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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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Carles Fernandez
2018-03-30 11:44:31 +02:00
parent 45cf92a382 c9b2f06d41
commit 4cd3721a10
65 changed files with 1990 additions and 5640 deletions
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41
src/utils/gnuplot/4_GPS_3_GAL.plt
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#set terminal pdf color font "Bold,14"
#set output "IFEN_accuracy.pdf"
set terminal jpeg font "Helvetica, 14"
set output "4_GPS_3_GAL_accuracy_precision.jpeg"
set grid
set xrange [-10:10]
set yrange [-5:15]
set ylabel "North [m]"
set xlabel "East [m]"
set key Left left
set title "IFEN simulated data, 4 GPS, 8 Gal - Accuracy and Precision"
#file1="8_GPS_GNSS_SDR_solutions.txt"
#file2="8_GAL_GNSS_SDR_solutions.txt"
file3="4_GPS_3_GAL_GNSS_SDR_solutions.txt"
#values to copy from statistic file
DRMS= 3.077806456
DUE_DRMS= 6.155612912
CEP= 2.565164055
#difference with respect to the reference position
#values to copy from statistic file
delta_E= -1.812 # combined
delta_N= 3.596 # combined
set parametric
#dummy variable is t for curves, u/v for surfaces
set size square
set angle degree
set trange [0:360]
#radius_6_GPS=6
plot file3 u 9:10 with points pointsize 0.3 lc rgb "green" notitle,\
DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\
DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\
CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP"

1001
src/utils/gnuplot/4_GPS_3_GAL_GNSS_SDR_solutions.txt
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src/utils/gnuplot/4_GPS_3_GAL_accuracy_precision.jpeg
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src/utils/gnuplot/8_GALILEO_accuracy_precision.jpeg
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src/utils/gnuplot/8_GAL_GNSS_SDR_solutions.txt
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40
src/utils/gnuplot/8_GPS.plt
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#set terminal pdf color font "Bold,14"
#set output "IFEN_accuracy.pdf"
set terminal jpeg font "Helvetica, 14"
set output "8_GPS_accuracy_precision.jpeg"
set grid
set xrange [-8:8]
set yrange [-8:8]
set ylabel "North [m]"
set xlabel "East [m]"
set key Left left
set title "IFEN simulated data, 8 GPS - Accuracy and Precision"
file1="8_GPS_GNSS_SDR_solutions.txt"
#file2="8_GAL_GNSS_SDR_solutions.txt"
#file3="8_GPS_GNSS_SDR_solutions.txt"
#values to copy from statistic file
DRMS= 2.034509899
DUE_DRMS= 4.069019799
CEP= 1.678044871
#difference with respect to the reference position
#values to copy from statistic file
delta_E=-0.560 #gps
delta_N=1.323 #gps
set parametric
#dummy variable is t for curves, u/v for surfaces
set size square
set angle degree
set trange [0:360]
#radius_6_GPS=6
plot file1 u 9:10 with points pointsize 0.3 lc rgb "red" notitle,\
DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\
DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\
CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP"

1001
src/utils/gnuplot/8_GPS_GNSS_SDR_solutions.txt
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src/utils/gnuplot/8_GPS_accuracy_precision.jpeg
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40
src/utils/gnuplot/8_Galileo.plt
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#set terminal pdf color font "Bold,14"
#set output "IFEN_accuracy.pdf"
set terminal jpeg font "Helvetica, 14"
set output "8_GALILEO_accuracy_precision.jpeg"
set grid
set xrange [-8:8]
set yrange [-8:8]
set ylabel "North [m]"
set xlabel "East [m]"
set key Left left
set title "IFEN simulated data, 8 Galileo - Accuracy and Precision"
#file1="8_GPS_GNSS_SDR_solutions.txt"
file2="8_GAL_GNSS_SDR_solutions.txt"
#file3="8_GPS_GNSS_SDR_solutions.txt"
#values to copy from statistic file
DRMS= 1.870121081
DUE_DRMS= 3.740242162
CEP= 1.556390643
#difference with respect to the reference position
#values to copy from statistic file
delta_E=1.191 #galileo
delta_N=1.923 #galileo
set parametric
#dummy variable is t for curves, u/v for surfaces
set size square
set angle degree
set trange [0:360]
#radius_6_GPS=6
plot file2 u 9:10 with points pointsize 0.3 lc rgb "blue" notitle,\
DRMS*sin(t)+delta_E,DRMS*cos(t)+delta_N lw 3 lc rgb "black" title "DRMS",\
DUE_DRMS*sin(t)+delta_E,DUE_DRMS*cos(t)+delta_N lw 2 lc rgb "gray" title "2DRMS",\
CEP*sin(t)+delta_E,CEP*cos(t)+delta_N lw 1 lc rgb "black" title "CEP"

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src/utils/gnuplot/8_sat_accuracy_precision.jpeg
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50
src/utils/gnuplot/8_sat_accuracy_precision.plt
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#to load the file digit from terminal:
#> gnuplot 8_sat_IFEN_accuracy_precision.plt
#set terminal pdf color font "Bold,14"
#set output "IFEN_solutions_pdf"
set terminal jpeg font "Helvetica, 14"
set output "8_sat_accuracy_precision.jpeg"
set grid
set xrange [-15:15]
set yrange [-10:20]
set ylabel "North [m]"
set xlabel "East [m]"
set key Left left
set title "Accuracy-Precision (with respect to CORRECT coordinates)- 2DRMS"
file1="4_GPS_3_GAL_GNSS_SDR_solutions.txt"
file2="8_GAL_GNSS_SDR_solutions.txt"
file3="8_GPS_GNSS_SDR_solutions.txt"
#values to copy from statistic file
DRMS_1=2*3.077 #it is 2*DRMS combined
DRMS_2=2*1.87 # gal
DRMS_3=2*2.034 # gps
#difference with respect to the reference position
#values to copy from statistic file
delta_E_1=-1.812 #combined
delta_N_1= 3.596 #combined
delta_E_2= 1.191 #gal
delta_N_2= 1.923 #gal
delta_E_3= -0.560 #gps
delta_N_3= 1.323 #gps
set parametric
#dummy variable is t for curves, u/v for surfaces
set size square
set angle degree
set trange [0:360]
plot file1 u 9:10 with points pointsize 0.3 lc rgb "green" title "4 GPS-3 GAL",\
file3 u 9:10 with points pointsize 0.3 lc rgb "red" title "8 GPS",\
file2 u 9:10 with points pointsize 0.3 lc rgb "blue" title "8 GAL",\
DRMS_1*sin(t)+delta_E_1,DRMS_1*cos(t)+delta_N_1 lw 2 lc rgb "green" notitle,\
DRMS_3*sin(t)+delta_E_3,DRMS_3*cos(t)+delta_N_3 lw 2 lc rgb "red" notitle,\
DRMS_2*sin(t)+delta_E_2,DRMS_2*cos(t)+delta_N_2 lw 2 lc rgb "blue" notitle

23
src/utils/gnuplot/statistics/4_GPS_3_GAL_GNSS_SDR_statitics.txt
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Num of GPS observation 4
Num of GALILEO observation 3
GDOP mean= 2.380532594
ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy
ENU computed at (average coordinates) mean Longitude = 11.807981252, mean Latitude = 48.171530020 for Precision
ACCURACY (respect true position)
East offset [m] = -1.812959237, East st. dev = 1.899085141
Nord offset [m] = 3.596061973,Noth st. dev = 2.422058671
Up offset [m] = 8.995532878, Up st. dev = 3.881428324
DRMS= 3.077806456
DUE_DRMS= 6.155612912
CEP= 2.565164055
MRSE= 4.953622757
SEP= 12.514572993
PRECISION (respect average solution)
East offset [m] = 0.000000000, East st. dev = 1.899086239
Nord offset [m] = -0.000000001, ,Noth st. dev = 2.422059160
Up offset [m]= -0.000000003, Up st. dev = 3.881427482
----------------------------------------------------------------------------------------------

23
src/utils/gnuplot/statistics/8_GAL_GNSS_SDR_statitics.txt
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Num of GPS observation 0
Num of GALILEO observation 8
GDOP mean= 1.769225604
ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy
ENU computed at (average coordinates) mean Longitude = 11.808021645, mean Latitude = 48.171514975 for Precision
ACCURACY (respect true position)
East offset [m] = 1.191616778, East st. dev = 1.370472661
Nord offset [m] = 1.923075914,Noth st. dev = 1.272461214
Up offset [m] = 13.774563698, Up st. dev = 3.492269580
DRMS= 1.870121081
DUE_DRMS= 3.740242162
CEP= 1.556390643
MRSE= 3.961476957
SEP= 8.003582836
PRECISION (respect average solution)
East offset [m] = -0.000000002, East st. dev = 1.370472897
Nord offset [m] = -0.000000001, ,Noth st. dev = 1.272461012
Up offset [m]= 0.000000002, Up st. dev = 3.492269562
----------------------------------------------------------------------------------------------

23
src/utils/gnuplot/statistics/8_GPS_GNSS_SDR_statitics.txt
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Num of GPS observation 8
Num of GALILEO observation 0
GDOP mean= 2.002216944
ENU computed at (IFEN true coordinates): ref Longitude = 11.808005630, Ref Latitude = 48.171497670 for Accuracy
ENU computed at (average coordinates) mean Longitude = 11.807998091, mean Latitude = 48.171509585 for Precision
ACCURACY (respect true position)
East offset [m] = -0.560396234, East st. dev = 1.105718017
Nord offset [m] = 1.323685667,Noth st. dev = 1.707810937
Up offset [m] = 10.792857384, Up st. dev = 3.121160956
DRMS= 2.034509899
DUE_DRMS= 4.069019799
CEP= 1.678044871
MRSE= 3.725704798
SEP= 7.079246885
PRECISION (respect average solution)
East offset [m] = 0.000000000, East st. dev = 1.105718027
Nord offset [m] = -0.000000005, ,Noth st. dev = 1.707811217
Up offset [m]= -0.000000005, Up st. dev = 3.121160800
----------------------------------------------------------------------------------------------

121
src/utils/matlab/dll_pll_veml_plot_sample.m
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@@ -1,37 +1,36 @@
% /*!
% * \file dll_pll_vml_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% Antonio Ramos, 2018. antonio.ramos(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close 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')
end
@@ -43,41 +42,41 @@ first_channel = 0; % Number of the first channel
path = '/dump_dir/'; %% CHANGE THIS PATH
for N=1:1:channels
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);
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);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = 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_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).I_VL = GNSS_tracking(N).VL.';
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_L = zeros(1,length(GNSS_tracking(N).L));
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
trackResults(N).data_I = GNSS_tracking(N).prompt_I.';
trackResults(N).data_Q = GNSS_tracking(N).prompt_Q.';
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E)*coherent_integration_time_ms;
plotVEMLTracking(N,trackResults,settings)
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = 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_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).I_VL = GNSS_tracking(N).VL.';
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_L = zeros(1,length(GNSS_tracking(N).L));
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
trackResults(N).data_I = GNSS_tracking(N).prompt_I.';
trackResults(N).data_Q = GNSS_tracking(N).prompt_Q.';
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E) * coherent_integration_time_ms;
plotVEMLTracking(N, trackResults, settings)
end

113
src/utils/matlab/galileo_e1_dll_pll_veml_plot_sample.m
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@@ -1,36 +1,35 @@
% /*!
% * \file galileo_l1_ca_dll_pll_vml_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close all;
clear all;
if ~exist('galileo_e1_dll_pll_veml_read_tracking_dump.m','file')
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end
@@ -42,38 +41,38 @@ path = '/Users/carlesfernandez/git/cttc/build/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'track_ch' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch BY YOUR dump_filename
GNSS_tracking(N)= galileo_e1_dll_pll_veml_read_tracking_dump(tracking_log_path);
GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_VE = GNSS_tracking(N).VE.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).I_VL = GNSS_tracking(N).VL.';
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_L = zeros(1,length(GNSS_tracking(N).L));
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E)*4;
plotVEMLTracking(N,trackResults,settings)
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_VE = GNSS_tracking(N).VE.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).I_VL = GNSS_tracking(N).VL.';
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_L = zeros(1,length(GNSS_tracking(N).L));
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E)*4;
plotVEMLTracking(N, trackResults, settings)
end

142
src/utils/matlab/galileo_e5a_dll_pll_plot_sample.m
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@@ -1,33 +1,31 @@
% /*!
% * \file galileo_e5a_dll_pll_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, Marc Sales 2014. jarribas(at)cttc.es
% marcsales92@gmail.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, Marc Sales 2014. jarribas(at)cttc.es, marcsales92@gmail.com
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close all;
clear all;
@@ -44,54 +42,54 @@ path = '/Users/carlesfernandez/git/cttc/build/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE tracking_ch_ BY YOUR dump_filename
GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
GNSS_tracking(N) = gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_PN = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_PN = GNSS_tracking(N).prompt_Q.';
trackResults(N).Q_P = zeros(1,length(GNSS_tracking(N).P));
trackResults(N).I_P = GNSS_tracking(N).P.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).PRN = GNSS_tracking(N).PRN.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTrackingE5a(N,trackResults,settings)
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_PN = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_PN = GNSS_tracking(N).prompt_Q.';
trackResults(N).Q_P = zeros(1,length(GNSS_tracking(N).P));
trackResults(N).I_P = GNSS_tracking(N).P.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).PRN = GNSS_tracking(N).PRN.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTrackingE5a(N, trackResults, settings)
end
for N=1:1:channels
% figure;
% plot([GNSS_tracking(N).E,GNSS_tracking(N).P,GNSS_tracking(N).L],'-*');
% title(['Early, Prompt, and Late correlator absolute value output for channel ' num2str(N)']);
% figure;
% plot(GNSS_tracking(N).prompt_I,GNSS_tracking(N).prompt_Q,'+');
% title(['Navigation constellation plot for channel ' num2str(N)]);
% figure;
%
% plot(GNSS_tracking(N).prompt_Q,'r');
% hold on;
% plot(GNSS_tracking(N).prompt_I);
% title(['Navigation symbols I(red) Q(blue) for channel ' num2str(N)]);
%
figure;
t=0:length(GNSS_tracking(N).carrier_doppler_hz)-1;
t=t/1000;
plot(t,GNSS_tracking(N).carrier_doppler_hz/1000);
xlabel('Time(s)');ylabel('Doppler(KHz)');title(['Doppler frequency channel ' num2str(N)]);
% figure;
% plot([GNSS_tracking(N).E, GNSS_tracking(N).P, GNSS_tracking(N).L],'-*');
% title(['Early, Prompt, and Late correlator absolute value output for channel ' num2str(N)']);
% figure;
% plot(GNSS_tracking(N).prompt_I, GNSS_tracking(N).prompt_Q, '+');
% title(['Navigation constellation plot for channel ' num2str(N)]);
% figure;
%
% plot(GNSS_tracking(N).prompt_Q,'r');
% hold on;
% plot(GNSS_tracking(N).prompt_I);
% title(['Navigation symbols I(red) Q(blue) for channel ' num2str(N)]);
%
figure;
t = 0:length(GNSS_tracking(N).carrier_doppler_hz)-1;
t = t/1000;
plot(t, GNSS_tracking(N).carrier_doppler_hz / 1000);
xlabel('Time(s)'); ylabel('Doppler(KHz)'); title(['Doppler frequency channel ' num2str(N)]);
end

107
src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
View File

@@ -1,36 +1,35 @@
% /*!
% * \file glonass_ca_dll_pll_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Damian Miralles, 2017. dmiralles2009(at)gmail.com
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close all;
clear all;
if ~exist('glonass_ca_dll_pll_read_tracking_dump.m','file')
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end
@@ -42,33 +41,33 @@ first_channel = 0;
path = '/archive/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
GNSS_tracking(N)= glonass_ca_dll_pll_read_tracking_dump(tracking_log_path);
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);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_freq_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = 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).PRN = ones(1,length(GNSS_tracking(N).E));
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTracking(N,trackResults,settings);
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_freq_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = 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).PRN = ones(1,length(GNSS_tracking(N).E));
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTracking(N, trackResults, settings)
end

107
src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
View File

@@ -1,36 +1,35 @@
% /*!
% * \file gps_l1_ca_dll_pll_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close all;
clear all;
if ~exist('gps_l1_ca_dll_pll_read_tracking_dump.m','file')
if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end
@@ -42,35 +41,35 @@ first_channel = 0;
path = '/archive/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
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);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = 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).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTracking(N,trackResults,settings)
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = 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).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
plotTracking(N, trackResults, settings)
end

68
src/utils/matlab/gps_l1_ca_pvt_plot_sample_agilent_cap2.m
View File

@@ -1,32 +1,30 @@
% /*!
% * \file gps_l1_ca_pvt_plot_sample.m
% * \brief Read GNSS-SDR PVT dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR PVT dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
close all;
clear all;
@@ -63,17 +61,17 @@ h=35;
[X, Y, Z]=geo2cart(lat, long, h, 5); % geographical to cartesian conversion
%=== Convert to UTM coordinate system =============================
utmZone = findUtmZone(lat_deg, long_deg);
utmZone = findUtmZone(lat_deg, long_deg);
[settings.truePosition.E, ...
settings.truePosition.N, ...
settings.truePosition.U] = cart2utm(X, Y, Z, utmZone);
[settings.truePosition.E, ...
settings.truePosition.N, ...
settings.truePosition.U] = cart2utm(X, Y, Z, utmZone);
for k=1:1:length(navSolutions.X)
[navSolutions.E(k), ...
navSolutions.N(k), ...
navSolutions.U(k)]=cart2utm(navSolutions.X(k), navSolutions.Y(k), navSolutions.Z(k), utmZone);
navSolutions.N(k), ...
navSolutions.U(k)]=cart2utm(navSolutions.X(k), navSolutions.Y(k), navSolutions.Z(k), utmZone);
end
plot_skyplot=0;

26
src/utils/matlab/gps_l1_ca_pvt_raw_plot_sample.m
View File

@@ -1,4 +1,28 @@
% Read PVG raw dump
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
%clear all;
@@ -6,4 +30,4 @@ samplingFreq = 64e6/16; %[Hz]
channels=4;
path='/home/javier/workspace/gnss-sdr-ref/trunk/install/';
pvt_raw_log_path=[path 'PVT_raw.dat'];
GNSS_PVT_raw= gps_l1_ca_read_pvt_raw_dump(channels,pvt_raw_log_path);
GNSS_PVT_raw= gps_l1_ca_read_pvt_raw_dump(channels,pvt_raw_log_path);

59
src/utils/matlab/gps_l1_ca_telemetry_plot_sample.m
View File

@@ -1,32 +1,31 @@
% /*!
% * \file gps_l1_ca_dll_fll_pll_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
%close all;
%clear all;
samplingFreq = 64e6/16; %[Hz]
@@ -35,6 +34,6 @@ path='/home/javier/workspace/gnss-sdr-ref/trunk/install/';
clear PRN_absolute_sample_start;
for N=1:1:channels
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

31
src/utils/matlab/help_script1.m
View File

@@ -1,3 +1,28 @@
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
%help script to compare GNSS-SDR Preambles starts
channel=3;
% From GNSS_SDR telemetry decoder
@@ -25,9 +50,9 @@ error_ms=preambles_timestamp_sdr_ms(common_start_index:(common_start_index+lengt
% figure
% stem(tracking_loop_start+javi_subFrameStart_sample(channel,:),1000*trackResults_sdr(channel).absoluteSample(javi_subFrameStart_sample(channel,:))/settings.samplingFreq);
%
%
% hold on;
%
%
% plot(GNSS_observables.preamble_delay_ms(channel,:));
%
%
% plot(GNSS_observables.prn_delay_ms(channel,:),'r')

27
src/utils/matlab/help_script2.m
View File

@@ -1,4 +1,29 @@
% compare pseudoranges
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% compare pseudoranges
close all;
% GNSS SDR

69
src/utils/matlab/hybrid_observables_plot_sample.m
View File

@@ -1,3 +1,28 @@
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Read observables dump
%clear all;
@@ -41,24 +66,24 @@ title('Doppler frequency')
xlabel('TOW [s]')
ylabel('[Hz]');
%
%
% %read true obs from simulator (optional)
% GPS_STARTOFFSET_s = 68.802e-3;
%
%
% true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
% GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
%
%
% %correct the clock error using true values (it is not possible for a receiver to correct
% %the receiver clock offset error at the observables level because it is required the
% %decoding of the ephemeris data and solve the PVT equations)
%
% SPEED_OF_LIGHT_M_S = 299792458.0;
%
%
% SPEED_OF_LIGHT_M_S = 299792458.0;
%
% %find the reference satellite
% [~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
% shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
%
%
%
%
% %Compute deltas if required and interpolate to measurement time
% delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
% delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
@@ -67,23 +92,23 @@ ylabel('[Hz]');
% GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
% true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
% GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
%
%
% %Compute measurement errors
%
%
% delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
% psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
% psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
%
%
% acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
% -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
%
%
% acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
%
%
% acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
% -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
% acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
%
%
%
%
% %plot results
% figure;
% plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
@@ -92,25 +117,25 @@ ylabel('[Hz]');
% title('TRUE vs. measured Pseudoranges [m]')
% xlabel('TOW [s]')
% ylabel('[m]');
%
%
% figure;
% plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
% title('Pseudoranges error [m]')
% xlabel('TOW [s]')
% ylabel('[m]');
%
%
% figure;
% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
% title('Accumulated carrier phase error CH1 [hz]')
% xlabel('TOW [s]')
% ylabel('[hz]');
%
%
% figure;
% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
% title('Accumulated carrier phase error CH2 [hz]')
% xlabel('TOW [s]')
% ylabel('[hz]');
%
%
%
%
%
%
%
%

172
src/utils/matlab/libs/dll_pll_veml_read_tracking_dump.m
View File

@@ -1,130 +1,128 @@
% /*!
% * \file dll_pll_veml_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Usage: dll_pll_veml_read_tracking_dump (filename, [count])
%
% Opens GNSS-SDR tracking binary log file .dat and returns the contents
% Read GNSS-SDR Tracking dump binary file into MATLAB.
% Luis Esteve, 2012. luis(at)epsilon-formacion.com
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function [GNSS_tracking] = dll_pll_veml_read_tracking_dump (filename, count)
%% usage: dll_pll_veml_read_tracking_dump (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_float_vars = 17;
num_unsigned_long_int_vars = 1;
num_double_vars = 1;
num_unsigned_int_vars = 1;
if(~isempty(strfind(computer('arch'), '64')))
% 64-bit computer
double_size_bytes = 8;
unsigned_long_int_size_bytes = 8;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
else
double_size_bytes = 8;
unsigned_long_int_size_bytes = 4;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
end
skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;
bytes_shift = 0;
if (m)
m = nargchk (1,2,nargin);
num_float_vars = 17;
num_unsigned_long_int_vars = 1;
num_double_vars = 1;
num_unsigned_int_vars = 1;
if(~isempty(strfind(computer('arch'), '64')))
% 64-bit computer
double_size_bytes = 8;
unsigned_long_int_size_bytes = 8;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
else
double_size_bytes = 8;
unsigned_long_int_size_bytes = 4;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
end
skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;
bytes_shift = 0;
if (m)
usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v2 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v3 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v4 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v5 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v6 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v10 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v11 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v12 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v13 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v14 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v15 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v18 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next double
v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
bytes_shift = bytes_shift + double_size_bytes;
v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
bytes_shift = bytes_shift + double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next unsigned int
v20 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
fclose (f);
@@ -149,5 +147,5 @@ function [GNSS_tracking] = dll_pll_veml_read_tracking_dump (filename, count)
GNSS_tracking.var1 = v18;
GNSS_tracking.var2 = v19;
GNSS_tracking.PRN = v20;
end
end

153
src/utils/matlab/libs/galileo_e1_dll_pll_veml_read_tracking_dump.m
View File

@@ -1,153 +0,0 @@
% /*!
% * \file galileo_e1_dll_pll_veml_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function [GNSS_tracking] = galileo_e1_dll_pll_veml_read_tracking_dump (filename, count)
%% usage: galileo_e1_dll_pll_veml_read_tracking_dump (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_float_vars = 17;
num_unsigned_long_int_vars = 1;
num_double_vars = 1;
num_unsigned_int_vars = 1;
if(~isempty(strfind(computer('arch'), '64')))
% 64-bit computer
double_size_bytes = 8;
unsigned_long_int_size_bytes = 8;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
else
double_size_bytes = 8;
unsigned_long_int_size_bytes = 4;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
end
skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;
bytes_shift = 0;
if (m)
usage (m);
end
if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v2 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v3 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v4 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v5 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v6 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v10 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v11 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v12 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v13 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v14 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v15 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v18 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next double
v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
bytes_shift = bytes_shift + double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next unsigned int
v20 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
fclose (f);
GNSS_tracking.VE = v1;
GNSS_tracking.E = v2;
GNSS_tracking.P = v3;
GNSS_tracking.L = v4;
GNSS_tracking.VL = v5;
GNSS_tracking.prompt_I = v6;
GNSS_tracking.prompt_Q = v7;
GNSS_tracking.PRN_start_sample = v8;
GNSS_tracking.acc_carrier_phase_rad = v9;
GNSS_tracking.carrier_doppler_hz = v10;
GNSS_tracking.code_freq_hz = v11;
GNSS_tracking.carr_error = v12;
GNSS_tracking.carr_nco = v13;
GNSS_tracking.code_error = v14;
GNSS_tracking.code_nco = v15;
GNSS_tracking.CN0_SNV_dB_Hz = v16;
GNSS_tracking.carrier_lock_test = v17;
GNSS_tracking.var1 = v18;
GNSS_tracking.var2 = v19;
GNSS_tracking.PRN = v20;
end

36
src/utils/matlab/libs/geoFunctions/cart2geo.m
View File

@@ -1,8 +1,8 @@
function [phi, lambda, h] = cart2geo(X, Y, Z, i)
%CART2GEO Conversion of Cartesian coordinates (X,Y,Z) to geographical
%coordinates (phi, lambda, h) on a selected reference ellipsoid.
% CART2GEO Conversion of Cartesian coordinates (X,Y,Z) to geographical
% 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
% 1. International Ellipsoid 1924
@@ -11,12 +11,9 @@ function [phi, lambda, h] = cart2geo(X, Y, Z, i)
% 4. Geodetic Reference System 1980
% 5. World Geodetic System 1984
%Kai Borre 10-13-98
%Copyright (c) by Kai Borre
%Revision: 1.0 Date: 1998/10/23
%
% CVS record:
% $Id: cart2geo.m,v 1.1.2.3 2007/01/29 15:22:49 dpl Exp $
% Kai Borre 10-13-98
% Copyright (c) by Kai Borre
% Revision: 1.0 Date: 1998/10/23
%==========================================================================
a = [6378388 6378160 6378135 6378137 6378137];
@@ -30,16 +27,16 @@ phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i)))*f(i))));
h = 0.1; oldh = 0;
iterations = 0;
while abs(h-oldh) > 1.e-12
oldh = h;
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)))));
h = sqrt(X^2+Y^2)/cos(phi)-N;
iterations = iterations + 1;
if iterations > 100
fprintf('Failed to approximate h with desired precision. h-oldh: %e.\n', h-oldh);
break;
end
oldh = h;
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)))));
h = sqrt(X^2+Y^2)/cos(phi)-N;
iterations = iterations + 1;
if iterations > 100
fprintf('Failed to approximate h with desired precision. h-oldh: %e.\n', h-oldh);
break;
end
end
phi = phi*180/pi;
@@ -57,4 +54,5 @@ lambda = lambda*180/pi;
%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 h =%14.3f\n',h)
%%%%%%%%%%%%%% end cart2geo.m %%%%%%%%%%%%%%%%%%%

97
src/utils/matlab/libs/geoFunctions/cart2utm.m
View File

@@ -1,7 +1,7 @@
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:
% X,Y,Z - Cartesian coordinates. Coordinates are referenced
@@ -12,19 +12,16 @@ function [E, N, U] = cart2utm(X, Y, Z, zone)
% Outputs:
% E, N, U - UTM coordinates (Easting, Northing, Uping)
%Kai Borre -11-1994
%Copyright (c) by Kai Borre
%
% CVS record:
% $Id: cart2utm.m,v 1.1.1.1.2.6 2007/01/30 09:45:12 dpl Exp $
% Kai Borre -11-1994
% Copyright (c) by Kai Borre
%This implementation is based upon
%O. Andersson & K. Poder (1981) Koordinattransformationer
% This implementation is based upon
% O. Andersson & K. Poder (1981) Koordinattransformationer
% ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
% Vol. 30: 552--571 and Vol. 31: 76
%
%An excellent, general reference (KW) is
%R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
% An excellent, general reference (KW) is
% R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
% h\"oheren Geod\"asie und Kartographie.
% Erster Band, Springer Verlag
@@ -52,8 +49,8 @@ c = a * sqrt(1+ex2);
vec = [X; Y; Z-4.5];
alpha = .756e-6;
R = [ 1 -alpha 0;
alpha 1 0;
0 0 1];
alpha 1 0;
0 0 1];
trans = [89.5; 93.8; 127.6];
scale = 0.9999988;
v = scale*R*vec + trans; % coordinate vector in ED50
@@ -68,78 +65,78 @@ while abs(U-oldU) > 1.e-4
N1 = c/sqrt(1+ex2*(cos(B))^2);
B = atan2(v(3)/((1-f)^2*N1+U), norm(v(1:2))/(N1+U) );
U = norm(v(1:2))/cos(B)-N1;
iterations = iterations + 1;
if iterations > 100
fprintf('Failed to approximate U with desired precision. U-oldU: %e.\n', U-oldU);
break;
end
iterations = iterations + 1;
if iterations > 100
fprintf('Failed to approximate U with desired precision. U-oldU: %e.\n', U-oldU);
break;
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;
n = f / (2-f);
m = n^2 * (1/4 + n*n/64);
w = (a*(-n-m0+m*(1-m0))) / (1+n);
Q_n = a + w;
%Easting and longitude of central meridian
% Easting and longitude of central meridian
E0 = 500000;
L0 = (zone-30)*6 - 3;
%Check tolerance for reverse transformation
% Check tolerance for reverse transformation
tolutm = pi/2 * 1.2e-10 * Q_n;
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[2] = n^2*(5/3 + n*(-16/15 + n*(-13/9)));
% bg[3] = n^3*(-26/15 + n*34/21);
% 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[2] = n^2*(7/3 + n*(-8/5 + n*(-227/45)));
% gb[3] = n^3*(56/15 + n*(-136/35));
% gb[4] = n^4*4279/630;
%spherical to ellipsoidal N, E, KW p. 196, (69)
% 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[3] = n^3*(61/240 + n*(-103/140));
% gtu[4] = n^4*49561/161280;
% spherical to ellipsoidal N, E, KW p. 196, (69)
% 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[3] = n^3*(61/240 + n*(-103/140));
% gtu[4] = n^4*49561/161280;
%ellipsoidal to spherical N, E, KW p. 194, (65)
% 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[3] = n^3*(-17/480 + n*37/840);
% utg[4] = n^4*(-4397/161280);
% ellipsoidal to spherical N, E, KW p. 194, (65)
% 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[3] = n^3*(-17/480 + n*37/840);
% utg[4] = n^4*(-4397/161280);
%With f = 1/297 we get
% With f = 1/297 we get
bg = [-3.37077907e-3;
4.73444769e-6;
-8.29914570e-9;
1.58785330e-11];
4.73444769e-6;
-8.29914570e-9;
1.58785330e-11];
gb = [ 3.37077588e-3;
6.62769080e-6;
1.78718601e-8;
5.49266312e-11];
6.62769080e-6;
1.78718601e-8;
5.49266312e-11];
gtu = [ 8.41275991e-4;
7.67306686e-7;
1.21291230e-9;
2.48508228e-12];
7.67306686e-7;
1.21291230e-9;
2.48508228e-12];
utg = [-8.41276339e-4;
-5.95619298e-8;
-1.69485209e-10;
-2.20473896e-13];
-5.95619298e-8;
-1.69485209e-10;
-2.20473896e-13];
%Ellipsoidal latitude, longitude to spherical latitude, longitude
% Ellipsoidal latitude, longitude to spherical latitude, longitude
neg_geo = 'FALSE';
if B < 0
@@ -152,7 +149,7 @@ Bg_r = Bg_r + res_clensin;
L0 = L0*pi / 180;
Lg_r = L - L0;
%Spherical latitude, longitude to complementary spherical latitude
% Spherical latitude, longitude to complementary spherical latitude
% i.e. spherical N, E
cos_BN = cos(Bg_r);
Np = atan2(sin(Bg_r), cos(Lg_r)*cos_BN);

16
src/utils/matlab/libs/geoFunctions/check_t.m
View File

@@ -1,7 +1,7 @@
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:
% time - time in seconds
@@ -9,11 +9,8 @@ function corrTime = check_t(time)
% Outputs:
% corrTime - corrected time (seconds)
%Kai Borre 04-01-96
%Copyright (c) by Kai Borre
%
% CVS record:
% $Id: check_t.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
% Kai Borre 04-01-96
% Copyright (c) by Kai Borre
%==========================================================================
half_week = 302400; % seconds
@@ -24,5 +21,6 @@ if time > half_week
corrTime = time - 2*half_week;
elseif time < -half_week
corrTime = time + 2*half_week;
end
%%%%%%% end check_t.m %%%%%%%%%%%%%%%%%
end
%%%%%%% end check_t.m %%%%%%%%%%%%%%%%%

6
src/utils/matlab/libs/geoFunctions/clksin.m
View File

@@ -1,14 +1,12 @@
function [re, im] = clksin(ar, degree, arg_real, arg_imag)
%Clenshaw summation of sinus with complex argument
%[re, im] = clksin(ar, degree, arg_real, arg_imag);
% Clenshaw summation of sinus with complex argument
% [re, im] = clksin(ar, degree, arg_real, arg_imag);
% Written by Kai Borre
% December 20, 1995
%
% See also WGS2UTM or CART2UTM
%
% CVS record:
% $Id: clksin.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
%==========================================================================
sin_arg_r = sin(arg_real);

18
src/utils/matlab/libs/geoFunctions/clsin.m
View File

@@ -1,15 +1,12 @@
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
% December 20, 1995
%
% See also WGS2UTM or CART2UTM
%
% CVS record:
% $Id: clsin.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
%==========================================================================
cos_arg = 2 * cos(argument);
@@ -17,10 +14,11 @@ hr1 = 0;
hr = 0;
for t = degree : -1 : 1
hr2 = hr1;
hr1 = hr;
hr = ar(t) + cos_arg*hr1 - hr2;
hr2 = hr1;
hr1 = hr;
hr = ar(t) + cos_arg*hr1 - hr2;
end
result = hr * sin(argument);
%%%%%%%%%%%%%%%%%%%%%%% end clsin.m %%%%%%%%%%%%%%%%%%%%%
result = hr * sin(argument);
%%%%%%%%%%%%%%%%%%%%%%% end clsin.m %%%%%%%%%%%%%%%%%%%%%

8
src/utils/matlab/libs/geoFunctions/deg2dms.m
View File

@@ -1,6 +1,6 @@
function dmsOutput = deg2dms(deg)
%DEG2DMS Conversion of degrees to degrees, minutes, and seconds.
%The output format (dms format) is: (degrees*100 + minutes + seconds/100)
% DEG2DMS Conversion of degrees to degrees, minutes, and seconds.
% The output format (dms format) is: (degrees*100 + minutes + seconds/100)
% Written by Kai Borre
% February 7, 2001
@@ -11,7 +11,7 @@ neg_arg = false;
if deg < 0
% Only positive numbers should be used while spliting into deg/min/sec
deg = -deg;
neg_arg = true;
neg_arg = true;
end
%%% Split degrees minutes and seconds
@@ -40,4 +40,4 @@ if neg_arg == true
dmsOutput = -dmsOutput;
end
%%%%%%%%%%%%%%%%%%% end deg2dms.m %%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%% end deg2dms.m %%%%%%%%%%%%%%%%

6
src/utils/matlab/libs/geoFunctions/dms2deg.m
View File

@@ -1,12 +1,12 @@
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
% December 7, 2011
%if (dms(1)>=0)
deg=dms(1)+dms(2)/60+dms(3)/3600;
deg=dms(1)+dms(2)/60+dms(3)/3600;
%else
%deg=dms(1)-dms(2)/60-dms(3)/3600;
%deg=dms(1)-dms(2)/60-dms(3)/3600;
%end

6
src/utils/matlab/libs/geoFunctions/dms2mat.m
View File

@@ -1,6 +1,6 @@
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
% deg:min:sec matrix. The vector format is dms = 100*deg + min + sec/100.
@@ -19,7 +19,7 @@ function [dout,mout,sout] = dms2mat(dms,n)
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
% 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
@@ -71,7 +71,7 @@ if ~isempty(indx); d(indx) = d(indx) + 1; m(indx) = m(indx) - 60; end
if any(m > 59) | any (m < 0)
error('Minutes must be >= 0 and <= 59')
elseif any(s >= 60) | any( s < 0)
error('Seconds must be >= 0 and < 60')
end

19
src/utils/matlab/libs/geoFunctions/e_r_corr.m
View File

@@ -1,8 +1,8 @@
function X_sat_rot = e_r_corr(traveltime, X_sat)
%E_R_CORR Returns rotated satellite ECEF coordinates due to Earth
%rotation during signal travel time
% E_R_CORR Returns rotated satellite ECEF coordinates due to Earth
% rotation during signal travel time
%
%X_sat_rot = e_r_corr(traveltime, X_sat);
% X_sat_rot = e_r_corr(traveltime, X_sat);
%
% Inputs:
% travelTime - signal travel time
@@ -11,11 +11,8 @@ function X_sat_rot = e_r_corr(traveltime, X_sat)
% Outputs:
% X_sat_rot - rotated satellite's coordinates (ECEF)
%Written by Kai Borre
%Copyright (c) by Kai Borre
%
% CVS record:
% $Id: e_r_corr.m,v 1.1.1.1.2.6 2006/08/22 13:45:59 dpl Exp $
% Written by Kai Borre
% Copyright (c) by Kai Borre
%==========================================================================
Omegae_dot = 7.292115147e-5; % rad/sec
@@ -25,10 +22,10 @@ omegatau = Omegae_dot * traveltime;
%--- Make a rotation matrix -----------------------------------------------
R3 = [ cos(omegatau) sin(omegatau) 0;
-sin(omegatau) cos(omegatau) 0;
0 0 1];
-sin(omegatau) cos(omegatau) 0;
0 0 1];
%--- Do the rotation ------------------------------------------------------
X_sat_rot = R3 * X_sat;
%%%%%%%% end e_r_corr.m %%%%%%%%%%%%%%%%%%%%
%%%%%%%% end e_r_corr.m %%%%%%%%%%%%%%%%%%%%

23
src/utils/matlab/libs/geoFunctions/findUtmZone.m
View File

@@ -1,17 +1,17 @@
function utmZone = findUtmZone(latitude, longitude)
%Function finds the UTM zone number for given longitude and latitude.
%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
%84 (84 degree North).
% Function finds the UTM zone number for given longitude and latitude.
% 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
% 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
%15 deg 30 min).
% Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
% 15 deg 30 min).
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
%
% Copyright (C) Darius Plausinaitis
% Written by Darius Plausinaitis
%--------------------------------------------------------------------------
@@ -31,9 +31,6 @@ function utmZone = findUtmZone(latitude, longitude)
%USA.
%==========================================================================
%CVS record:
%$Id: findUtmZone.m,v 1.1.2.2 2006/08/22 13:45:59 dpl Exp $
%% Check value bounds =====================================================
if ((longitude > 180) || (longitude < -180))
@@ -62,11 +59,11 @@ if (latitude > 72)
utmZone = 35;
elseif ((longitude >= 33) && (longitude < 42))
utmZone = 37;
end
end
elseif ((latitude >= 56) && (latitude < 64))
% Correction for zone 32
if ((longitude >= 3) && (longitude < 12))
utmZone = 32;
end
end
end

24
src/utils/matlab/libs/geoFunctions/geo2cart.m
View File

@@ -1,13 +1,13 @@
function [X, Y, Z] = geo2cart(phi, lambda, h, i)
%GEO2CART Conversion of geographical coordinates (phi, lambda, h) to
%Cartesian coordinates (X, Y, Z).
% GEO2CART Conversion of geographical coordinates (phi, lambda, h) to
% 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].
%h, X, Y, and Z are in meters.
% Format for phi and lambda: [degrees minutes seconds].
% h, X, Y, and Z are in meters.
%
%Choices i of Reference Ellipsoid
% Choices i of Reference Ellipsoid
% 1. International Ellipsoid 1924
% 2. International Ellipsoid 1967
% 3. World Geodetic System 1972
@@ -16,18 +16,15 @@ function [X, Y, Z] = geo2cart(phi, lambda, h, i)
%
% Inputs:
% phi - geocentric latitude (format [degrees minutes seconds])
% lambda - geocentric longitude (format [degrees minutes seconds])
% lambda - geocentric longitude (format [degrees minutes seconds])
% h - height
% i - reference ellipsoid type
%
% Outputs:
% X, Y, Z - Cartesian coordinates (meters)
%Kai Borre 10-13-98
%Copyright (c) by Kai Borre
%
% CVS record:
% $Id: geo2cart.m,v 1.1.2.7 2006/08/22 13:45:59 dpl Exp $
% Kai Borre 10-13-98
% Copyright (c) by Kai Borre
%==========================================================================
b = phi(1) + phi(2)/60 + phi(3)/3600;
@@ -44,5 +41,6 @@ N = c / sqrt(1 + ex2*cos(b)^2);
X = (N+h) * cos(b) * cos(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 %%%%%%%%%%%%%%%%%%%%%%%%

41
src/utils/matlab/libs/geoFunctions/leastSquarePos.m
View File

@@ -1,7 +1,7 @@
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:
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
@@ -12,8 +12,8 @@ function [pos, el, az, dop] = leastSquarePos(satpos, obs, settings)
% settings - receiver settings
%
% Outputs:
% pos - receiver position and receiver clock error
% (in ECEF system: [X, Y, Z, dt])
% pos - receiver position and receiver clock error
% (in ECEF system: [X, Y, Z, dt])
% el - Satellites elevation angles (degrees)
% az - Satellites azimuth angles (degrees)
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
@@ -24,9 +24,6 @@ function [pos, el, az, dop] = leastSquarePos(satpos, obs, settings)
%Based on Kai Borre
%Copyright (c) by Kai Borre
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
%
% CVS record:
% $Id: leastSquarePos.m,v 1.1.2.12 2006/08/22 13:45:59 dpl Exp $
%==========================================================================
%=== Initialization =======================================================
@@ -44,7 +41,7 @@ el = az;
%=== Iteratively find receiver position ===================================
for iter = 1:nmbOfIterations
for i = 1:nmbOfSatellites
if iter == 1
%--- Initialize variables at the first iteration --------------
@@ -53,41 +50,41 @@ for iter = 1:nmbOfIterations
else
%--- Update equations -----------------------------------------
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 ;
%--- Correct satellite position (do to earth rotation) --------
Rot_X = e_r_corr(traveltime, X(:, i));
%--- Find the elevation angel of the satellite ----------------
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
if (settings.useTropCorr == 1)
%--- Calculate tropospheric correction --------------------
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
% Do not calculate or apply the tropospheric corrections
trop = 0;
end
end % if iter == 1 ... ... else
end % if iter == 1 ... ... else
%--- Apply the corrections ----------------------------------------
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
%--- Construct the A matrix ---------------------------------------
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
(-(Rot_X(2) - pos(2))) / obs(i) ...
(-(Rot_X(3) - pos(3))) / obs(i) ...
1 ];
(-(Rot_X(2) - pos(2))) / obs(i) ...
(-(Rot_X(3) - pos(3))) / obs(i) ...
1 ];
end % for i = 1:nmbOfSatellites
% These lines allow the code to exit gracefully in case of any errors
if rank(A) ~= 4
pos = zeros(1, 4);
return
end
%--- Find position update ---------------------------------------------
x = A \ omc;
@@ -106,7 +103,7 @@ if nargout == 4
%--- Calculate DOP ----------------------------------------------------
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(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
dop(4) = sqrt(Q(3,3)); % VDOP

11
src/utils/matlab/libs/geoFunctions/mat2dms.m
View File

@@ -1,6 +1,5 @@
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
% format. The vector format is dms = 100*deg + min + sec/100.
@@ -24,12 +23,12 @@ function dmsvec = mat2dms(d,m,s,n)
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
% 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
error('Incorrect number of arguments')
elseif nargin==1
if size(d,2)== 3
s = d(:,3); m = d(:,2); d = d(:,1);
@@ -41,11 +40,11 @@ elseif nargin==1
error('Single input matrices must be n-by-2 or n-by-3.');
end
n = -5;
elseif nargin == 2
s = zeros(size(d));
n = -5;
elseif nargin == 3
n = -5;
end

6
src/utils/matlab/libs/geoFunctions/roundn.m
View File

@@ -1,6 +1,6 @@
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.
%
@@ -15,7 +15,7 @@ function [x,msg] = roundn(x,n)
% Copyright 1996-2002 Systems Planning and Analysis, Inc. and The MathWorks, Inc.
% 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
@@ -43,4 +43,4 @@ factors = 10 ^ (fix(-n));
% Set the significant digits for the input data
x = round(x * factors) / factors;
x = round(x * factors) / factors;

87
src/utils/matlab/libs/geoFunctions/satpos.m
View File

@@ -1,9 +1,9 @@
function [satPositions, satClkCorr] = satpos(transmitTime, prnList, ...
eph, settings)
%SATPOS Computation of satellite coordinates X,Y,Z at TRANSMITTIME for
%given ephemeris EPH. Coordinates are computed for each satellite in the
%list PRNLIST.
%[satPositions, satClkCorr] = satpos(transmitTime, prnList, eph, settings);
eph, settings)
% SATPOS Computation of satellite coordinates X,Y,Z at TRANSMITTIME for
% given ephemeris EPH. Coordinates are computed for each satellite in the
% list PRNLIST.
%[ satPositions, satClkCorr] = satpos(transmitTime, prnList, eph, settings);
%
% Inputs:
% transmitTime - transmission time
@@ -18,25 +18,22 @@ function [satPositions, satClkCorr] = satpos(transmitTime, prnList, ...
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%--------------------------------------------------------------------------
%Based on Kai Borre 04-09-96
%Copyright (c) by Kai Borre
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
%
% CVS record:
% $Id: satpos.m,v 1.1.2.17 2007/01/30 09:45:12 dpl Exp $
% Based on Kai Borre 04-09-96
% Copyright (c) by Kai Borre
% Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
%% Initialize constants ===================================================
numOfSatellites = size(prnList, 2);
% GPS constatns
gpsPi = 3.1415926535898; % Pi used in the GPS coordinate
% system
gpsPi = 3.1415926535898; % Pi used in the GPS coordinate
% system
%--- Constants for satellite position calculation -------------------------
Omegae_dot = 7.2921151467e-5; % Earth rotation rate, [rad/s]
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)]
%% Initialize results =====================================================
@@ -49,65 +46,65 @@ for satNr = 1 : numOfSatellites
prn = prnList(satNr);
%% Find initial satellite clock correction --------------------------------
%% Find initial satellite clock correction --------------------------------
%--- Find time difference ---------------------------------------------
dt = check_t(transmitTime - eph(prn).t_oc);
%--- Calculate clock correction ---------------------------------------
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
eph(prn).a_f0 - ...
eph(prn).T_GD;
eph(prn).a_f0 - ...
eph(prn).T_GD;
time = transmitTime - satClkCorr(satNr);
%% Find satellite's position ----------------------------------------------
%% Find satellite's position ----------------------------------------------
%Restore semi-major axis
a = eph(prn).sqrtA * eph(prn).sqrtA;
%Time correction
tk = check_t(time - eph(prn).t_oe);
%Initial mean motion
n0 = sqrt(GM / a^3);
%Mean motion
n = n0 + eph(prn).deltan;
%Mean anomaly
M = eph(prn).M_0 + n * tk;
%Reduce mean anomaly to between 0 and 360 deg
M = rem(M + 2*gpsPi, 2*gpsPi);
%Initial guess of eccentric anomaly
E = M;
%--- Iteratively compute eccentric anomaly ----------------------------
for ii = 1:10
E_old = E;
E = M + eph(prn).e * sin(E);
dE = rem(E - E_old, 2*gpsPi);
if abs(dE) < 1.e-12
% Necessary precision is reached, exit from the loop
% Necessary precision is reached, exit from the loop
break;
end
end
end
%Reduce eccentric anomaly to between 0 and 360 deg
E = rem(E + 2*gpsPi, 2*gpsPi);
%Compute relativistic correction term
dtr = F * eph(prn).e * eph(prn).sqrtA * sin(E);
%Calculate the true anomaly
nu = atan2(sqrt(1 - eph(prn).e^2) * sin(E), cos(E)-eph(prn).e);
%Compute angle phi
phi = nu + eph(prn).omega;
%Reduce phi to between 0 and 360 deg
phi = rem(phi, 2*gpsPi);
%Correct argument of latitude
u = phi + ...
eph(prn).C_uc * cos(2*phi) + ...
@@ -120,22 +117,22 @@ for satNr = 1 : numOfSatellites
i = eph(prn).i_0 + eph(prn).iDot * tk + ...
eph(prn).C_ic * cos(2*phi) + ...
eph(prn).C_is * sin(2*phi);
%Compute the angle between the ascending node and the Greenwich meridian
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
Omega = rem(Omega + 2*gpsPi, 2*gpsPi);
%--- Compute satellite coordinates ------------------------------------
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(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 + ...
eph(prn).a_f0 - ...
eph(prn).T_GD + dtr;
eph(prn).a_f0 - ...
eph(prn).T_GD + dtr;
end % for satNr = 1 : numOfSatellites

9
src/utils/matlab/libs/geoFunctions/togeod.m
View File

@@ -1,9 +1,9 @@
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
% 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 output units of angular quantities will be in decimal degrees
@@ -24,9 +24,6 @@ function [dphi, dlambda, h] = togeod(a, finv, X, Y, Z)
% Reprinted with permission of author, 1996
% Fortran code translated into MATLAB
% Kai Borre 03-30-96
%
% CVS record:
% $Id: togeod.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
%==========================================================================
h = 0;
@@ -100,7 +97,7 @@ for i = 1:maxit
if (dP*dP + dZ*dZ < tolsq)
break;
end
% Not Converged--Warn user
if i == maxit
fprintf([' Problem in TOGEOD, did not converge in %2.0f',...

23
src/utils/matlab/libs/geoFunctions/topocent.m
View File

@@ -1,24 +1,21 @@
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.
% Both parameters are 3 by 1 vectors.
%
%[Az, El, D] = topocent(X, dx);
% [Az, El, D] = topocent(X, dx);
%
% Inputs:
% X - vector origin corrdinates (in ECEF system [X; Y; Z;])
% dx - vector ([dX; dY; dZ;]).
% X - vector origin corrdinates (in ECEF system [X; Y; Z;])
% dx - vector ([dX; dY; dZ;]).
%
% Outputs:
% D - vector length. Units like units of the input
% Az - azimuth from north positive clockwise, degrees
% El - elevation angle, degrees
%Kai Borre 11-24-96
%Copyright (c) by Kai Borre
%
% CVS record:
% $Id: topocent.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
% Kai Borre 11-24-96
% Copyright (c) by Kai Borre
%==========================================================================
dtr = pi/180;
@@ -27,12 +24,12 @@ dtr = pi/180;
cl = cos(lambda * dtr);
sl = sin(lambda * dtr);
cb = cos(phi * dtr);
cb = cos(phi * dtr);
sb = sin(phi * dtr);
F = [-sl -sb*cl cb*cl;
cl -sb*sl cb*sl;
0 cb sb];
cl -sb*sl cb*sl;
0 cb sb];
local_vector = F' * dx;
E = local_vector(1);
@@ -54,4 +51,4 @@ if Az < 0
end
D = sqrt(dx(1)^2 + dx(2)^2 + dx(3)^2);
%%%%%%%%% end topocent.m %%%%%%%%%
%%%%%%%%% end topocent.m %%%%%%%%%

23
src/utils/matlab/libs/geoFunctions/tropo.m
View File

@@ -1,9 +1,9 @@
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
% 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:
% sinel - sin of elevation angle of satellite
@@ -26,9 +26,6 @@ function ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum)
% A Matlab reimplementation of a C code from driver.
% Kai Borre 06-28-95
%
% CVS record:
% $Id: tropo.m,v 1.1.1.1.2.4 2006/08/22 13:46:00 dpl Exp $
%==========================================================================
a_e = 6378.137; % semi-major axis of earth ellipsoid
@@ -60,14 +57,14 @@ while 1
% check to see if geometry is crazy
if rtop < 0
rtop = 0;
end
rtop = 0;
end
rtop = sqrt(rtop) - (a_e+hsta)*sinel;
a = -sinel/(htop-hsta);
b = -b0*(1-sinel^2) / (htop-hsta);
rn = zeros(8,1);
for i = 1:8
rn(i) = rtop^(i+1);
end
@@ -77,17 +74,17 @@ while 1
b^2*(6*a^2+4*b)*1.428571e-1, 0, 0];
if b^2 > 1.0e-35
alpha(7) = a*b^3/2;
alpha(8) = b^4/9;
alpha(7) = a*b^3/2;
alpha(8) = b^4/9;
end
dr = rtop;
dr = dr + alpha*rn;
tropo = tropo + dr*ref*1000;
if done == 'TRUE '
ddr = tropo;
break;
ddr = tropo;
break;
end
done = 'TRUE ';

191
src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
View File

@@ -1,191 +0,0 @@
% /*!
% * \file glonass_ca_dll_pll_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function [GNSS_tracking] = glonass_ca_dll_pll_read_tracking_dump (filename, count)
%% usage: gps_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
narginchk (1,2);
num_float_vars=5;
num_unsigned_long_int_vars=1;
num_double_vars=11;
num_unsigned_int_vars=1;
double_size_bytes=8;
unsigned_long_int_size_bytes=8;
float_size_bytes=4;
long_int_size_bytes=4;
skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
bytes_shift=0;
if (nargin < 2)
%count = Inf;
file_stats = dir(filename);
%round num bytes to read to integer number of samples (to protect the script from binary
%dump end file transitory)
count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
fclose (f);
%%%%%%%% output vars %%%%%%%%
% // EPR
% d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
% // PROMPT I and Q (to analyze navigation symbols)
% d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
% // PRN start sample stamp
% //tmp_float=(float)d_sample_counter;
% d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
% // accumulated carrier phase
% d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
%
% // carrier and code frequency
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
%
% //PLL commands
% d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
%
% //DLL commands
% d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
%
% // CN0 and carrier lock test
% d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
%
% // AUX vars (for debug purposes)
% tmp_double = d_rem_code_phase_samples;
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% // PRN
% unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
% d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
E=v1;
P=v2;
L=v3;
prompt_I=v4;
prompt_Q=v5;
PRN_start_sample=v6;
acc_carrier_phase_rad=v7;
carrier_freq_hz=v8;
code_freq_hz=v9;
carr_error=v10;
carr_nco=v11;
code_error=v12;
code_nco=v13;
CN0_SNV_dB_Hz=v14;
carrier_lock_test=v15;
var1=v16;
var2=v17;
PRN=v18;
GNSS_tracking.E=E;
GNSS_tracking.P=P;
GNSS_tracking.L=L;
GNSS_tracking.prompt_I=prompt_I;
GNSS_tracking.prompt_Q=prompt_Q;
GNSS_tracking.PRN_start_sample=PRN_start_sample;
GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
GNSS_tracking.carrier_freq_hz=carrier_freq_hz;
GNSS_tracking.code_freq_hz=code_freq_hz;
GNSS_tracking.carr_error=carr_error;
GNSS_tracking.carr_nco=carr_nco;
GNSS_tracking.code_error=code_error;
GNSS_tracking.code_nco=code_nco;
GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
GNSS_tracking.carrier_lock_test=carrier_lock_test;
GNSS_tracking.d_rem_code_phase_samples=var1;
GNSS_tracking.var2=var2;
GNSS_tracking.PRN=PRN;
end

178
src/utils/matlab/libs/gps_l1_ca_dll_fll_pll_read_tracking_dump.m
View File

@@ -1,178 +0,0 @@
% /*!
% * \file gps_l1_ca_dll_fll_pll_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function [GNSS_tracking] = gps_l1_ca_dll_fll_pll_read_tracking_dump (filename, samplingFreq, count)
%% usage: gps_l1_ca_dll_fll_pll_read_tracking_dump (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,3,nargin);
num_float_vars=16;
num_double_vars=1;
double_size_bytes=8;
float_size_bytes=4;
skip_bytes_each_read=float_size_bytes*num_float_vars+double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
usage (m);
end
if (nargin < 3)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v6 = fread (f, count, 'uint32',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v7 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v9 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v10 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v11 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v12 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v13 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v14 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v15 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v16 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
fclose (f);
%%%%%%%% output vars %%%%%%%%
% // EPR
% d_dump_file.write((char*)&tmp_E, sizeof(float));
% d_dump_file.write((char*)&tmp_P, sizeof(float));
% d_dump_file.write((char*)&tmp_L, sizeof(float));
% // PROMPT I and Q (to analyze navigation symbols)
% d_dump_file.write((char*)&prompt_I, sizeof(float));
% d_dump_file.write((char*)&prompt_Q, sizeof(float));
% // PRN start sample stamp
% //tmp_float=(float)d_sample_counter;
% d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
% // accumulated carrier phase
% d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
%
% // carrier and code frequency
% d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
% d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
%
% //PLL commands
% d_dump_file.write((char*)&PLL_discriminator_hz, sizeof(float));
% d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
%
% //DLL commands
% d_dump_file.write((char*)&code_error_chips, sizeof(float));
% d_dump_file.write((char*)&d_code_phase_samples, sizeof(float));
%
% // CN0 and carrier lock test
% d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
% d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
%
% // AUX vars (for debug purposes)
% tmp_float=0;
% d_dump_file.write((char*)&tmp_float, sizeof(float));
% d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
E=v1;
P=v2;
L=v3;
prompt_I=v4;
prompt_Q=v5;
PRN_start_sample=v6;
acc_carrier_phase_rad=v7;
carrier_doppler_hz=v8;
code_freq_hz=v9;
PLL_discriminator_hz=v10;
carr_nco_hz=v11;
code_error_chips=v12;
code_phase_samples=v13;
CN0_SNV_dB_Hz=v14;
carrier_lock_test=v15;
var1=v16;
var2=v17;
GNSS_tracking.E=E;
GNSS_tracking.P=P;
GNSS_tracking.L=L;
GNSS_tracking.prompt_I=prompt_I;
GNSS_tracking.prompt_Q=prompt_Q;
GNSS_tracking.PRN_start_sample=PRN_start_sample;
GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
GNSS_tracking.code_freq_hz=code_freq_hz;
GNSS_tracking.PLL_discriminator_hz=PLL_discriminator_hz;
GNSS_tracking.carr_nco=carr_nco_hz;
GNSS_tracking.code_error_chips=code_error_chips;
GNSS_tracking.code_phase_samples=code_phase_samples;
GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
GNSS_tracking.carrier_lock_test=carrier_lock_test;
GNSS_tracking.var1=var1;
GNSS_tracking.var2=var2;
GNSS_tracking.prn_delay_ms=1000*(GNSS_tracking.var2+GNSS_tracking.var1)./samplingFreq;
end

214
src/utils/matlab/libs/gps_l1_ca_dll_pll_read_tracking_dump.m
View File

@@ -1,158 +1,156 @@
% /*!
% * \file gps_l1_ca_dll_pll_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% Usage: gps_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
%
% Opens GNSS-SDR tracking binary log file .dat and returns the contents
% Read GNSS-SDR Tracking dump binary file into MATLAB.
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function [GNSS_tracking] = gps_l1_ca_dll_pll_read_tracking_dump (filename, count)
%% usage: gps_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_float_vars=5;
num_unsigned_long_int_vars=1;
num_double_vars=11;
num_unsigned_int_vars=1;
double_size_bytes=8;
unsigned_long_int_size_bytes=8;
float_size_bytes=4;
long_int_size_bytes=4;
m = nargchk (1,2,nargin);
num_float_vars=5;
num_unsigned_long_int_vars=1;
num_double_vars=11;
num_unsigned_int_vars=1;
double_size_bytes=8;
unsigned_long_int_size_bytes=8;
float_size_bytes=4;
long_int_size_bytes=4;
skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
bytes_shift=0;
if (m)
skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
bytes_shift=0;
if (m)
usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
%count = Inf;
file_stats = dir(filename);
%round num bytes to read to integer number of samples (to protect the script from binary
%dump end file transitory)
count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
bytes_shift=bytes_shift+float_size_bytes;
bytes_shift=bytes_shift+float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved double
v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
fclose (f);
%%%%%%%% output vars %%%%%%%%
% // EPR
% d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
% // PROMPT I and Q (to analyze navigation symbols)
% d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
% // PRN start sample stamp
% //tmp_float=(float)d_sample_counter;
% d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
% // accumulated carrier phase
% d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
%
% // carrier and code frequency
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
%
% //PLL commands
% d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
%
% //DLL commands
% d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
%
% // CN0 and carrier lock test
% d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
%
% // AUX vars (for debug purposes)
% tmp_double = d_rem_code_phase_samples;
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% // PRN
% unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
% d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
% // EPR
% d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
% // PROMPT I and Q (to analyze navigation symbols)
% d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
% d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
% // PRN start sample stamp
% //tmp_float=(float)d_sample_counter;
% d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
% // accumulated carrier phase
% d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
%
% // carrier and code frequency
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
%
% //PLL commands
% d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
%
% //DLL commands
% d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
%
% // CN0 and carrier lock test
% d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
%
% // AUX vars (for debug purposes)
% tmp_double = d_rem_code_phase_samples;
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
% // PRN
% unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
% d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
E=v1;
P=v2;
L=v3;
@@ -190,5 +188,5 @@ function [GNSS_tracking] = gps_l1_ca_dll_pll_read_tracking_dump (filename, count
GNSS_tracking.d_rem_code_phase_samples=var1;
GNSS_tracking.var2=var2;
GNSS_tracking.PRN=PRN;
end
end

170
src/utils/matlab/libs/gps_l1_ca_pvt_read_pvt_dump.m
View File

@@ -1,39 +1,40 @@
% /*!
% * \file gps_l1_ca_pvt_read_pvt_dump.m
% * \brief Read GNSS-SDR PVT lib dump binary file into MATLAB. The resulting
%
% \file gps_l1_ca_pvt_read_pvt_dump.m
% \brief Read GNSS-SDR PVT lib dump binary file into MATLAB. The resulting
% structure is compatible with the K.Borre MATLAB-based receiver.
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% \author Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function [navSolutions] = gps_l1_ca_pvt_read_pvt_dump (filename, count)
%% usage: gps_l1_ca_pvt_read_pvt_dump (filename, [count])
%%
%% open GNSS-SDR PVT binary log file .dat and return the contents
%%
%
%% usage: gps_l1_ca_pvt_read_pvt_dump (filename, [count])
%%
%% open GNSS-SDR PVT binary log file .dat and return the contents
%%
%
% // PVT GPS time
% tmp_double=GPS_current_time;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
@@ -58,57 +59,56 @@ function [navSolutions] = gps_l1_ca_pvt_read_pvt_dump (filename, count)
% // GEO user position Height [m]
% tmp_double=d_height_m;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
m = nargchk (1,2,nargin);
num_double_vars=8;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
usage (m);
end
if (nargin < 3)
m = nargchk (1,2,nargin);
num_double_vars=8;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
usage (m);
end
if (nargin < 3)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
GPS_current_time = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_X = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_Y = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_Z = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Clock_Offset = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Lat = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Long = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Height = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
fclose (f);
end
navSolutions.X=ECEF_X.';
navSolutions.Y=ECEF_Y.';
navSolutions.Z=ECEF_Z.';
navSolutions.dt=Clock_Offset.';
navSolutions.latitude=Lat.';
navSolutions.longitude=Long.';
navSolutions.height=Height.';
navSolutions.TransmitTime=GPS_current_time.';
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
GPS_current_time = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_X = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_Y = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
ECEF_Z = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Clock_Offset = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Lat = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Long = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
Height = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
fclose (f);
end
navSolutions.X=ECEF_X.';
navSolutions.Y=ECEF_Y.';
navSolutions.Z=ECEF_Z.';
navSolutions.dt=Clock_Offset.';
navSolutions.latitude=Lat.';
navSolutions.longitude=Long.';
navSolutions.height=Height.';
navSolutions.TransmitTime=GPS_current_time.';

83
src/utils/matlab/libs/gps_l1_ca_read_pvt_raw_dump.m
View File

@@ -1,27 +1,52 @@
% Javier Arribas 2011
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Javier Arribas 2011
function [pvt_raw] = gps_l1_ca_read_pvt_raw_dump (channels, filename, count)
%% usage: read_tracking_dat (filename, [count])
%%
%% open GNSS-SDR pvt binary log file .dat and return the contents
%%
%% usage: read_tracking_dat (filename, [count])
%%
%% open GNSS-SDR pvt binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_double_vars=3;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
if (m)
m = nargchk (1,2,nargin);
num_double_vars=3;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
if (m)
usage (m);
end
end
if (nargin < 3)
if (nargin < 3)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
for N=1:1:channels
pvt_raw.Pseudorange_m(N,:) = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
@@ -33,17 +58,17 @@ function [pvt_raw] = gps_l1_ca_read_pvt_raw_dump (channels, filename, count)
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
end
fclose (f);
%%%%%%%% output vars %%%%%%%%
% for (unsigned int i=0; i<d_nchannels ; i++)
% {
% tmp_double = in[i][0].Pseudorange_m;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = in[i][0].Pseudorange_symbol_shift;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% d_dump_file.write((char*)&d_tx_time, sizeof(double));
% }
end
% for (unsigned int i=0; i<d_nchannels ; i++)
% {
% tmp_double = in[i][0].Pseudorange_m;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = in[i][0].Pseudorange_symbol_shift;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% d_dump_file.write((char*)&d_tx_time, sizeof(double));
% }
end

103
src/utils/matlab/libs/gps_l1_ca_read_telemetry_dump.m
View File

@@ -1,48 +1,73 @@
% Javier Arribas 2011
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Javier Arribas 2011
function [telemetry] = gps_l1_ca_read_telemetry_dump (filename, count)
%% usage: read_tracking_dat (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
%% usage: read_tracking_dat (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_double_vars=3;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
m = nargchk (1,2,nargin);
num_double_vars=3;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars;
bytes_shift=0;
if (m)
usage (m);
end
end
if (nargin < 3)
if (nargin < 3)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
telemetry.preamble_delay_ms = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
telemetry.prn_delay_ms = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
telemetry.Preamble_symbol_counter = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
telemetry.preamble_delay_ms = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
telemetry.prn_delay_ms = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
telemetry.Preamble_symbol_counter = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
fclose (f);
%%%%%%%% output vars %%%%%%%%
% {
% double tmp_double;
% tmp_double = current_synchro_data.Preamble_delay_ms;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_synchro_data.Prn_delay_ms;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_synchro_data.Preamble_symbol_counter;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% }
end
% {
% double tmp_double;
% tmp_double = current_synchro_data.Preamble_delay_ms;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_synchro_data.Prn_delay_ms;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_synchro_data.Preamble_symbol_counter;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% }
end

172
src/utils/matlab/libs/plotNavigation.m
View File

@@ -1,42 +1,8 @@
% /*!
% * \file plotNavigation.m
% * \brief
% Functions plots variations of coordinates over time and a 3D position
% plot. It plots receiver coordinates in UTM system or coordinate offsets if
% the true UTM receiver coordinates are provided.
% * \author Darius Plausinaitis
% * Modified by Javier Arribas, 2011. jarribas(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function plotNavigation(navSolutions, settings,plot_skyplot)
%Functions plots variations of coordinates over time and a 3D position
%plot. It plots receiver coordinates in UTM system or coordinate offsets if
%the true UTM receiver coordinates are provided.
% Function plots variations of coordinates over time and a 3D position
% plot. It plots receiver coordinates in UTM system or coordinate offsets if
% the true UTM receiver coordinates are provided.
%
%plotNavigation(navSolutions, settings)
% plotNavigation(navSolutions, settings)
%
% Inputs:
% navSolutions - Results from navigation solution function. It
@@ -47,47 +13,77 @@ function plotNavigation(navSolutions, settings,plot_skyplot)
% plot_skyplot - If ==1 then use satellite coordinates to plot the
% the satellite positions
% Darius Plausinaitis
% Modified by Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function plotNavigation(navSolutions, settings,plot_skyplot)
%% Plot results in the necessary data exists ==============================
if (~isempty(navSolutions))
%% If reference position is not provided, then set reference position
%% to the average postion
if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ...
|| isnan(settings.truePosition.U)
%=== Compute mean values ==========================================
|| isnan(settings.truePosition.U)
%=== Compute mean values ==========================================
% Remove NaN-s or the output of the function MEAN will be NaN.
refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E)));
refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N)));
refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U)));
%Also convert geodetic coordinates to deg:min:sec vector format
meanLongitude = dms2mat(deg2dms(...
mean(navSolutions.longitude(~isnan(navSolutions.longitude)))), -5);
meanLatitude = dms2mat(deg2dms(...
mean(navSolutions.latitude(~isnan(navSolutions.latitude)))), -5);
LatLong_str=[num2str(meanLatitude(1)), 'º', ...
num2str(meanLatitude(2)), '''', ...
num2str(meanLatitude(3)), '''''', ...
',', ...
num2str(meanLongitude(1)), 'º', ...
num2str(meanLongitude(2)), '''', ...
num2str(meanLongitude(3)), '''''']
LatLong_str=[num2str(meanLatitude(1)), '??', ...
num2str(meanLatitude(2)), '''', ...
num2str(meanLatitude(3)), '''''', ...
',', ...
num2str(meanLongitude(1)), '??', ...
num2str(meanLongitude(2)), '''', ...
num2str(meanLongitude(3)), '''''']
refPointLgText = ['Mean Position\newline Lat: ', ...
num2str(meanLatitude(1)), '{\circ}', ...
num2str(meanLatitude(2)), '{\prime}', ...
num2str(meanLatitude(3)), '{\prime}{\prime}', ...
'\newline Lng: ', ...
num2str(meanLongitude(1)), '{\circ}', ...
num2str(meanLongitude(2)), '{\prime}', ...
num2str(meanLongitude(3)), '{\prime}{\prime}', ...
'\newline Hgt: ', ...
num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')];
num2str(meanLatitude(1)), '{\circ}', ...
num2str(meanLatitude(2)), '{\prime}', ...
num2str(meanLatitude(3)), '{\prime}{\prime}', ...
'\newline Lng: ', ...
num2str(meanLongitude(1)), '{\circ}', ...
num2str(meanLongitude(2)), '{\prime}', ...
num2str(meanLongitude(3)), '{\prime}{\prime}', ...
'\newline Hgt: ', ...
num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')];
else
% compute the mean error for static receiver
mean_position.E = mean(navSolutions.E(~isnan(navSolutions.E)));
@@ -100,55 +96,55 @@ if (~isempty(navSolutions))
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]'];
end
end
figureNumber = 300;
% The 300 is chosen for more convenient handling of the open
% figure windows, when many figures are closed and reopened. Figures
% drawn or opened by the user, will not be "overwritten" by this
% function if the auto numbering is not used.
%=== Select (or create) and clear the figure ==========================
figure(figureNumber);
clf (figureNumber);
set (figureNumber, 'Name', 'Navigation solutions');
%--- Draw axes --------------------------------------------------------
handles(1, 1) = subplot(4, 2, 1 : 4);
handles(3, 1) = subplot(4, 2, [5, 7]);
handles(3, 2) = subplot(4, 2, [6, 8]);
%% Plot all figures =======================================================
handles(3, 2) = subplot(4, 2, [6, 8]);
%% Plot all figures =======================================================
%--- Coordinate differences in UTM system -----------------------------
plot(handles(1, 1), [(navSolutions.E - refCoord.E)', ...
(navSolutions.N - refCoord.N)',...
(navSolutions.U - refCoord.U)']);
(navSolutions.N - refCoord.N)',...
(navSolutions.U - refCoord.U)']);
title (handles(1, 1), 'Coordinates variations in UTM system');
legend(handles(1, 1), 'E', 'N', 'U');
xlabel(handles(1, 1), ['Measurement period: ', ...
num2str(settings.navSolPeriod), 'ms']);
num2str(settings.navSolPeriod), 'ms']);
ylabel(handles(1, 1), 'Variations (m)');
grid (handles(1, 1));
axis (handles(1, 1), 'tight');
axis (handles(1, 1), 'tight');
%--- Position plot in UTM system --------------------------------------
plot3 (handles(3, 1), navSolutions.E - refCoord.E, ...
navSolutions.N - refCoord.N, ...
navSolutions.U - refCoord.U, '+');
navSolutions.N - refCoord.N, ...
navSolutions.U - refCoord.U, '+');
hold (handles(3, 1), 'on');
%Plot the reference point
plot3 (handles(3, 1), 0, 0, 0, 'r+', 'LineWidth', 1.5, 'MarkerSize', 10);
hold (handles(3, 1), 'off');
view (handles(3, 1), 0, 90);
axis (handles(3, 1), 'equal');
grid (handles(3, 1), 'minor');
grid (handles(3, 1), 'minor');
legend(handles(3, 1), 'Measurements', refPointLgText);
title (handles(3, 1), 'Positions in UTM system (3D plot)');
xlabel(handles(3, 1), 'East (m)');
ylabel(handles(3, 1), 'North (m)');
@@ -157,14 +153,14 @@ if (~isempty(navSolutions))
if (plot_skyplot==1)
%--- Satellite sky plot -----------------------------------------------
skyPlot(handles(3, 2), ...
navSolutions.channel.az, ...
navSolutions.channel.el, ...
navSolutions.channel.PRN(:, 1));
navSolutions.channel.az, ...
navSolutions.channel.el, ...
navSolutions.channel.PRN(:, 1));
title (handles(3, 2), ['Sky plot (mean PDOP: ', ...
num2str(mean(navSolutions.DOP(2,:))), ')']);
num2str(mean(navSolutions.DOP(2,:))), ')']);
end
else
disp('plotNavigation: No navigation data to plot.');
end % if (~isempty(navSolutions))

290
src/utils/matlab/libs/plotTracking.m
View File

@@ -1,7 +1,7 @@
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:
% channelList - list of channels to be plotted.
@@ -10,7 +10,7 @@ function plotTracking(channelList, trackResults, settings)
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
%
% Copyright (C) Darius Plausinaitis
% Written by Darius Plausinaitis
%--------------------------------------------------------------------------
@@ -30,160 +30,158 @@ function plotTracking(channelList, trackResults, settings)
%USA.
%--------------------------------------------------------------------------
%CVS record:
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
% Protection - if the list contains incorrect channel numbers
channelList = intersect(channelList, 1:settings.numberOfChannels);
%=== For all listed channels ==============================================
for channelNr = channelList
%% Select (or create) and clear the figure ================================
%% Select (or create) and clear the figure ================================
% The number 200 is added just for more convenient handling of the open
% figure windows, when many figures are closed and reopened.
% Figures drawn or opened by the user, will not be "overwritten" by
% this function.
figure(channelNr +200);
clf(channelNr +200);
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
' (PRN ', ...
num2str(trackResults(channelNr).PRN(end-1)), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(4, 3, 1);
handles(1, 2) = subplot(4, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(4, 3, 4);
handles(2, 2) = subplot(4, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(4, 3, 7);
handles(3, 2) = subplot(4, 3, 8);
handles(3, 3) = subplot(4, 3, 9);
% Row 4
handles(4, 1) = subplot(4, 3, 10);
handles(4, 2) = subplot(4, 3, 11);
handles(4, 3) = subplot(4, 3, 12);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_P,...
trackResults(channelNr).Q_P, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_P);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess), 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
%----- CNo for signal----------------------------------
plot (handles(4, 1), timeAxisInSeconds, ...
trackResults(channelNr).CNo(1:settings.msToProcess), 'b');
grid (handles(4, 1));
axis (handles(4, 1), 'tight');
xlabel(handles(4, 1), 'Time (s)');
ylabel(handles(4, 1), 'CNo (dB-Hz)');
title (handles(4, 1), 'Carrier to Noise Ratio');
%----- Carrier Frequency --------------------------------
plot (handles(4, 2), timeAxisInSeconds(2:end), ...
trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
grid (handles(4, 2));
axis (handles(4, 2));
xlabel(handles(4, 2), 'Time (s)');
ylabel(handles(4, 2), 'Freq (hz)');
title (handles(4, 2), 'Carrier Freq');
%----- Code Frequency----------------------------------
%--- Skip sample 0 to help with results display
plot (handles(4, 3), timeAxisInSeconds(2:end), ...
trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);
grid (handles(4, 3));
axis (handles(4, 3), 'tight');
xlabel(handles(4, 3), 'Time (s)');
ylabel(handles(4, 3), 'Freq (Hz)');
title (handles(4, 3), 'Code Freq');
' (PRN ', ...
num2str(trackResults(channelNr).PRN(end-1)), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(4, 3, 1);
handles(1, 2) = subplot(4, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(4, 3, 4);
handles(2, 2) = subplot(4, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(4, 3, 7);
handles(3, 2) = subplot(4, 3, 8);
handles(3, 3) = subplot(4, 3, 9);
% Row 4
handles(4, 1) = subplot(4, 3, 10);
handles(4, 2) = subplot(4, 3, 11);
handles(4, 3) = subplot(4, 3, 12);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_P,...
trackResults(channelNr).Q_P, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_P);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess), 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
%----- CNo for signal----------------------------------
plot (handles(4, 1), timeAxisInSeconds, ...
trackResults(channelNr).CNo(1:settings.msToProcess), 'b');
grid (handles(4, 1));
axis (handles(4, 1), 'tight');
xlabel(handles(4, 1), 'Time (s)');
ylabel(handles(4, 1), 'CNo (dB-Hz)');
title (handles(4, 1), 'Carrier to Noise Ratio');
%----- Carrier Frequency --------------------------------
plot (handles(4, 2), timeAxisInSeconds(2:end), ...
trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);
grid (handles(4, 2));
axis (handles(4, 2));
xlabel(handles(4, 2), 'Time (s)');
ylabel(handles(4, 2), 'Freq (hz)');
title (handles(4, 2), 'Carrier Freq');
%----- Code Frequency----------------------------------
%--- Skip sample 0 to help with results display
plot (handles(4, 3), timeAxisInSeconds(2:end), ...
trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);
grid (handles(4, 3));
axis (handles(4, 3), 'tight');
xlabel(handles(4, 3), 'Time (s)');
ylabel(handles(4, 3), 'Freq (Hz)');
title (handles(4, 3), 'Code Freq');
end % for channelNr = channelList

243
src/utils/matlab/libs/plotVEMLTracking.m
View File

@@ -1,7 +1,7 @@
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:
% channelList - list of channels to be plotted.
@@ -10,7 +10,7 @@ function plotVEMLTracking(channelList, trackResults, settings)
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
%
% Copyright (C) Darius Plausinaitis
% Written by Darius Plausinaitis
%--------------------------------------------------------------------------
@@ -30,136 +30,133 @@ function plotVEMLTracking(channelList, trackResults, settings)
%USA.
%--------------------------------------------------------------------------
%CVS record:
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
% Protection - if the list contains incorrect channel numbers
channelList = intersect(channelList, 1:settings.numberOfChannels);
%=== For all listed channels ==============================================
for channelNr = channelList
%% Select (or create) and clear the figure ================================
%% Select (or create) and clear the figure ================================
% The number 200 is added just for more convenient handling of the open
% figure windows, when many figures are closed and reopened.
% Figures drawn or opened by the user, will not be "overwritten" by
% this function.
figure(channelNr +200);
clf(channelNr +200);
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
' (PRN ', ...
num2str(trackResults(channelNr).PRN(end-1)), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(3, 3, 1);
handles(1, 2) = subplot(3, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(3, 3, 4);
handles(2, 2) = subplot(3, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(3, 3, 7);
handles(3, 2) = subplot(3, 3, 8);
handles(3, 3) = subplot(3, 3, 9);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).data_I,...
trackResults(channelNr).data_Q, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
t = (1:length(trackResults(channelNr).data_I));
plot (handles(1, 2), t, ...
trackResults(channelNr).data_I);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
t = (1:length(trackResults(channelNr).pllDiscr));
plot (handles(2, 1), t, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
t = (1:length(trackResults(channelNr).I_VE));
plot(handles(2, 2), t, ...
[sqrt(trackResults(channelNr).I_VE.^2 + ...
trackResults(channelNr).Q_VE.^2)', ...
sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)', ...
sqrt(trackResults(channelNr).I_VL.^2 + ...
trackResults(channelNr).Q_VL.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{VE}^2 + Q_{VE}^2}$', ...
'$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$', ...
'$\sqrt{I_{VL}^2 + Q_{VL}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
t = (1:length(trackResults(channelNr).pllDiscrFilt));
plot (handles(3, 1), t, ...
trackResults(channelNr).pllDiscrFilt, 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
t = (1:length(trackResults(channelNr).dllDiscr));
plot (handles(3, 2), t, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
t = (1:length(trackResults(channelNr).dllDiscrFilt));
plot (handles(3, 3), t, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
' (PRN ', ...
num2str(trackResults(channelNr).PRN(end-1)), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(3, 3, 1);
handles(1, 2) = subplot(3, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(3, 3, 4);
handles(2, 2) = subplot(3, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(3, 3, 7);
handles(3, 2) = subplot(3, 3, 8);
handles(3, 3) = subplot(3, 3, 9);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).data_I,...
trackResults(channelNr).data_Q, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
t = (1:length(trackResults(channelNr).data_I));
plot (handles(1, 2), t, ...
trackResults(channelNr).data_I);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
t = (1:length(trackResults(channelNr).pllDiscr));
plot (handles(2, 1), t, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
t = (1:length(trackResults(channelNr).I_VE));
plot(handles(2, 2), t, ...
[sqrt(trackResults(channelNr).I_VE.^2 + ...
trackResults(channelNr).Q_VE.^2)', ...
sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)', ...
sqrt(trackResults(channelNr).I_VL.^2 + ...
trackResults(channelNr).Q_VL.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{VE}^2 + Q_{VE}^2}$', ...
'$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$', ...
'$\sqrt{I_{VL}^2 + Q_{VL}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
t = (1:length(trackResults(channelNr).pllDiscrFilt));
plot (handles(3, 1), t, ...
trackResults(channelNr).pllDiscrFilt, 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
t = (1:length(trackResults(channelNr).dllDiscr));
plot (handles(3, 2), t, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
t = (1:length(trackResults(channelNr).dllDiscrFilt));
plot (handles(3, 3), t, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
end % for channelNr = channelList

58
src/utils/matlab/libs/read_complex_binary.m
View File

@@ -1,50 +1,54 @@
% Usage: read_complex_binary (filename, [count], [start_sample])
%
% Copyright 2001 Free Software Foundation, Inc.
% Opens filename and returns the contents as a column vector,
% treating them as 32 bit complex numbers
%
% This file is part of GNU Radio
% -------------------------------------------------------------------------
%
% GNU Radio is free software; you can redistribute it and/or modify
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 3, or (at your option)
% any later version.
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNU Radio 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
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNU Radio; see the file COPYING. If not, write to
% the Free Software Foundation, Inc., 51 Franklin Street,
% Boston, MA 02110-1301, USA.
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function v = read_complex_binary (filename, count, start_sample)
%% usage: read_complex_binary (filename, [count], [start_sample])
%%
%% open filename and return the contents as a column vector,
%% treating them as 32 bit complex numbers
%%
m = nargchk (1,2,nargin);
if (m)
m = nargchk (1,2,nargin);
if (m)
%usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
count = Inf;
start_sample=0;
end
end
if (nargin < 3)
if (nargin < 3)
start_sample=0;
end
f = fopen (filename, 'rb');
if (f < 0)
end
f = fopen (filename, 'rb');
if (f < 0)
v = 0;
else
else
if (start_sample>0)
bytes_per_sample=4;
fseek(f,start_sample*bytes_per_sample,'bof');
@@ -54,4 +58,4 @@ function v = read_complex_binary (filename, count, start_sample)
v = t(1,:) + t(2,:)*i;
[r, c] = size (v);
v = reshape (v, c, r);
end
end

62
src/utils/matlab/libs/read_complex_char_binary.m
View File

@@ -1,48 +1,52 @@
% Usage: read_complex_binary (filename, [count])
%
% Copyright 2001 Free Software Foundation, Inc.
%
% This file is part of GNU Radio
%
% GNU Radio is free software; you can redistribute it and/or modify
% Opens filename and returns the contents as a column vector,
% treating them as 32 bit complex numbers
%
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 3, or (at your option)
% any later version.
%
% GNU Radio is distributed in the hope that it will be useful,
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
%
% You should have received a copy of the GNU General Public License
% along with GNU Radio; see the file COPYING. If not, write to
% the Free Software Foundation, Inc., 51 Franklin Street,
% Boston, MA 02110-1301, USA.
%
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function v = read_complex_char_binary (filename, count)
%% usage: read_complex_binary (filename, [count])
%%
%% open filename and return the contents as a column vector,
%% treating them as 32 bit complex numbers
%%
m = nargchk (1,2,nargin);
if (m)
m = nargchk (1,2,nargin);
if (m)
usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
count = Inf;
end
end
f = fopen (filename, 'rb');
if (f < 0)
f = fopen (filename, 'rb');
if (f < 0)
v = 0;
else
else
t = fread (f, [2, count], 'int8');
fclose (f);
v = t(1,:) + t(2,:)*i;
[r, c] = size (v);
v = reshape (v, c, r);
end
end

62
src/utils/matlab/libs/read_complex_short_binary.m
View File

@@ -1,48 +1,52 @@
% Usage: read_complex_binary (filename, [count])
%
% Copyright 2001 Free Software Foundation, Inc.
%
% This file is part of GNU Radio
%
% GNU Radio is free software; you can redistribute it and/or modify
% Opens filename and returns the contents as a column vector,
% treating them as 32 bit complex numbers
%
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 3, or (at your option)
% any later version.
%
% GNU Radio is distributed in the hope that it will be useful,
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
%
% You should have received a copy of the GNU General Public License
% along with GNU Radio; see the file COPYING. If not, write to
% the Free Software Foundation, Inc., 51 Franklin Street,
% Boston, MA 02110-1301, USA.
%
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
function v = read_complex_short_binary (filename, count)
%% usage: read_complex_binary (filename, [count])
%%
%% open filename and return the contents as a column vector,
%% treating them as 32 bit complex numbers
%%
m = nargchk (1,2,nargin);
if (m)
m = nargchk (1,2,nargin);
if (m)
usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
count = Inf;
end
end
f = fopen (filename, 'rb');
if (f < 0)
f = fopen (filename, 'rb');
if (f < 0)
v = 0;
else
else
t = fread (f, [2, count], 'short');
fclose (f);
v = t(1,:) + t(2,:)*i;
[r, c] = size (v);
v = reshape (v, c, r);
end
end

105
src/utils/matlab/libs/read_hybrid_observables_dump.m
View File

@@ -1,27 +1,52 @@
% Javier Arribas 2011
% Usage: read_tracking_dat (filename, [count])
%
% Opens GNSS-SDR tracking binary log file .dat and returns the contents
%
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Javier Arribas 2011
function [observables] = read_hybrid_observables_dump (channels, filename, count)
%% usage: read_tracking_dat (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_double_vars=7;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
if (m)
m = nargchk (1,2,nargin);
num_double_vars=7;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
if (m)
usage (m);
end
end
if (nargin < 3)
if (nargin < 3)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
for N=1:1:channels
observables.RX_time(N,:) = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
@@ -45,27 +70,27 @@ function [observables] = read_hybrid_observables_dump (channels, filename, count
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
end
fclose (f);
%%%%%%%% output vars %%%%%%%%
% double tmp_double;
% for (unsigned int i = 0; i < d_nchannels; i++)
% {
% tmp_double = current_gnss_synchro[i].RX_time;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Pseudorange_m;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].PRN;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% }
end
% double tmp_double;
% for (unsigned int i = 0; i < d_nchannels; i++)
% {
% tmp_double = current_gnss_synchro[i].RX_time;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Pseudorange_m;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].PRN;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
% d_dump_file.write((char*)&tmp_double, sizeof(double));
% }
end

93
src/utils/matlab/libs/read_true_sim_observables_dump.m
View File

@@ -1,29 +1,54 @@
% Javier Arribas 2011
% Usage: read_true_sim_observables_dump (filename, [count])
%
% Opens gnss-sdr-sim observables dump and reads all chennels
%
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Javier Arribas 2011
function [observables] = read_true_sim_observables_dump (filename, count)
%% usage: read_true_sim_observables_dump (filename, [count])
%%
%% open gnss-sdr-sim observables dump and read all chennels
%%
m = nargchk (1,2,nargin);
channels=12; %Simulator always use 12 channels
num_double_vars=7;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
m = nargchk (1,2,nargin);
channels=12; %Simulator always use 12 channels
num_double_vars=7;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars*channels;
bytes_shift=0;
if (m)
if (m)
usage (m);
end
end
if (nargin < 2)
if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
for N=1:1:channels
observables.RX_time(N,:) = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
@@ -47,19 +72,19 @@ function [observables] = read_true_sim_observables_dump (filename, count)
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
end
fclose (f);
% %%%%%%%% output vars %%%%%%%%
% for(int i=0;i<12;i++)
% {
% d_dump_file.read((char *) &gps_time_sec[i], sizeof(double));
% d_dump_file.read((char *) &doppler_l1_hz, sizeof(double));
% d_dump_file.read((char *) &acc_carrier_phase_l1_cycles[i], sizeof(double));
% d_dump_file.read((char *) &dist_m[i], sizeof(double));
% d_dump_file.read((char *) &true_dist_m[i], sizeof(double));
% d_dump_file.read((char *) &carrier_phase_l1_cycles[i], sizeof(double));
% d_dump_file.read((char *) &prn[i], sizeof(double));
% }
end
% %%%%%%%% output vars %%%%%%%%
% for(int i=0;i<12;i++)
% {
% d_dump_file.read((char *) &gps_time_sec[i], sizeof(double));
% d_dump_file.read((char *) &doppler_l1_hz, sizeof(double));
% d_dump_file.read((char *) &acc_carrier_phase_l1_cycles[i], sizeof(double));
% d_dump_file.read((char *) &dist_m[i], sizeof(double));
% d_dump_file.read((char *) &true_dist_m[i], sizeof(double));
% d_dump_file.read((char *) &carrier_phase_l1_cycles[i], sizeof(double));
% d_dump_file.read((char *) &prn[i], sizeof(double));
% }
end

243
src/utils/matlab/plotTrackingE5a.m
View File

@@ -1,7 +1,7 @@
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:
% channelList - list of channels to be plotted.
@@ -10,144 +10,141 @@ function plotTracking(channelList, trackResults, settings)
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
%
% Copyright (C) Darius Plausinaitis
% Written by Darius Plausinaitis
%--------------------------------------------------------------------------
%This program is free software; you can redistribute it and/or
%modify it under the terms of the GNU General Public License
%as published by the Free Software Foundation; either version 2
%of the License, or (at your option) any later version.
% This program is free software; you can redistribute it and/or
% modify it under the terms of the GNU General Public License
% as published by the Free Software Foundation; either version 2
% of the License, or (at your option) any later version.
%
%This program is distributed in the hope that it will be useful,
%but WITHOUT ANY WARRANTY; without even the implied warranty of
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
%GNU General Public License for more details.
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
%You should have received a copy of the GNU General Public License
%along with this program; if not, write to the Free Software
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
%USA.
% You should have received a copy of the GNU General Public License
% along with this program; if not, write to the Free Software
% Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
% USA.
%--------------------------------------------------------------------------
%CVS record:
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
% Protection - if the list contains incorrect channel numbers
channelList = intersect(channelList, 1:settings.numberOfChannels);
%=== For all listed channels ==============================================
for channelNr = channelList
%% Select (or create) and clear the figure ================================
%% Select (or create) and clear the figure ================================
% The number 200 is added just for more convenient handling of the open
% figure windows, when many figures are closed and reopened.
% Figures drawn or opened by the user, will not be "overwritten" by
% this function.
figure(channelNr +200);
clf(channelNr +200);
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
' (PRN ', ...
num2str(trackResults(channelNr).PRN), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(3, 3, 1);
handles(1, 2) = subplot(3, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(3, 3, 4);
handles(2, 2) = subplot(3, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(3, 3, 7);
handles(3, 2) = subplot(3, 3, 8);
handles(3, 3) = subplot(3, 3, 9);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:settings.msToProcess-1)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_PN,...
trackResults(channelNr).Q_PN, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_PN(1:settings.msToProcess-1));
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr(1:settings.msToProcess-1), 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_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 + ...
trackResults(channelNr).Q_P(1:settings.msToProcess-1).^2)', ...
sqrt(trackResults(channelNr).I_L(1:settings.msToProcess-1).^2 + ...
trackResults(channelNr).Q_L(1:settings.msToProcess-1).^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess-1), 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr(1:settings.msToProcess-1), 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt(1:settings.msToProcess-1), 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
' (PRN ', ...
num2str(trackResults(channelNr).PRN), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(3, 3, 1);
handles(1, 2) = subplot(3, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(3, 3, 4);
handles(2, 2) = subplot(3, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(3, 3, 7);
handles(3, 2) = subplot(3, 3, 8);
handles(3, 3) = subplot(3, 3, 9);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:settings.msToProcess-1)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_PN,...
trackResults(channelNr).Q_PN, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_PN(1:settings.msToProcess-1));
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr(1:settings.msToProcess-1), 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_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 + ...
trackResults(channelNr).Q_P(1:settings.msToProcess-1).^2)', ...
sqrt(trackResults(channelNr).I_L(1:settings.msToProcess-1).^2 + ...
trackResults(channelNr).Q_L(1:settings.msToProcess-1).^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt(1:settings.msToProcess-1), 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr(1:settings.msToProcess-1), 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt(1:settings.msToProcess-1), 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
end % for channelNr = channelList

58
src/utils/matlab/plot_acq_grid.m
View File

@@ -1,36 +1,32 @@
% /*!
% * \file plot_acq_grid.m
% * \brief Read GNSS-SDR Acquisition dump .mat file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat
% Reads GNSS-SDR Acquisition dump .mat file using the provided
% function and plots acquisition grid of acquisition statistic of PRN sat
% Antonio Ramos, 2017. antonio.ramos(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
%
% * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
%%%%%%%%% ¡¡¡ CONFIGURE !!! %%%%%%%%%%%%%
%%%%%%%%% ?????? CONFIGURE !!! %%%%%%%%%%%%%
path = '/archive/';
file = 'acq';

62
src/utils/matlab/plot_acq_grid_gsoc.m
View File

@@ -1,37 +1,35 @@
% /*!
% * \file plot_acq_grid_gsoc.m
% * \brief Read GNSS-SDR Acquisition dump binary file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat
% Reads GNSS-SDR Acquisition dump binary file using the provided
% function and plots acquisition grid of acquisition statistic of PRN sat
%
% This function analyzes a experiment performed by Luis Esteve in the framework
% This function analyzes a experiment performed by Luis Esteve in the framework
% of the Google Summer of Code (GSoC) 2012, with the collaboration of Javier Arribas
% and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
% and Carles Fern??ndez, related to the extension of GNSS-SDR to Galileo.
%
% Luis Esteve, 2012. luis(at)epsilon-formacion.com
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function plot_acq_grid_gsoc(sat)
@@ -61,7 +59,7 @@ for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
index=index+1;
filename=['test_statistics_E_1C_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
acq_grid(index,:)=abs(read_complex_binary (filename));
end
end
maximum_correlation_peak = max(max(acq_grid))

69
src/utils/matlab/plot_acq_grid_gsoc_e5.m
View File

@@ -1,39 +1,38 @@
% /*!
% * \file plot_acq_grid_gsoc_e5.m
% * \brief Read GNSS-SDR Acquisition dump binary file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat.
% CAF input must be 0 or 1 depending if the user desires to read the file
% that resolves doppler ambiguity or not.
% Reads GNSS-SDR Acquisition dump binary file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat.
% CAF input must be 0 or 1 depending if the user desires to read the file
% that resolves doppler ambiguity or not.
%
% This function analyzes a experiment performed by Marc Sales in the framework
% of the Google Summer of Code (GSoC) 2014, with the collaboration of Luis Esteve, Javier Arribas
% and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
% This function analyzes a experiment performed by Marc Sales in the framework
% of the Google Summer of Code (GSoC) 2014, with the collaboration of Luis Esteve, Javier Arribas
% and Carles Fernandez, related to the extension of GNSS-SDR to Galileo.
%
% Marc Sales marcsales92(at)gmail.com,
% Luis Esteve, 2014. luis(at)epsilon-formacion.com
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% * \author Marc Sales marcsales92(at)gmail.com, Luis Esteve, 2014. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function plot_acq_grid_gsoc_e5(sat,CAF)
@@ -127,7 +126,7 @@ myFile = java.io.File(file);
flen = length(myFile);
num_samples=flen/8; % 8 bytes (2 single floats) per complex sample
for k=1:num_samples
for k=1:num_samples
a(1:2) = fread(fid, 2, 'float');
x(k) = a(1) + a(2)*1i;
k=k+1;

63
src/utils/matlab/plot_acq_grid_gsoc_glonass.m
View File

@@ -1,37 +1,34 @@
% /*!
% * \file plot_acq_grid_gsoc.m
% * \brief Read GNSS-SDR Acquisition dump binary file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat
% Reads GNSS-SDR Acquisition dump binary file using the provided
% function and plots acquisition grid of acquisition statistic of PRN sat
%
% This function analyzes a experiment performed by Luis Esteve in the framework
% This function analyzes a experiment performed by Luis Esteve in the framework
% of the Google Summer of Code (GSoC) 2012, with the collaboration of Javier Arribas
% and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
% and Carles Fernandez, related to the extension of GNSS-SDR to Galileo.
%
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function plot_acq_grid_gsoc_glonass(sat)
@@ -62,9 +59,9 @@ for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
index=index+1;
filename=['acquisition_R_1G_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
acq_grid(index,:)=abs(read_complex_binary (filename));
end
end
acq_grid = acq_grid.^2;
acq_grid = acq_grid.^2;
maximum_correlation_peak = max(max(acq_grid))

214
src/utils/reproducibility/ieee-access18/plot_dump.m
View File

@@ -1,32 +1,28 @@
% /*!
% * \file plot_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file and plot some internal
% variables
% * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%
% Antonio Ramos, 2018. antonio.ramos(at)cttc.es
clear all;
clc;
@@ -84,158 +80,136 @@ end
fclose(fileID);
mean_Latitude=mean(navsol.lat);
mean_Longitude=mean(navsol.long);
mean_h=mean(navsol.height);
utmZone = findUtmZone(mean_Latitude,mean_Longitude);
[ref_X_cart,ref_Y_cart,ref_Z_cart]=geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);
[mean_utm_X,mean_utm_Y,mean_utm_Z]=cart2utm(ref_X_cart,ref_Y_cart,ref_Z_cart,utmZone);
mean_Latitude = mean(navsol.lat);
mean_Longitude = mean(navsol.long);
mean_h = mean(navsol.height);
utmZone = findUtmZone(mean_Latitude, mean_Longitude);
[ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);
[mean_utm_X, mean_utm_Y, mean_utm_Z] = cart2utm(ref_X_cart, ref_Y_cart, ref_Z_cart, utmZone);
numPoints=length(navsol.X);
aux=0;
for n=1:numPoints
aux=aux+1;
[E(aux),N(aux),U(aux)]=cart2utm(navsol.X(n), navsol.Y(n), navsol.Z(n), utmZone);
numPoints = length(navsol.X);
aux = 0;
for n = 1:numPoints
aux = aux+1;
[E(aux), N(aux), U(aux)] = cart2utm(navsol.X(n), navsol.Y(n), navsol.Z(n), utmZone);
end
v_2d=[E;N].'; %2D East Nort position vectors
v_3d=[E;N;U].'; %2D East Nort position vectors
v_2d = [E;N].'; % 2D East Nort position vectors
v_3d = [E;N;U].'; % 2D East Nort position vectors
%% ACCURACY
% 2D -------------------
sigma_E_accuracy=sqrt((1/(numPoints-1))*sum((v_2d(:,1)-mean_utm_X).^2));
sigma_N_accuracy=sqrt((1/(numPoints-1))*sum((v_2d(:,2)-mean_utm_Y).^2));
sigma_ratio_2d_accuracy=sigma_N_accuracy/sigma_E_accuracy
sigma_E_accuracy = sqrt((1/(numPoints-1)) * sum((v_2d(:,1) - mean_utm_X).^2));
sigma_N_accuracy = sqrt((1/(numPoints-1)) * sum((v_2d(:,2) - mean_utm_Y).^2));
sigma_ratio_2d_accuracy = sigma_N_accuracy / sigma_E_accuracy
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
DRMS_accuracy=sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2)
DRMS_accuracy = sqrt(sigma_E_accuracy^2 + sigma_N_accuracy^2)
% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
TWO_DRMS_accuracy=2*DRMS_accuracy
TWO_DRMS_accuracy = 2 * DRMS_accuracy
% if sigma_ratio>0.3 -> Prob in circle with r=CEP -> 50%
CEP_accuracy=0.62*sigma_E_accuracy+0.56*sigma_N_accuracy
CEP_accuracy = 0.62 * sigma_E_accuracy + 0.56 * sigma_N_accuracy
% 3D -------------------
sigma_U_accuracy=sqrt((1/(numPoints-1))*sum((v_3d(:,3)-mean_utm_Z).^2));
sigma_U_accuracy = sqrt((1/(numPoints-1)) * sum((v_3d(:,3) - mean_utm_Z).^2));
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
SEP_accuracy=0.51*sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2+sigma_U_accuracy^2)
SEP_accuracy = 0.51 * sqrt(sigma_E_accuracy^2 + sigma_N_accuracy^2 + sigma_U_accuracy^2)
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
MRSE_accuracy=sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2+sigma_U_accuracy^2)
MRSE_accuracy = sqrt(sigma_E_accuracy^2 + sigma_N_accuracy^2 + sigma_U_accuracy^2)
% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
TWO_MRSE_accuracy=2*MRSE_accuracy
TWO_MRSE_accuracy=2 * MRSE_accuracy
%% PRECISION
% 2D analysis
% Simulated X,Y measurements
%v1=randn(1000,2);
% 2D Mean and Variance
mean_2d = [mean(v_2d(:,1)) ; mean(v_2d(:,2))];
sigma_2d = [sqrt(var(v_2d(:,1))) ; sqrt(var(v_2d(:,2)))];
sigma_ratio_2d=sigma_2d(2)/sigma_2d(1)
sigma_ratio_2d = sigma_2d(2) / sigma_2d(1)
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
DRMS=sqrt(sigma_2d(1)^2+sigma_2d(2)^2)
DRMS = sqrt(sigma_2d(1)^2 + sigma_2d(2)^2)
% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
TWO_DRMS=2*DRMS
TWO_DRMS = 2 * DRMS
% if sigma_ratio>0.3 -> Prob in circle with r=CEP -> 50%
CEP=0.62*sigma_2d(1)+0.56*sigma_2d(2)
CEP = 0.62 * sigma_2d(1) + 0.56 * sigma_2d(2)
% Mean and Variance
mean_3d=[mean(v_3d(:,1)) ; mean(v_3d(:,2)) ; mean(v_3d(:,3))];
sigma_3d=[sqrt(var(v_3d(:,1))) ; sqrt(var(v_3d(:,2))) ; sqrt(var(v_3d(:,3)))];
% 3D Mean and Variance
mean_3d = [mean(v_3d(:,1)) ; mean(v_3d(:,2)) ; mean(v_3d(:,3))];
sigma_3d = [sqrt(var(v_3d(:,1))) ; sqrt(var(v_3d(:,2))) ; sqrt(var(v_3d(:,3)))];
% absolute mean error
% 2D
error_2D_vec = [mean_utm_X-mean_2d(1) mean_utm_Y-mean_2d(2)];
error_2D_m = norm(error_2D_vec)
error_2D_vec=[mean_utm_X-mean_2d(1) mean_utm_Y-mean_2d(2)];
error_2D_m=norm(error_2D_vec)
error_3D_vec = [mean_utm_X-mean_3d(1) mean_utm_Y-mean_3d(2) mean_utm_Z-mean_3d(3)];
error_3D_m = norm(error_3D_vec)
error_3D_vec=[mean_utm_X-mean_3d(1) mean_utm_Y-mean_3d(2) mean_utm_Z-mean_3d(3)];
error_3D_m=norm(error_3D_vec)
RMSE_X = sqrt(mean((v_3d(:,1)-mean_utm_X).^2))
RMSE_Y = sqrt(mean((v_3d(:,2)-mean_utm_Y).^2))
RMSE_Z = sqrt(mean((v_3d(:,3)-mean_utm_Z).^2))
% RMSE 2D
RMSE_2D = sqrt(mean((v_2d(:,1)-mean_utm_X).^2 + (v_2d(:,2)-mean_utm_Y).^2))
RMSE_3D = sqrt(mean((v_3d(:,1)-mean_utm_X).^2 + (v_3d(:,2)-mean_utm_Y).^2 + (v_3d(:,3)-mean_utm_Z).^2))
RMSE_X=sqrt(mean((v_3d(:,1)-mean_utm_X).^2))
RMSE_Y=sqrt(mean((v_3d(:,2)-mean_utm_Y).^2))
RMSE_Z=sqrt(mean((v_3d(:,3)-mean_utm_Z).^2))
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
SEP = 0.51 * sqrt(sigma_3d(1)^2 + sigma_3d(2)^2 + sigma_3d(3)^2)
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
MRSE = sqrt(sigma_3d(1)^2 + sigma_3d(2)^2 + sigma_3d(3)^2)
% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
TWO_MRSE = 2 * MRSE
RMSE_2D=sqrt(mean((v_2d(:,1)-mean_utm_X).^2+(v_2d(:,2)-mean_utm_Y).^2))
RMSE_3D=sqrt(mean((v_3d(:,1)-mean_utm_X).^2+(v_3d(:,2)-mean_utm_Y).^2+(v_3d(:,3)-mean_utm_Z).^2))
% SCATTER PLOT
%% SCATTER PLOT 2D
subplot(3,3,8)
scatter(v_2d(:,1)-mean_2d(1),v_2d(:,2)-mean_2d(2));
scatter(v_2d(:,1)-mean_2d(1), v_2d(:,2)-mean_2d(2));
hold on;
plot(0,0,'k*');
plot(0, 0, 'k*');
[x,y,z] = cylinder([TWO_DRMS TWO_DRMS], 200);
plot(x(1,:), y(1,:), 'Color', [0 0.6 0]);
str = strcat('2DRMS=', num2str(TWO_DRMS), ' m');
text(cosd(65)*TWO_DRMS, sind(65)*TWO_DRMS, str, 'Color', [0 0.6 0]);
[x,y,z] = cylinder([TWO_DRMS TWO_DRMS],200);
plot(x(1,:),y(1,:),'Color',[0 0.6 0]);
str = strcat('2DRMS=',num2str(TWO_DRMS), ' m');
text(cosd(65)*TWO_DRMS,sind(65)*TWO_DRMS,str,'Color',[0 0.6 0]);
[x,y,z] = cylinder([CEP CEP],200);
plot(x(1,:),y(1,:),'r--');
str = strcat('CEP=',num2str(CEP), ' m');
text(cosd(80)*CEP,sind(80)*CEP,str,'Color','r');
[x,y,z] = cylinder([CEP CEP], 200);
plot(x(1,:), y(1,:), 'r--');
str = strcat('CEP=', num2str(CEP), ' m');
text(cosd(80)*CEP, sind(80)*CEP, str, 'Color','r');
grid on
axis equal;
xlabel('North [m]','fontname','Times','fontsize', fontsize)
ylabel('East [m]','fontname','Times','fontsize', fontsize)
% 3D analysis
% Simulated X,Y,Z measurements
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
SEP=0.51*sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
MRSE=sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
TWO_MRSE=2*MRSE
% SCATTER PLOT
%% SCATTER PLOT 3D
subplot(3,3,9)
scatter3(v_3d(:,1)-mean_3d(1),v_3d(:,2)-mean_3d(2), v_3d(:,3)-mean_3d(3));
scatter3(v_3d(:,1)-mean_3d(1), v_3d(:,2)-mean_3d(2), v_3d(:,3)-mean_3d(3));
hold on;
[x,y,z] = sphere();
hSurface=surf(MRSE*x,MRSE*y,MRSE*z); % sphere centered at origin
hSurface = surf(MRSE*x, MRSE*y, MRSE*z); % sphere centered at origin
set(hSurface, 'facecolor', 'none', 'edgecolor', [0 0.6 0], 'edgealpha', 1, 'facealpha', 1);
set(hSurface,'facecolor','none','edgecolor',[0 0.6 0],'edgealpha',1,'facealpha',1);
xlabel('North [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
ylabel('East [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
zlabel('Up [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
str = strcat('MRSE=', num2str(MRSE), ' m')
text(cosd(45)*MRSE, sind(45)*MRSE, 20, str, 'Color', [0 0.6 0]);
a = gca;
set(a, 'fontsize', fontsize-6)
%axis equal;
xlabel('North [m]','fontname','Times','fontsize', fontsize-2)
ylabel('East [m]','fontname','Times','fontsize', fontsize-2)
zlabel('Up [m]','fontname','Times','fontsize', fontsize-2)
str = strcat('MRSE=',num2str(MRSE), ' m')
text(cosd(45)*MRSE,sind(45)*MRSE,20,str,'Color',[0 0.6 0]);
a=gca;
set(a,'fontsize',fontsize-6)
hh=findall(hf,'-property','FontName');
set(hh,'FontName','Times');
hh = findall(hf, '-property', 'FontName');
set(hh, 'FontName', 'Times');
print(hf, 'Figure2.eps', '-depsc')
close(hf);