vector ([dX; dY; dZ;]).
|
% dx - vector ([dX; dY; dZ;]).
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% D - vector length. Units like units of the input
|
% D - vector length. Units like units of the input
|
||||||
% Az - azimuth from north positive clockwise, degrees
|
% Az - azimuth from north positive clockwise, degrees
|
||||||
% El - elevation angle, degrees
|
% El - elevation angle, degrees
|
||||||
|
|
||||||
% Kai Borre 11-24-96
|
% Kai Borre 11-24-96
|
||||||
% Copyright (c) by Kai Borre
|
% Copyright (c) by Kai Borre
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
dtr = pi/180;
|
dtr = pi/180;
|
||||||
|
|
||||||
[phi, lambda, h] = togeod(6378137, 298.257223563, X(1), X(2), X(3));
|
[phi, lambda, h] = togeod(6378137, 298.257223563, X(1), X(2), X(3));
|
||||||
|
|
||||||
cl = cos(lambda * dtr);
|
cl = cos(lambda * dtr);
|
||||||
sl = sin(lambda * dtr);
|
sl = sin(lambda * dtr);
|
||||||
cb = cos(phi * dtr);
|
cb = cos(phi * dtr);
|
||||||
sb = sin(phi * dtr);
|
sb = sin(phi * dtr);
|
||||||
|
|
||||||
F = [-sl -sb*cl cb*cl;
|
F = [-sl -sb*cl cb*cl;
|
||||||
cl -sb*sl cb*sl;
|
cl -sb*sl cb*sl;
|
||||||
0 cb sb];
|
0 cb sb];
|
||||||
|
|
||||||
local_vector = F' * dx;
|
local_vector = F' * dx;
|
||||||
E = local_vector(1);
|
E = local_vector(1);
|
||||||
N = local_vector(2);
|
N = local_vector(2);
|
||||||
U = local_vector(3);
|
U = local_vector(3);
|
||||||
|
|
||||||
hor_dis = sqrt(E^2 + N^2);
|
hor_dis = sqrt(E^2 + N^2);
|
||||||
|
|
||||||
if hor_dis < 1.e-20
|
if hor_dis < 1.e-20
|
||||||
Az = 0;
|
Az = 0;
|
||||||
El = 90;
|
El = 90;
|
||||||
else
|
else
|
||||||
Az = atan2(E, N)/dtr;
|
Az = atan2(E, N)/dtr;
|
||||||
El = atan2(U, hor_dis)/dtr;
|
El = atan2(U, hor_dis)/dtr;
|
||||||
end
|
end
|
||||||
|
|
||||||
if Az < 0
|
if Az < 0
|
||||||
Az = Az + 360;
|
Az = Az + 360;
|
||||||
end
|
end
|
||||||
|
|
||||||
D = sqrt(dx(1)^2 + dx(2)^2 + dx(3)^2);
|
D = sqrt(dx(1)^2 + dx(2)^2 + dx(3)^2);
|
||||||
%%%%%%%%% end topocent.m %%%%%%%%%
|
%%%%%%%%% end topocent.m %%%%%%%%%
|
||||||
|
@ -1,95 +1,95 @@
|
|||||||
function ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum)
|
function ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum)
|
||||||
% TROPO Calculation of tropospheric correction.
|
% TROPO Calculation of tropospheric correction.
|
||||||
% The range correction ddr in m is to be subtracted from
|
% The range correction ddr in m is to be subtracted from
|
||||||
% pseudo-ranges and carrier phases
|
% pseudo-ranges and carrier phases
|
||||||
%
|
%
|
||||||
% ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum);
|
% ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum);
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% sinel - sin of elevation angle of satellite
|
% sinel - sin of elevation angle of satellite
|
||||||
% hsta - height of station in km
|
% hsta - height of station in km
|
||||||
% p - atmospheric pressure in mb at height hp
|
% p - atmospheric pressure in mb at height hp
|
||||||
% tkel - surface temperature in degrees Kelvin at height htkel
|
% tkel - surface temperature in degrees Kelvin at height htkel
|
||||||
% hum - humidity in % at height hhum
|
% hum - humidity in % at height hhum
|
||||||
% hp - height of pressure measurement in km
|
% hp - height of pressure measurement in km
|
||||||
% htkel - height of temperature measurement in km
|
% htkel - height of temperature measurement in km
|
||||||
% hhum - height of humidity measurement in km
|
% hhum - height of humidity measurement in km
|
||||||
%
|
%
|
||||||
% Outputs:
|
% Outputs:
|
||||||
% ddr - range correction (meters)
|
% ddr - range correction (meters)
|
||||||
%
|
%
|
||||||
% Reference
|
% Reference
|
||||||
% Goad, C.C. & Goodman, L. (1974) A Modified Tropospheric
|
% Goad, C.C. & Goodman, L. (1974) A Modified Tropospheric
|
||||||
% Refraction Correction Model. Paper presented at the
|
% Refraction Correction Model. Paper presented at the
|
||||||
% American Geophysical Union Annual Fall Meeting, San
|
% American Geophysical Union Annual Fall Meeting, San
|
||||||
% Francisco, December 12-17
|
% Francisco, December 12-17
|
||||||
|
|
||||||
% A Matlab reimplementation of a C code from driver.
|
% A Matlab reimplementation of a C code from driver.
|
||||||
% Kai Borre 06-28-95
|
% Kai Borre 06-28-95
|
||||||
%==========================================================================
|
%==========================================================================
|
||||||
|
|
||||||
a_e = 6378.137; % semi-major axis of earth ellipsoid
|
a_e = 6378.137; % semi-major axis of earth ellipsoid
|
||||||
b0 = 7.839257e-5;
|
b0 = 7.839257e-5;
|
||||||
tlapse = -6.5;
|
tlapse = -6.5;
|
||||||
tkhum = tkel + tlapse*(hhum-htkel);
|
tkhum = tkel + tlapse*(hhum-htkel);
|
||||||
atkel = 7.5*(tkhum-273.15) / (237.3+tkhum-273.15);
|
atkel = 7.5*(tkhum-273.15) / (237.3+tkhum-273.15);
|
||||||
e0 = 0.0611 * hum * 10^atkel;
|
e0 = 0.0611 * hum * 10^atkel;
|
||||||
tksea = tkel - tlapse*htkel;
|
tksea = tkel - tlapse*htkel;
|
||||||
em = -978.77 / (2.8704e6*tlapse*1.0e-5);
|
em = -978.77 / (2.8704e6*tlapse*1.0e-5);
|
||||||
tkelh = tksea + tlapse*hhum;
|
tkelh = tksea + tlapse*hhum;
|
||||||
e0sea = e0 * (tksea/tkelh)^(4*em);
|
e0sea = e0 * (tksea/tkelh)^(4*em);
|
||||||
tkelp = tksea + tlapse*hp;
|
tkelp = tksea + tlapse*hp;
|
||||||
psea = p * (tksea/tkelp)^em;
|
psea = p * (tksea/tkelp)^em;
|
||||||
|
|
||||||
if sinel < 0
|
if sinel < 0
|
||||||
sinel = 0;
|
sinel = 0;
|
||||||
end
|
end
|
||||||
|
|
||||||
tropo = 0;
|
tropo = 0;
|
||||||
done = 'FALSE';
|
done = 'FALSE';
|
||||||
refsea = 77.624e-6 / tksea;
|
refsea = 77.624e-6 / tksea;
|
||||||
htop = 1.1385e-5 / refsea;
|
htop = 1.1385e-5 / refsea;
|
||||||
refsea = refsea * psea;
|
refsea = refsea * psea;
|
||||||
ref = refsea * ((htop-hsta)/htop)^4;
|
ref = refsea * ((htop-hsta)/htop)^4;
|
||||||
|
|
||||||
while 1
|
while 1
|
||||||
rtop = (a_e+htop)^2 - (a_e+hsta)^2*(1-sinel^2);
|
rtop = (a_e+htop)^2 - (a_e+hsta)^2*(1-sinel^2);
|
||||||
|
|
||||||
% check to see if geometry is crazy
|
% check to see if geometry is crazy
|
||||||
if rtop < 0
|
if rtop < 0
|
||||||
rtop = 0;
|
rtop = 0;
|
||||||
end
|
end
|
||||||
|
|
||||||
rtop = sqrt(rtop) - (a_e+hsta)*sinel;
|
rtop = sqrt(rtop) - (a_e+hsta)*sinel;
|
||||||
a = -sinel/(htop-hsta);
|
a = -sinel/(htop-hsta);
|
||||||
b = -b0*(1-sinel^2) / (htop-hsta);
|
b = -b0*(1-sinel^2) / (htop-hsta);
|
||||||
rn = zeros(8,1);
|
rn = zeros(8,1);
|
||||||
|
|
||||||
for i = 1:8
|
for i = 1:8
|
||||||
rn(i) = rtop^(i+1);
|
rn(i) = rtop^(i+1);
|
||||||
end
|
end
|
||||||
|
|
||||||
alpha = [2*a, 2*a^2+4*b/3, a*(a^2+3*b),...
|
alpha = [2*a, 2*a^2+4*b/3, a*(a^2+3*b),...
|
||||||
a^4/5+2.4*a^2*b+1.2*b^2, 2*a*b*(a^2+3*b)/3,...
|
a^4/5+2.4*a^2*b+1.2*b^2, 2*a*b*(a^2+3*b)/3,...
|
||||||
b^2*(6*a^2+4*b)*1.428571e-1, 0, 0];
|
b^2*(6*a^2+4*b)*1.428571e-1, 0, 0];
|
||||||
|
|
||||||
if b^2 > 1.0e-35
|
if b^2 > 1.0e-35
|
||||||
alpha(7) = a*b^3/2;
|
alpha(7) = a*b^3/2;
|
||||||
alpha(8) = b^4/9;
|
alpha(8) = b^4/9;
|
||||||
end
|
end
|
||||||
|
|
||||||
dr = rtop;
|
dr = rtop;
|
||||||
dr = dr + alpha*rn;
|
dr = dr + alpha*rn;
|
||||||
tropo = tropo + dr*ref*1000;
|
tropo = tropo + dr*ref*1000;
|
||||||
|
|
||||||
if done == 'TRUE '
|
if done == 'TRUE '
|
||||||
ddr = tropo;
|
ddr = tropo;
|
||||||
break;
|
break;
|
||||||
end
|
end
|
||||||
|
|
||||||
done = 'TRUE ';
|
done = 'TRUE ';
|
||||||
refsea = (371900.0e-6/tksea-12.92e-6)/tksea;
|
refsea = (371900.0e-6/tksea-12.92e-6)/tksea;
|
||||||
htop = 1.1385e-5 * (1255/tksea+0.05)/refsea;
|
htop = 1.1385e-5 * (1255/tksea+0.05)/refsea;
|
||||||
ref = refsea * e0sea * ((htop-hsta)/htop)^4;
|
ref = refsea * e0sea * ((htop-hsta)/htop)^4;
|
||||||
end;
|
end;
|
||||||
%%%%%%%%% end tropo.m %%%%%%%%%%%%%%%%%%%
|
%%%%%%%%% end tropo.m %%%%%%%%%%%%%%%%%%%
|
||||||
|
@ -1,166 +1,166 @@
|
|||||||
% Function plots variations of coordinates over time and a 3D position
|
% Function plots variations of coordinates over time and a 3D position
|
||||||
% plot. It plots receiver coordinates in UTM system or coordinate offsets if
|
% plot. It plots receiver coordinates in UTM system or coordinate offsets if
|
||||||
% the true UTM receiver coordinates are provided.
|
% the true UTM receiver coordinates are provided.
|
||||||
%
|
%
|
||||||
% plotNavigation(navSolutions, settings)
|
% plotNavigation(navSolutions, settings)
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% navSolutions - Results from navigation solution function. It
|
% navSolutions - Results from navigation solution function. It
|
||||||
% contains measured pseudoranges and receiver
|
% contains measured pseudoranges and receiver
|
||||||
% coordinates.
|
% coordinates.
|
||||||
% settings - Receiver settings. The true receiver coordinates
|
% settings - Receiver settings. The true receiver coordinates
|
||||||
% are contained in this structure.
|
% are contained in this structure.
|
||||||
% plot_skyplot - If ==1 then use satellite coordinates to plot the
|
% plot_skyplot - If ==1 then use satellite coordinates to plot the
|
||||||
% the satellite positions
|
% the satellite positions
|
||||||
|
|
||||||
% Darius Plausinaitis
|
% Darius Plausinaitis
|
||||||
% Modified by Javier Arribas, 2011. jarribas(at)cttc.es
|
% Modified by Javier Arribas, 2011. jarribas(at)cttc.es
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||||
%
|
%
|
||||||
% GNSS-SDR is a software defined Global Navigation
|
% GNSS-SDR is a software defined Global Navigation
|
||||||
% Satellite Systems receiver
|
% Satellite Systems receiver
|
||||||
%
|
%
|
||||||
% This file is part of GNSS-SDR.
|
% This file is part of GNSS-SDR.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is free software: you can redistribute it and/or modify
|
% 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
|
% it under the terms of the GNU General Public License as published by
|
||||||
% the Free Software Foundation, either version 3 of the License, or
|
% the Free Software Foundation, either version 3 of the License, or
|
||||||
% at your option) any later version.
|
% at your option) any later version.
|
||||||
%
|
%
|
||||||
% GNSS-SDR is distributed in the hope that it will be useful,
|
% GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
%
|
%
|
||||||
% -------------------------------------------------------------------------
|
% -------------------------------------------------------------------------
|
||||||
%
|
%
|
||||||
|
|
||||||
function plotNavigation(navSolutions, settings,plot_skyplot)
|
function plotNavigation(navSolutions, settings,plot_skyplot)
|
||||||
|
|
||||||
|
|
||||||
%% Plot results in the necessary data exists ==============================
|
%% Plot results in the necessary data exists ==============================
|
||||||
if (~isempty(navSolutions))
|
if (~isempty(navSolutions))
|
||||||
|
|
||||||
%% If reference position is not provided, then set reference position
|
%% If reference position is not provided, then set reference position
|
||||||
%% to the average postion
|
%% to the average postion
|
||||||
if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ...
|
if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ...
|
||||||
|| isnan(settings.truePosition.U)
|
|| isnan(settings.truePosition.U)
|
||||||
|
|
||||||
%=== Compute mean values ==========================================
|
%=== Compute mean values ==========================================
|
||||||
% Remove NaN-s or the output of the function MEAN will be NaN.
|
% Remove NaN-s or the output of the function MEAN will be NaN.
|
||||||
refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
||||||
refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
||||||
refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
||||||
|
|
||||||
%Also convert geodetic coordinates to deg:min:sec vector format
|
%Also convert geodetic coordinates to deg:min:sec vector format
|
||||||
meanLongitude = dms2mat(deg2dms(...
|
meanLongitude = dms2mat(deg2dms(...
|
||||||
mean(navSolutions.longitude(~isnan(navSolutions.longitude)))), -5);
|
mean(navSolutions.longitude(~isnan(navSolutions.longitude)))), -5);
|
||||||
meanLatitude = dms2mat(deg2dms(...
|
meanLatitude = dms2mat(deg2dms(...
|
||||||
mean(navSolutions.latitude(~isnan(navSolutions.latitude)))), -5);
|
mean(navSolutions.latitude(~isnan(navSolutions.latitude)))), -5);
|
||||||
|
|
||||||
LatLong_str=[num2str(meanLatitude(1)), '??', ...
|
LatLong_str=[num2str(meanLatitude(1)), '??', ...
|
||||||
num2str(meanLatitude(2)), '''', ...
|
num2str(meanLatitude(2)), '''', ...
|
||||||
num2str(meanLatitude(3)), '''''', ...
|
num2str(meanLatitude(3)), '''''', ...
|
||||||
',', ...
|
',', ...
|
||||||
num2str(meanLongitude(1)), '??', ...
|
num2str(meanLongitude(1)), '??', ...
|
||||||
num2str(meanLongitude(2)), '''', ...
|
num2str(meanLongitude(2)), '''', ...
|
||||||
num2str(meanLongitude(3)), '''''']
|
num2str(meanLongitude(3)), '''''']
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
refPointLgText = ['Mean Position\newline Lat: ', ...
|
refPointLgText = ['Mean Position\newline Lat: ', ...
|
||||||
num2str(meanLatitude(1)), '{\circ}', ...
|
num2str(meanLatitude(1)), '{\circ}', ...
|
||||||
num2str(meanLatitude(2)), '{\prime}', ...
|
num2str(meanLatitude(2)), '{\prime}', ...
|
||||||
num2str(meanLatitude(3)), '{\prime}{\prime}', ...
|
num2str(meanLatitude(3)), '{\prime}{\prime}', ...
|
||||||
'\newline Lng: ', ...
|
'\newline Lng: ', ...
|
||||||
num2str(meanLongitude(1)), '{\circ}', ...
|
num2str(meanLongitude(1)), '{\circ}', ...
|
||||||
num2str(meanLongitude(2)), '{\prime}', ...
|
num2str(meanLongitude(2)), '{\prime}', ...
|
||||||
num2str(meanLongitude(3)), '{\prime}{\prime}', ...
|
num2str(meanLongitude(3)), '{\prime}{\prime}', ...
|
||||||
'\newline Hgt: ', ...
|
'\newline Hgt: ', ...
|
||||||
num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')];
|
num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')];
|
||||||
|
|
||||||
else
|
else
|
||||||
% compute the mean error for static receiver
|
% compute the mean error for static receiver
|
||||||
mean_position.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
mean_position.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
||||||
mean_position.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
mean_position.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
||||||
mean_position.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
mean_position.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
||||||
refCoord.E = settings.truePosition.E;
|
refCoord.E = settings.truePosition.E;
|
||||||
refCoord.N = settings.truePosition.N;
|
refCoord.N = settings.truePosition.N;
|
||||||
refCoord.U = settings.truePosition.U;
|
refCoord.U = settings.truePosition.U;
|
||||||
|
|
||||||
error_meters=sqrt((mean_position.E-refCoord.E)^2+(mean_position.N-refCoord.N)^2+(mean_position.U-refCoord.U)^2);
|
error_meters=sqrt((mean_position.E-refCoord.E)^2+(mean_position.N-refCoord.N)^2+(mean_position.U-refCoord.U)^2);
|
||||||
|
|
||||||
refPointLgText = ['Reference Position, Mean 3D error = ' num2str(error_meters) ' [m]'];
|
refPointLgText = ['Reference Position, Mean 3D error = ' num2str(error_meters) ' [m]'];
|
||||||
end
|
end
|
||||||
|
|
||||||
figureNumber = 300;
|
figureNumber = 300;
|
||||||
% The 300 is chosen for more convenient handling of the open
|
% The 300 is chosen for more convenient handling of the open
|
||||||
% figure windows, when many figures are closed and reopened. Figures
|
% figure windows, when many figures are closed and reopened. Figures
|
||||||
% drawn or opened by the user, will not be "overwritten" by this
|
% drawn or opened by the user, will not be "overwritten" by this
|
||||||
% function if the auto numbering is not used.
|
% function if the auto numbering is not used.
|
||||||
|
|
||||||
%=== Select (or create) and clear the figure ==========================
|
%=== Select (or create) and clear the figure ==========================
|
||||||
figure(figureNumber);
|
figure(figureNumber);
|
||||||
clf (figureNumber);
|
clf (figureNumber);
|
||||||
set (figureNumber, 'Name', 'Navigation solutions');
|
set (figureNumber, 'Name', 'Navigation solutions');
|
||||||
|
|
||||||
%--- Draw axes --------------------------------------------------------
|
%--- Draw axes --------------------------------------------------------
|
||||||
handles(1, 1) = subplot(4, 2, 1 : 4);
|
handles(1, 1) = subplot(4, 2, 1 : 4);
|
||||||
handles(3, 1) = subplot(4, 2, [5, 7]);
|
handles(3, 1) = subplot(4, 2, [5, 7]);
|
||||||
handles(3, 2) = subplot(4, 2, [6, 8]);
|
handles(3, 2) = subplot(4, 2, [6, 8]);
|
||||||
|
|
||||||
%% Plot all figures =======================================================
|
%% Plot all figures =======================================================
|
||||||
|
|
||||||
%--- Coordinate differences in UTM system -----------------------------
|
%--- Coordinate differences in UTM system -----------------------------
|
||||||
plot(handles(1, 1), [(navSolutions.E - refCoord.E)', ...
|
plot(handles(1, 1), [(navSolutions.E - refCoord.E)', ...
|
||||||
(navSolutions.N - refCoord.N)',...
|
(navSolutions.N - refCoord.N)',...
|
||||||
(navSolutions.U - refCoord.U)']);
|
(navSolutions.U - refCoord.U)']);
|
||||||
|
|
||||||
title (handles(1, 1), 'Coordinates variations in UTM system');
|
title (handles(1, 1), 'Coordinates variations in UTM system');
|
||||||
legend(handles(1, 1), 'E', 'N', 'U');
|
legend(handles(1, 1), 'E', 'N', 'U');
|
||||||
xlabel(handles(1, 1), ['Measurement period: ', ...
|
xlabel(handles(1, 1), ['Measurement period: ', ...
|
||||||
num2str(settings.navSolPeriod), 'ms']);
|
num2str(settings.navSolPeriod), 'ms']);
|
||||||
ylabel(handles(1, 1), 'Variations (m)');
|
ylabel(handles(1, 1), 'Variations (m)');
|
||||||
grid (handles(1, 1));
|
grid (handles(1, 1));
|
||||||
axis (handles(1, 1), 'tight');
|
axis (handles(1, 1), 'tight');
|
||||||
|
|
||||||
%--- Position plot in UTM system --------------------------------------
|
%--- Position plot in UTM system --------------------------------------
|
||||||
plot3 (handles(3, 1), navSolutions.E - refCoord.E, ...
|
plot3 (handles(3, 1), navSolutions.E - refCoord.E, ...
|
||||||
navSolutions.N - refCoord.N, ...
|
navSolutions.N - refCoord.N, ...
|
||||||
navSolutions.U - refCoord.U, '+');
|
navSolutions.U - refCoord.U, '+');
|
||||||
hold (handles(3, 1), 'on');
|
hold (handles(3, 1), 'on');
|
||||||
|
|
||||||
%Plot the reference point
|
%Plot the reference point
|
||||||
plot3 (handles(3, 1), 0, 0, 0, 'r+', 'LineWidth', 1.5, 'MarkerSize', 10);
|
plot3 (handles(3, 1), 0, 0, 0, 'r+', 'LineWidth', 1.5, 'MarkerSize', 10);
|
||||||
hold (handles(3, 1), 'off');
|
hold (handles(3, 1), 'off');
|
||||||
|
|
||||||
view (handles(3, 1), 0, 90);
|
view (handles(3, 1), 0, 90);
|
||||||
axis (handles(3, 1), 'equal');
|
axis (handles(3, 1), 'equal');
|
||||||
grid (handles(3, 1), 'minor');
|
grid (handles(3, 1), 'minor');
|
||||||
|
|
||||||
legend(handles(3, 1), 'Measurements', refPointLgText);
|
legend(handles(3, 1), 'Measurements', refPointLgText);
|
||||||
|
|
||||||
title (handles(3, 1), 'Positions in UTM system (3D plot)');
|
title (handles(3, 1), 'Positions in UTM system (3D plot)');
|
||||||
xlabel(handles(3, 1), 'East (m)');
|
xlabel(handles(3, 1), 'East (m)');
|
||||||
ylabel(handles(3, 1), 'North (m)');
|
ylabel(handles(3, 1), 'North (m)');
|
||||||
zlabel(handles(3, 1), 'Upping (m)');
|
zlabel(handles(3, 1), 'Upping (m)');
|
||||||
|
|
||||||
if (plot_skyplot==1)
|
if (plot_skyplot==1)
|
||||||
%--- Satellite sky plot -----------------------------------------------
|
%--- Satellite sky plot -----------------------------------------------
|
||||||
skyPlot(handles(3, 2), ...
|
skyPlot(handles(3, 2), ...
|
||||||
navSolutions.channel.az, ...
|
navSolutions.channel.az, ...
|
||||||
navSolutions.channel.el, ...
|
navSolutions.channel.el, ...
|
||||||
navSolutions.channel.PRN(:, 1));
|
navSolutions.channel.PRN(:, 1));
|
||||||
|
|
||||||
title (handles(3, 2), ['Sky plot (mean PDOP: ', ...
|
title (handles(3, 2), ['Sky plot (mean PDOP: ', ...
|
||||||
num2str(mean(navSolutions.DOP(2,:))), ')']);
|
num2str(mean(navSolutions.DOP(2,:))), ')']);
|
||||||
end
|
end
|
||||||
|
|
||||||
else
|
else
|
||||||
disp('plotNavigation: No navigation data to plot.');
|
disp('plotNavigation: No navigation data to plot.');
|
||||||
end % if (~isempty(navSolutions))
|
end % if (~isempty(navSolutions))
|
||||||
|
@ -1,187 +1,187 @@
|
|||||||
function plotTracking(channelList, trackResults, settings)
|
function plotTracking(channelList, trackResults, settings)
|
||||||
% This function plots the tracking results for the given channel list.
|
% This function plots the tracking results for the given channel list.
|
||||||
%
|
%
|
||||||
% plotTracking(channelList, trackResults, settings)
|
% plotTracking(channelList, trackResults, settings)
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% channelList - list of channels to be plotted.
|
% channelList - list of channels to be plotted.
|
||||||
% trackResults - tracking results from the tracking function.
|
% trackResults - tracking results from the tracking function.
|
||||||
% settings - receiver settings.
|
% settings - receiver settings.
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%
|
%
|
||||||
% Copyright (C) Darius Plausinaitis
|
% Copyright (C) Darius Plausinaitis
|
||||||
% Written by Darius Plausinaitis
|
% Written by Darius Plausinaitis
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
%This program is free software; you can redistribute it and/or
|
%This program is free software; you can redistribute it and/or
|
||||||
%modify it under the terms of the GNU General Public License
|
%modify it under the terms of the GNU General Public License
|
||||||
%as published by the Free Software Foundation; either version 2
|
%as published by the Free Software Foundation; either version 2
|
||||||
%of the License, or (at your option) any later version.
|
%of the License, or (at your option) any later version.
|
||||||
%
|
%
|
||||||
%This program is distributed in the hope that it will be useful,
|
%This program is distributed in the hope that it will be useful,
|
||||||
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
%GNU General Public License for more details.
|
%GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
%You should have received a copy of the GNU General Public License
|
%You should have received a copy of the GNU General Public License
|
||||||
%along with this program; if not, write to the Free Software
|
%along with this program; if not, write to the Free Software
|
||||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||||
%USA.
|
%USA.
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
% Protection - if the list contains incorrect channel numbers
|
% Protection - if the list contains incorrect channel numbers
|
||||||
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
||||||
|
|
||||||
%=== For all listed channels ==============================================
|
%=== For all listed channels ==============================================
|
||||||
for channelNr = channelList
|
for channelNr = channelList
|
||||||
|
|
||||||
%% Select (or create) and clear the figure ================================
|
%% Select (or create) and clear the figure ================================
|
||||||
% The number 200 is added just for more convenient handling of the open
|
% The number 200 is added just for more convenient handling of the open
|
||||||
% figure windows, when many figures are closed and reopened.
|
% figure windows, when many figures are closed and reopened.
|
||||||
% Figures drawn or opened by the user, will not be "overwritten" by
|
% Figures drawn or opened by the user, will not be "overwritten" by
|
||||||
% this function.
|
% this function.
|
||||||
|
|
||||||
figure(channelNr +200);
|
figure(channelNr +200);
|
||||||
clf(channelNr +200);
|
clf(channelNr +200);
|
||||||
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
||||||
' (PRN ', ...
|
' (PRN ', ...
|
||||||
num2str(trackResults(channelNr).PRN(end-1)), ...
|
num2str(trackResults(channelNr).PRN(end-1)), ...
|
||||||
') results']);
|
') results']);
|
||||||
|
|
||||||
%% Draw axes ==============================================================
|
%% Draw axes ==============================================================
|
||||||
% Row 1
|
% Row 1
|
||||||
handles(1, 1) = subplot(4, 3, 1);
|
handles(1, 1) = subplot(4, 3, 1);
|
||||||
handles(1, 2) = subplot(4, 3, [2 3]);
|
handles(1, 2) = subplot(4, 3, [2 3]);
|
||||||
% Row 2
|
% Row 2
|
||||||
handles(2, 1) = subplot(4, 3, 4);
|
handles(2, 1) = subplot(4, 3, 4);
|
||||||
handles(2, 2) = subplot(4, 3, [5 6]);
|
handles(2, 2) = subplot(4, 3, [5 6]);
|
||||||
% Row 3
|
% Row 3
|
||||||
handles(3, 1) = subplot(4, 3, 7);
|
handles(3, 1) = subplot(4, 3, 7);
|
||||||
handles(3, 2) = subplot(4, 3, 8);
|
handles(3, 2) = subplot(4, 3, 8);
|
||||||
handles(3, 3) = subplot(4, 3, 9);
|
handles(3, 3) = subplot(4, 3, 9);
|
||||||
% Row 4
|
% Row 4
|
||||||
handles(4, 1) = subplot(4, 3, 10);
|
handles(4, 1) = subplot(4, 3, 10);
|
||||||
handles(4, 2) = subplot(4, 3, 11);
|
handles(4, 2) = subplot(4, 3, 11);
|
||||||
handles(4, 3) = subplot(4, 3, 12);
|
handles(4, 3) = subplot(4, 3, 12);
|
||||||
|
|
||||||
|
|
||||||
%% Plot all figures =======================================================
|
%% Plot all figures =======================================================
|
||||||
|
|
||||||
timeAxisInSeconds = (1:settings.msToProcess)/1000;
|
timeAxisInSeconds = (1:settings.msToProcess)/1000;
|
||||||
|
|
||||||
%----- Discrete-Time Scatter Plot ---------------------------------
|
%----- Discrete-Time Scatter Plot ---------------------------------
|
||||||
plot(handles(1, 1), trackResults(channelNr).I_P,...
|
plot(handles(1, 1), trackResults(channelNr).I_P,...
|
||||||
trackResults(channelNr).Q_P, ...
|
trackResults(channelNr).Q_P, ...
|
||||||
'.');
|
'.');
|
||||||
|
|
||||||
grid (handles(1, 1));
|
grid (handles(1, 1));
|
||||||
axis (handles(1, 1), 'equal');
|
axis (handles(1, 1), 'equal');
|
||||||
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
||||||
xlabel(handles(1, 1), 'I prompt');
|
xlabel(handles(1, 1), 'I prompt');
|
||||||
ylabel(handles(1, 1), 'Q prompt');
|
ylabel(handles(1, 1), 'Q prompt');
|
||||||
|
|
||||||
%----- Nav bits ---------------------------------------------------
|
%----- Nav bits ---------------------------------------------------
|
||||||
plot (handles(1, 2), timeAxisInSeconds, ...
|
plot (handles(1, 2), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).I_P);
|
trackResults(channelNr).I_P);
|
||||||
|
|
||||||
grid (handles(1, 2));
|
grid (handles(1, 2));
|
||||||
title (handles(1, 2), 'Bits of the navigation message');
|
title (handles(1, 2), 'Bits of the navigation message');
|
||||||
xlabel(handles(1, 2), 'Time (s)');
|
xlabel(handles(1, 2), 'Time (s)');
|
||||||
axis (handles(1, 2), 'tight');
|
axis (handles(1, 2), 'tight');
|
||||||
|
|
||||||
%----- PLL discriminator unfiltered--------------------------------
|
%----- PLL discriminator unfiltered--------------------------------
|
||||||
plot (handles(2, 1), timeAxisInSeconds, ...
|
plot (handles(2, 1), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).pllDiscr, 'r');
|
trackResults(channelNr).pllDiscr, 'r');
|
||||||
|
|
||||||
grid (handles(2, 1));
|
grid (handles(2, 1));
|
||||||
axis (handles(2, 1), 'tight');
|
axis (handles(2, 1), 'tight');
|
||||||
xlabel(handles(2, 1), 'Time (s)');
|
xlabel(handles(2, 1), 'Time (s)');
|
||||||
ylabel(handles(2, 1), 'Amplitude');
|
ylabel(handles(2, 1), 'Amplitude');
|
||||||
title (handles(2, 1), 'Raw PLL discriminator');
|
title (handles(2, 1), 'Raw PLL discriminator');
|
||||||
|
|
||||||
%----- Correlation ------------------------------------------------
|
%----- Correlation ------------------------------------------------
|
||||||
plot(handles(2, 2), timeAxisInSeconds, ...
|
plot(handles(2, 2), timeAxisInSeconds, ...
|
||||||
[sqrt(trackResults(channelNr).I_E.^2 + ...
|
[sqrt(trackResults(channelNr).I_E.^2 + ...
|
||||||
trackResults(channelNr).Q_E.^2)', ...
|
trackResults(channelNr).Q_E.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_P.^2 + ...
|
sqrt(trackResults(channelNr).I_P.^2 + ...
|
||||||
trackResults(channelNr).Q_P.^2)', ...
|
trackResults(channelNr).Q_P.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_L.^2 + ...
|
sqrt(trackResults(channelNr).I_L.^2 + ...
|
||||||
trackResults(channelNr).Q_L.^2)'], ...
|
trackResults(channelNr).Q_L.^2)'], ...
|
||||||
'-*');
|
'-*');
|
||||||
|
|
||||||
grid (handles(2, 2));
|
grid (handles(2, 2));
|
||||||
title (handles(2, 2), 'Correlation results');
|
title (handles(2, 2), 'Correlation results');
|
||||||
xlabel(handles(2, 2), 'Time (s)');
|
xlabel(handles(2, 2), 'Time (s)');
|
||||||
axis (handles(2, 2), 'tight');
|
axis (handles(2, 2), 'tight');
|
||||||
|
|
||||||
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
||||||
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
||||||
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
||||||
|
|
||||||
%set interpreter from tex to latex. This will draw \sqrt correctly
|
%set interpreter from tex to latex. This will draw \sqrt correctly
|
||||||
set(hLegend, 'Interpreter', 'Latex');
|
set(hLegend, 'Interpreter', 'Latex');
|
||||||
|
|
||||||
%----- PLL discriminator filtered----------------------------------
|
%----- PLL discriminator filtered----------------------------------
|
||||||
plot (handles(3, 1), timeAxisInSeconds, ...
|
plot (handles(3, 1), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess), 'b');
|
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess), 'b');
|
||||||
|
|
||||||
grid (handles(3, 1));
|
grid (handles(3, 1));
|
||||||
axis (handles(3, 1), 'tight');
|
axis (handles(3, 1), 'tight');
|
||||||
xlabel(handles(3, 1), 'Time (s)');
|
xlabel(handles(3, 1), 'Time (s)');
|
||||||
ylabel(handles(3, 1), 'Amplitude');
|
ylabel(handles(3, 1), 'Amplitude');
|
||||||
title (handles(3, 1), 'Filtered PLL discriminator');
|
title (handles(3, 1), 'Filtered PLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator unfiltered--------------------------------
|
%----- DLL discriminator unfiltered--------------------------------
|
||||||
plot (handles(3, 2), timeAxisInSeconds, ...
|
plot (handles(3, 2), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).dllDiscr, 'r');
|
trackResults(channelNr).dllDiscr, 'r');
|
||||||
|
|
||||||
grid (handles(3, 2));
|
grid (handles(3, 2));
|
||||||
axis (handles(3, 2), 'tight');
|
axis (handles(3, 2), 'tight');
|
||||||
xlabel(handles(3, 2), 'Time (s)');
|
xlabel(handles(3, 2), 'Time (s)');
|
||||||
ylabel(handles(3, 2), 'Amplitude');
|
ylabel(handles(3, 2), 'Amplitude');
|
||||||
title (handles(3, 2), 'Raw DLL discriminator');
|
title (handles(3, 2), 'Raw DLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator filtered----------------------------------
|
%----- DLL discriminator filtered----------------------------------
|
||||||
plot (handles(3, 3), timeAxisInSeconds, ...
|
plot (handles(3, 3), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).dllDiscrFilt, 'b');
|
trackResults(channelNr).dllDiscrFilt, 'b');
|
||||||
|
|
||||||
grid (handles(3, 3));
|
grid (handles(3, 3));
|
||||||
axis (handles(3, 3), 'tight');
|
axis (handles(3, 3), 'tight');
|
||||||
xlabel(handles(3, 3), 'Time (s)');
|
xlabel(handles(3, 3), 'Time (s)');
|
||||||
ylabel(handles(3, 3), 'Amplitude');
|
ylabel(handles(3, 3), 'Amplitude');
|
||||||
title (handles(3, 3), 'Filtered DLL discriminator');
|
title (handles(3, 3), 'Filtered DLL discriminator');
|
||||||
|
|
||||||
%----- CNo for signal----------------------------------
|
%----- CNo for signal----------------------------------
|
||||||
plot (handles(4, 1), timeAxisInSeconds, ...
|
plot (handles(4, 1), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).CNo(1:settings.msToProcess), 'b');
|
trackResults(channelNr).CNo(1:settings.msToProcess), 'b');
|
||||||
|
|
||||||
grid (handles(4, 1));
|
grid (handles(4, 1));
|
||||||
axis (handles(4, 1), 'tight');
|
axis (handles(4, 1), 'tight');
|
||||||
xlabel(handles(4, 1), 'Time (s)');
|
xlabel(handles(4, 1), 'Time (s)');
|
||||||
ylabel(handles(4, 1), 'CNo (dB-Hz)');
|
ylabel(handles(4, 1), 'CNo (dB-Hz)');
|
||||||
title (handles(4, 1), 'Carrier to Noise Ratio');
|
title (handles(4, 1), 'Carrier to Noise Ratio');
|
||||||
|
|
||||||
%----- Carrier Frequency --------------------------------
|
%----- Carrier Frequency --------------------------------
|
||||||
plot (handles(4, 2), timeAxisInSeconds(2:end), ...
|
plot (handles(4, 2), timeAxisInSeconds(2:end), ...
|
||||||
trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
|
trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
|
||||||
|
|
||||||
grid (handles(4, 2));
|
grid (handles(4, 2));
|
||||||
axis (handles(4, 2));
|
axis (handles(4, 2));
|
||||||
xlabel(handles(4, 2), 'Time (s)');
|
xlabel(handles(4, 2), 'Time (s)');
|
||||||
ylabel(handles(4, 2), 'Freq (hz)');
|
ylabel(handles(4, 2), 'Freq (hz)');
|
||||||
title (handles(4, 2), 'Carrier Freq');
|
title (handles(4, 2), 'Carrier Freq');
|
||||||
|
|
||||||
%----- Code Frequency----------------------------------
|
%----- Code Frequency----------------------------------
|
||||||
%--- Skip sample 0 to help with results display
|
%--- Skip sample 0 to help with results display
|
||||||
plot (handles(4, 3), timeAxisInSeconds(2:end), ...
|
plot (handles(4, 3), timeAxisInSeconds(2:end), ...
|
||||||
trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);
|
trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);
|
||||||
|
|
||||||
grid (handles(4, 3));
|
grid (handles(4, 3));
|
||||||
axis (handles(4, 3), 'tight');
|
axis (handles(4, 3), 'tight');
|
||||||
xlabel(handles(4, 3), 'Time (s)');
|
xlabel(handles(4, 3), 'Time (s)');
|
||||||
ylabel(handles(4, 3), 'Freq (Hz)');
|
ylabel(handles(4, 3), 'Freq (Hz)');
|
||||||
title (handles(4, 3), 'Code Freq');
|
title (handles(4, 3), 'Code Freq');
|
||||||
|
|
||||||
end % for channelNr = channelList
|
end % for channelNr = channelList
|
||||||
|
@ -1,162 +1,162 @@
|
|||||||
function plotVEMLTracking(channelList, trackResults, settings)
|
function plotVEMLTracking(channelList, trackResults, settings)
|
||||||
% This function plots the tracking results for the given channel list.
|
% This function plots the tracking results for the given channel list.
|
||||||
%
|
%
|
||||||
% plotTracking(channelList, trackResults, settings)
|
% plotTracking(channelList, trackResults, settings)
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% channelList - list of channels to be plotted.
|
% channelList - list of channels to be plotted.
|
||||||
% trackResults - tracking results from the tracking function.
|
% trackResults - tracking results from the tracking function.
|
||||||
% settings - receiver settings.
|
% settings - receiver settings.
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%
|
%
|
||||||
% Copyright (C) Darius Plausinaitis
|
% Copyright (C) Darius Plausinaitis
|
||||||
% Written by Darius Plausinaitis
|
% Written by Darius Plausinaitis
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
%This program is free software; you can redistribute it and/or
|
%This program is free software; you can redistribute it and/or
|
||||||
%modify it under the terms of the GNU General Public License
|
%modify it under the terms of the GNU General Public License
|
||||||
%as published by the Free Software Foundation; either version 2
|
%as published by the Free Software Foundation; either version 2
|
||||||
%of the License, or (at your option) any later version.
|
%of the License, or (at your option) any later version.
|
||||||
%
|
%
|
||||||
%This program is distributed in the hope that it will be useful,
|
%This program is distributed in the hope that it will be useful,
|
||||||
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
%but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
%GNU General Public License for more details.
|
%GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
%You should have received a copy of the GNU General Public License
|
%You should have received a copy of the GNU General Public License
|
||||||
%along with this program; if not, write to the Free Software
|
%along with this program; if not, write to the Free Software
|
||||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||||
%USA.
|
%USA.
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
|
|
||||||
% Protection - if the list contains incorrect channel numbers
|
% Protection - if the list contains incorrect channel numbers
|
||||||
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
||||||
|
|
||||||
%=== For all listed channels ==============================================
|
%=== For all listed channels ==============================================
|
||||||
for channelNr = channelList
|
for channelNr = channelList
|
||||||
|
|
||||||
%% Select (or create) and clear the figure ================================
|
%% Select (or create) and clear the figure ================================
|
||||||
% The number 200 is added just for more convenient handling of the open
|
% The number 200 is added just for more convenient handling of the open
|
||||||
% figure windows, when many figures are closed and reopened.
|
% figure windows, when many figures are closed and reopened.
|
||||||
% Figures drawn or opened by the user, will not be "overwritten" by
|
% Figures drawn or opened by the user, will not be "overwritten" by
|
||||||
% this function.
|
% this function.
|
||||||
|
|
||||||
figure(channelNr +200);
|
figure(channelNr +200);
|
||||||
clf(channelNr +200);
|
clf(channelNr +200);
|
||||||
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
||||||
' (PRN ', ...
|
' (PRN ', ...
|
||||||
num2str(trackResults(channelNr).PRN(end-1)), ...
|
num2str(trackResults(channelNr).PRN(end-1)), ...
|
||||||
') results']);
|
') results']);
|
||||||
|
|
||||||
%% Draw axes ==============================================================
|
%% Draw axes ==============================================================
|
||||||
% Row 1
|
% Row 1
|
||||||
handles(1, 1) = subplot(3, 3, 1);
|
handles(1, 1) = subplot(3, 3, 1);
|
||||||
handles(1, 2) = subplot(3, 3, [2 3]);
|
handles(1, 2) = subplot(3, 3, [2 3]);
|
||||||
% Row 2
|
% Row 2
|
||||||
handles(2, 1) = subplot(3, 3, 4);
|
handles(2, 1) = subplot(3, 3, 4);
|
||||||
handles(2, 2) = subplot(3, 3, [5 6]);
|
handles(2, 2) = subplot(3, 3, [5 6]);
|
||||||
% Row 3
|
% Row 3
|
||||||
handles(3, 1) = subplot(3, 3, 7);
|
handles(3, 1) = subplot(3, 3, 7);
|
||||||
handles(3, 2) = subplot(3, 3, 8);
|
handles(3, 2) = subplot(3, 3, 8);
|
||||||
handles(3, 3) = subplot(3, 3, 9);
|
handles(3, 3) = subplot(3, 3, 9);
|
||||||
|
|
||||||
%% Plot all figures =======================================================
|
%% Plot all figures =======================================================
|
||||||
|
|
||||||
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
|
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
|
||||||
|
|
||||||
%----- Discrete-Time Scatter Plot ---------------------------------
|
%----- Discrete-Time Scatter Plot ---------------------------------
|
||||||
plot(handles(1, 1), trackResults(channelNr).data_I,...
|
plot(handles(1, 1), trackResults(channelNr).data_I,...
|
||||||
trackResults(channelNr).data_Q, ...
|
trackResults(channelNr).data_Q, ...
|
||||||
'.');
|
'.');
|
||||||
|
|
||||||
grid (handles(1, 1));
|
grid (handles(1, 1));
|
||||||
axis (handles(1, 1), 'equal');
|
axis (handles(1, 1), 'equal');
|
||||||
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
||||||
xlabel(handles(1, 1), 'I prompt');
|
xlabel(handles(1, 1), 'I prompt');
|
||||||
ylabel(handles(1, 1), 'Q prompt');
|
ylabel(handles(1, 1), 'Q prompt');
|
||||||
|
|
||||||
%----- Nav bits ---------------------------------------------------
|
%----- Nav bits ---------------------------------------------------
|
||||||
t = (1:length(trackResults(channelNr).data_I));
|
t = (1:length(trackResults(channelNr).data_I));
|
||||||
plot (handles(1, 2), t, ...
|
plot (handles(1, 2), t, ...
|
||||||
trackResults(channelNr).data_I);
|
trackResults(channelNr).data_I);
|
||||||
|
|
||||||
grid (handles(1, 2));
|
grid (handles(1, 2));
|
||||||
title (handles(1, 2), 'Bits of the navigation message');
|
title (handles(1, 2), 'Bits of the navigation message');
|
||||||
xlabel(handles(1, 2), 'Time (s)');
|
xlabel(handles(1, 2), 'Time (s)');
|
||||||
axis (handles(1, 2), 'tight');
|
axis (handles(1, 2), 'tight');
|
||||||
|
|
||||||
%----- PLL discriminator unfiltered--------------------------------
|
%----- PLL discriminator unfiltered--------------------------------
|
||||||
t = (1:length(trackResults(channelNr).pllDiscr));
|
t = (1:length(trackResults(channelNr).pllDiscr));
|
||||||
plot (handles(2, 1), t, ...
|
plot (handles(2, 1), t, ...
|
||||||
trackResults(channelNr).pllDiscr, 'r');
|
trackResults(channelNr).pllDiscr, 'r');
|
||||||
|
|
||||||
grid (handles(2, 1));
|
grid (handles(2, 1));
|
||||||
axis (handles(2, 1), 'tight');
|
axis (handles(2, 1), 'tight');
|
||||||
xlabel(handles(2, 1), 'Time (s)');
|
xlabel(handles(2, 1), 'Time (s)');
|
||||||
ylabel(handles(2, 1), 'Amplitude');
|
ylabel(handles(2, 1), 'Amplitude');
|
||||||
title (handles(2, 1), 'Raw PLL discriminator');
|
title (handles(2, 1), 'Raw PLL discriminator');
|
||||||
|
|
||||||
%----- Correlation ------------------------------------------------
|
%----- Correlation ------------------------------------------------
|
||||||
t = (1:length(trackResults(channelNr).I_VE));
|
t = (1:length(trackResults(channelNr).I_VE));
|
||||||
plot(handles(2, 2), t, ...
|
plot(handles(2, 2), t, ...
|
||||||
[sqrt(trackResults(channelNr).I_VE.^2 + ...
|
[sqrt(trackResults(channelNr).I_VE.^2 + ...
|
||||||
trackResults(channelNr).Q_VE.^2)', ...
|
trackResults(channelNr).Q_VE.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_E.^2 + ...
|
sqrt(trackResults(channelNr).I_E.^2 + ...
|
||||||
trackResults(channelNr).Q_E.^2)', ...
|
trackResults(channelNr).Q_E.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_P.^2 + ...
|
sqrt(trackResults(channelNr).I_P.^2 + ...
|
||||||
trackResults(channelNr).Q_P.^2)', ...
|
trackResults(channelNr).Q_P.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_L.^2 + ...
|
sqrt(trackResults(channelNr).I_L.^2 + ...
|
||||||
trackResults(channelNr).Q_L.^2)', ...
|
trackResults(channelNr).Q_L.^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_VL.^2 + ...
|
sqrt(trackResults(channelNr).I_VL.^2 + ...
|
||||||
trackResults(channelNr).Q_VL.^2)'], ...
|
trackResults(channelNr).Q_VL.^2)'], ...
|
||||||
'-*');
|
'-*');
|
||||||
|
|
||||||
grid (handles(2, 2));
|
grid (handles(2, 2));
|
||||||
title (handles(2, 2), 'Correlation results');
|
title (handles(2, 2), 'Correlation results');
|
||||||
xlabel(handles(2, 2), 'Time (s)');
|
xlabel(handles(2, 2), 'Time (s)');
|
||||||
axis (handles(2, 2), 'tight');
|
axis (handles(2, 2), 'tight');
|
||||||
|
|
||||||
hLegend = legend(handles(2, 2), '$\sqrt{I_{VE}^2 + Q_{VE}^2}$', ...
|
hLegend = legend(handles(2, 2), '$\sqrt{I_{VE}^2 + Q_{VE}^2}$', ...
|
||||||
'$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
'$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
||||||
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
||||||
'$\sqrt{I_{L}^2 + Q_{L}^2}$', ...
|
'$\sqrt{I_{L}^2 + Q_{L}^2}$', ...
|
||||||
'$\sqrt{I_{VL}^2 + Q_{VL}^2}$');
|
'$\sqrt{I_{VL}^2 + Q_{VL}^2}$');
|
||||||
|
|
||||||
%set interpreter from tex to latex. This will draw \sqrt correctly
|
%set interpreter from tex to latex. This will draw \sqrt correctly
|
||||||
set(hLegend, 'Interpreter', 'Latex');
|
set(hLegend, 'Interpreter', 'Latex');
|
||||||
|
|
||||||
%----- PLL discriminator filtered----------------------------------
|
%----- PLL discriminator filtered----------------------------------
|
||||||
t = (1:length(trackResults(channelNr).pllDiscrFilt));
|
t = (1:length(trackResults(channelNr).pllDiscrFilt));
|
||||||
plot (handles(3, 1), t, ...
|
plot (handles(3, 1), t, ...
|
||||||
trackResults(channelNr).pllDiscrFilt, 'b');
|
trackResults(channelNr).pllDiscrFilt, 'b');
|
||||||
|
|
||||||
grid (handles(3, 1));
|
grid (handles(3, 1));
|
||||||
axis (handles(3, 1), 'tight');
|
axis (handles(3, 1), 'tight');
|
||||||
xlabel(handles(3, 1), 'Time (s)');
|
xlabel(handles(3, 1), 'Time (s)');
|
||||||
ylabel(handles(3, 1), 'Amplitude');
|
ylabel(handles(3, 1), 'Amplitude');
|
||||||
title (handles(3, 1), 'Filtered PLL discriminator');
|
title (handles(3, 1), 'Filtered PLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator unfiltered--------------------------------
|
%----- DLL discriminator unfiltered--------------------------------
|
||||||
t = (1:length(trackResults(channelNr).dllDiscr));
|
t = (1:length(trackResults(channelNr).dllDiscr));
|
||||||
plot (handles(3, 2), t, ...
|
plot (handles(3, 2), t, ...
|
||||||
trackResults(channelNr).dllDiscr, 'r');
|
trackResults(channelNr).dllDiscr, 'r');
|
||||||
|
|
||||||
grid (handles(3, 2));
|
grid (handles(3, 2));
|
||||||
axis (handles(3, 2), 'tight');
|
axis (handles(3, 2), 'tight');
|
||||||
xlabel(handles(3, 2), 'Time (s)');
|
xlabel(handles(3, 2), 'Time (s)');
|
||||||
ylabel(handles(3, 2), 'Amplitude');
|
ylabel(handles(3, 2), 'Amplitude');
|
||||||
title (handles(3, 2), 'Raw DLL discriminator');
|
title (handles(3, 2), 'Raw DLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator filtered----------------------------------
|
%----- DLL discriminator filtered----------------------------------
|
||||||
t = (1:length(trackResults(channelNr).dllDiscrFilt));
|
t = (1:length(trackResults(channelNr).dllDiscrFilt));
|
||||||
plot (handles(3, 3), t, ...
|
plot (handles(3, 3), t, ...
|
||||||
trackResults(channelNr).dllDiscrFilt, 'b');
|
trackResults(channelNr).dllDiscrFilt, 'b');
|
||||||
|
|
||||||
grid (handles(3, 3));
|
grid (handles(3, 3));
|
||||||
axis (handles(3, 3), 'tight');
|
axis (handles(3, 3), 'tight');
|
||||||
xlabel(handles(3, 3), 'Time (s)');
|
xlabel(handles(3, 3), 'Time (s)');
|
||||||
ylabel(handles(3, 3), 'Amplitude');
|
ylabel(handles(3, 3), 'Amplitude');
|
||||||
title (handles(3, 3), 'Filtered DLL discriminator');
|
title (handles(3, 3), 'Filtered DLL discriminator');
|
||||||
|
|
||||||
end % for channelNr = channelList
|
end % for channelNr = channelList
|
||||||
|
@ -1,150 +1,150 @@
|
|||||||
function plotTracking(channelList, trackResults, settings)
|
function plotTracking(channelList, trackResults, settings)
|
||||||
% This function plots the tracking results for the given channel list.
|
% This function plots the tracking results for the given channel list.
|
||||||
%
|
%
|
||||||
% plotTracking(channelList, trackResults, settings)
|
% plotTracking(channelList, trackResults, settings)
|
||||||
%
|
%
|
||||||
% Inputs:
|
% Inputs:
|
||||||
% channelList - list of channels to be plotted.
|
% channelList - list of channels to be plotted.
|
||||||
% trackResults - tracking results from the tracking function.
|
% trackResults - tracking results from the tracking function.
|
||||||
% settings - receiver settings.
|
% settings - receiver settings.
|
||||||
|
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% SoftGNSS v3.0
|
% SoftGNSS v3.0
|
||||||
%
|
%
|
||||||
% Copyright (C) Darius Plausinaitis
|
% Copyright (C) Darius Plausinaitis
|
||||||
% Written by Darius Plausinaitis
|
% Written by Darius Plausinaitis
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
% This program is free software; you can redistribute it and/or
|
% This program is free software; you can redistribute it and/or
|
||||||
% modify it under the terms of the GNU General Public License
|
% modify it under the terms of the GNU General Public License
|
||||||
% as published by the Free Software Foundation; either version 2
|
% as published by the Free Software Foundation; either version 2
|
||||||
% of the License, or (at your option) any later version.
|
% of the License, or (at your option) any later version.
|
||||||
%
|
%
|
||||||
% This program is distributed in the hope that it will be useful,
|
% This program is distributed in the hope that it will be useful,
|
||||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
% GNU General Public License for more details.
|
% GNU General Public License for more details.
|
||||||
%
|
%
|
||||||
% You should have received a copy of the GNU General Public License
|
% You should have received a copy of the GNU General Public License
|
||||||
% along with this program; if not, write to the Free Software
|
% along with this program; if not, write to the Free Software
|
||||||
% Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
% Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||||
% USA.
|
% USA.
|
||||||
%--------------------------------------------------------------------------
|
%--------------------------------------------------------------------------
|
||||||
|
|
||||||
% Protection - if the list contains incorrect channel numbers
|
% Protection - if the list contains incorrect channel numbers
|
||||||
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
||||||
|
|
||||||
%=== For all listed channels ==============================================
|
%=== For all listed channels ==============================================
|
||||||
for channelNr = channelList
|
for channelNr = channelList
|
||||||
|
|
||||||
%% Select (or create) and clear the figure ================================
|
%% Select (or create) and clear the figure ================================
|
||||||
% The number 200 is added just for more convenient handling of the open
|
% The number 200 is added just for more convenient handling of the open
|
||||||
% figure windows, when many figures are closed and reopened.
|
% figure windows, when many figures are closed and reopened.
|
||||||
% Figures drawn or opened by the user, will not be "overwritten" by
|
% Figures drawn or opened by the user, will not be "overwritten" by
|
||||||
% this function.
|
% this function.
|
||||||
|
|
||||||
figure(channelNr +200);
|
figure(channelNr +200);
|
||||||
clf(channelNr +200);
|
clf(channelNr +200);
|
||||||
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
||||||
' (PRN ', ...
|
' (PRN ', ...
|
||||||
num2str(trackResults(channelNr).PRN), ...
|
num2str(trackResults(channelNr).PRN), ...
|
||||||
') results']);
|
') results']);
|
||||||
|
|
||||||
%% Draw axes ==============================================================
|
%% Draw axes ==============================================================
|
||||||
% Row 1
|
% Row 1
|
||||||
handles(1, 1) = subplot(3, 3, 1);
|
handles(1, 1) = subplot(3, 3, 1);
|
||||||
handles(1, 2) = subplot(3, 3, [2 3]);
|
handles(1, 2) = subplot(3, 3, [2 3]);
|
||||||
% Row 2
|
% Row 2
|
||||||
handles(2, 1) = subplot(3, 3, 4);
|
handles(2, 1) = subplot(3, 3, 4);
|
||||||
handles(2, 2) = subplot(3, 3, [5 6]);
|
handles(2, 2) = subplot(3, 3, [5 6]);
|
||||||
% Row 3
|
% Row 3
|
||||||
handles(3, 1) = subplot(3, 3, 7);
|
handles(3, 1) = subplot(3, 3, 7);
|
||||||
handles(3, 2) = subplot(3, 3, 8);
|
handles(3, 2) = subplot(3, 3, 8);
|
||||||
handles(3, 3) = subplot(3, 3, 9);
|
handles(3, 3) = subplot(3, 3, 9);
|
||||||
|
|
||||||
%% Plot all figures =======================================================
|
%% Plot all figures =======================================================
|
||||||
|
|
||||||
timeAxisInSeconds = (1:settings.msToProcess-1)/1000;
|
timeAxisInSeconds = (1:settings.msToProcess-1)/1000;
|
||||||
|
|
||||||
%----- Discrete-Time Scatter Plot ---------------------------------
|
%----- Discrete-Time Scatter Plot ---------------------------------
|
||||||
plot(handles(1, 1), trackResults(channelNr).I_PN,...
|
plot(handles(1, 1), trackResults(channelNr).I_PN,...
|
||||||
trackResults(channelNr).Q_PN, ...
|
trackResults(channelNr).Q_PN, ...
|
||||||
'.');
|
'.');
|
||||||
|
|
||||||
grid (handles(1, 1));
|
grid (handles(1, 1));
|
||||||
axis (handles(1, 1), 'equal');
|
axis (handles(1, 1), 'equal');
|
||||||
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
||||||
xlabel(handles(1, 1), 'I prompt');
|
xlabel(handles(1, 1), 'I prompt');
|
||||||
ylabel(handles(1, 1), 'Q prompt');
|
ylabel(handles(1, 1), 'Q prompt');
|
||||||
|
|
||||||
%----- Nav bits ---------------------------------------------------
|
%----- Nav bits ---------------------------------------------------
|
||||||
plot (handles(1, 2), timeAxisInSeconds, ...
|
plot (handles(1, 2), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).I_PN(1:settings.msToProcess-1));
|
trackResults(channelNr).I_PN(1:settings.msToProcess-1));
|
||||||
|
|
||||||
grid (handles(1, 2));
|
grid (handles(1, 2));
|
||||||
title (handles(1, 2), 'Bits of the navigation message');
|
title (handles(1, 2), 'Bits of the navigation message');
|
||||||
xlabel(handles(1, 2), 'Time (s)');
|
xlabel(handles(1, 2), 'Time (s)');
|
||||||
axis (handles(1, 2), 'tight');
|
axis (handles(1, 2), 'tight');
|
||||||
|
|
||||||
%----- PLL discriminator unfiltered--------------------------------
|
%----- PLL discriminator unfiltered--------------------------------
|
||||||
plot (handles(2, 1), timeAxisInSeconds, ...
|
plot (handles(2, 1), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).pllDiscr(1:settings.msToProcess-1), 'r');
|
trackResults(channelNr).pllDiscr(1:settings.msToProcess-1), 'r');
|
||||||
|
|
||||||
grid (handles(2, 1));
|
grid (handles(2, 1));
|
||||||
axis (handles(2, 1), 'tight');
|
axis (handles(2, 1), 'tight');
|
||||||
xlabel(handles(2, 1), 'Time (s)');
|
xlabel(handles(2, 1), 'Time (s)');
|
||||||
ylabel(handles(2, 1), 'Amplitude');
|
ylabel(handles(2, 1), 'Amplitude');
|
||||||
title (handles(2, 1), 'Raw PLL discriminator');
|
title (handles(2, 1), 'Raw PLL discriminator');
|
||||||
|
|
||||||
%----- Correlation ------------------------------------------------
|
%----- Correlation ------------------------------------------------
|
||||||
plot(handles(2, 2), timeAxisInSeconds, ...
|
plot(handles(2, 2), timeAxisInSeconds, ...
|
||||||
[sqrt(trackResults(channelNr).I_E(1:settings.msToProcess-1).^2 + ...
|
[sqrt(trackResults(channelNr).I_E(1:settings.msToProcess-1).^2 + ...
|
||||||
trackResults(channelNr).Q_E(1:settings.msToProcess-1).^2)', ...
|
trackResults(channelNr).Q_E(1:settings.msToProcess-1).^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_P(1:settings.msToProcess-1).^2 + ...
|
sqrt(trackResults(channelNr).I_P(1:settings.msToProcess-1).^2 + ...
|
||||||
trackResults(channelNr).Q_P(1:settings.msToProcess-1).^2)', ...
|
trackResults(channelNr).Q_P(1:settings.msToProcess-1).^2)', ...
|
||||||
sqrt(trackResults(channelNr).I_L(1:settings.msToProcess-1).^2 + ...
|
sqrt(trackResults(channelNr).I_L(1:settings.msToProcess-1).^2 + ...
|
||||||
trackResults(channelNr).Q_L(1:settings.msToProcess-1).^2)'], ...
|
trackResults(channelNr).Q_L(1:settings.msToProcess-1).^2)'], ...
|
||||||
'-*');
|
'-*');
|
||||||
|
|
||||||
grid (handles(2, 2));
|
grid (handles(2, 2));
|
||||||
title (handles(2, 2), 'Correlation results');
|
title (handles(2, 2), 'Correlation results');
|
||||||
xlabel(handles(2, 2), 'Time (s)');
|
xlabel(handles(2, 2), 'Time (s)');
|
||||||
axis (handles(2, 2), 'tight');
|
axis (handles(2, 2), 'tight');
|
||||||
|
|
||||||
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
||||||
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
||||||
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
||||||
|
|
||||||
%set interpreter from tex to latex. This will draw \sqrt correctly
|
%set interpreter from tex to latex. This will draw \sqrt correctly
|
||||||
set(hLegend, 'Interpreter', 'Latex');
|
set(hLegend, 'Interpreter', 'Latex');
|
||||||
|
|
||||||
%----- PLL discriminator filtered----------------------------------
|
%----- PLL discriminator filtered----------------------------------
|
||||||
plot (handles(3, 1), timeAxisInSeconds, ...
|
plot (handles(3, 1), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess-1), 'b');
|
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess-1), 'b');
|
||||||
|
|
||||||
grid (handles(3, 1));
|
grid (handles(3, 1));
|
||||||
axis (handles(3, 1), 'tight');
|
axis (handles(3, 1), 'tight');
|
||||||
xlabel(handles(3, 1), 'Time (s)');
|
xlabel(handles(3, 1), 'Time (s)');
|
||||||
ylabel(handles(3, 1), 'Amplitude');
|
ylabel(handles(3, 1), 'Amplitude');
|
||||||
title (handles(3, 1), 'Filtered PLL discriminator');
|
title (handles(3, 1), 'Filtered PLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator unfiltered--------------------------------
|
%----- DLL discriminator unfiltered--------------------------------
|
||||||
plot (handles(3, 2), timeAxisInSeconds, ...
|
plot (handles(3, 2), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).dllDiscr(1:settings.msToProcess-1), 'r');
|
trackResults(channelNr).dllDiscr(1:settings.msToProcess-1), 'r');
|
||||||
|
|
||||||
grid (handles(3, 2));
|
grid (handles(3, 2));
|
||||||
axis (handles(3, 2), 'tight');
|
axis (handles(3, 2), 'tight');
|
||||||
xlabel(handles(3, 2), 'Time (s)');
|
xlabel(handles(3, 2), 'Time (s)');
|
||||||
ylabel(handles(3, 2), 'Amplitude');
|
ylabel(handles(3, 2), 'Amplitude');
|
||||||
title (handles(3, 2), 'Raw DLL discriminator');
|
title (handles(3, 2), 'Raw DLL discriminator');
|
||||||
|
|
||||||
%----- DLL discriminator filtered----------------------------------
|
%----- DLL discriminator filtered----------------------------------
|
||||||
plot (handles(3, 3), timeAxisInSeconds, ...
|
plot (handles(3, 3), timeAxisInSeconds, ...
|
||||||
trackResults(channelNr).dllDiscrFilt(1:settings.msToProcess-1), 'b');
|
trackResults(channelNr).dllDiscrFilt(1:settings.msToProcess-1), 'b');
|
||||||
|
|
||||||
grid (handles(3, 3));
|
grid (handles(3, 3));
|
||||||
axis (handles(3, 3), 'tight');
|
axis (handles(3, 3), 'tight');
|
||||||
xlabel(handles(3, 3), 'Time (s)');
|
xlabel(handles(3, 3), 'Time (s)');
|
||||||
ylabel(handles(3, 3), 'Amplitude');
|
ylabel(handles(3, 3), 'Amplitude');
|
||||||
title (handles(3, 3), 'Filtered DLL discriminator');
|
title (handles(3, 3), 'Filtered DLL discriminator');
|
||||||
|
|
||||||
end % for channelNr = channelList
|
end % for channelNr = channelList
|
||||||
|
Loading…
Reference in New Issue
Block a user