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MOD: matlab code phase error plots

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miguekf
2022-12-27 17:14:46 +01:00
parent 3f199e85f3
commit 5a0881a223
1 changed files with 53 additions and 4 deletions
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57
src/utils/matlab/vtl/vtl_prototype_clk_d_drift.m
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@@ -24,14 +24,14 @@ clearvars
SPEED_OF_LIGHT_M_S=299792458.0;
Lambda_GPS_L1=0.1902937;
GPS_L1_freq_hz=1575.42e6;
% point_of_closure=4118;%4060;
point_of_closure=4060;%4060;
%% ==================== VARIANCES =============================
pos_var=100;%m^2
vel_var=10;%m^2/s^2
clk_bias_var=100;%m^2
clk_drift_var=40;%m^2/s^2
clk_d_drift_var=1;
clk_drift_var=100;%m^2/s^2
clk_d_drift_var=10;
pr_var=20;%m^2
pr_dot_var=2;%m^2/s^2
@@ -51,6 +51,7 @@ spirent_index_TTFF=416;
plot_skyplot=0;
plot_reference=1;
load_observables=1;
load_tfk_cmd=1;
%% ============================ PARSER TO STRUCT ============================
@@ -68,10 +69,36 @@ if(load_observables)
refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
end
%%
if(load_tfk_cmd)
trkSolution=trk2struct('dump_trk_file.csv');
% split by solution type
figure;sgtitle('real doppler')
for chan=0:4
eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.real==chan);'])
eval(['Dopp_real_CH' num2str(chan) '=trkSolution.dopp.real(indCH' num2str(chan) ',2);'])
eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_real_CH' num2str(chan) ')'])
end
figure;sgtitle('cmd doppler')
for chan=0:4
eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.cmd==chan);'])
eval(['Dopp_cmd_CH' num2str(chan) '=trkSolution.dopp.cmd(indCH' num2str(chan) ',2);'])
eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_cmd_CH' num2str(chan) ')'])
end
figure;sgtitle('real phase')
for chan=0:4
eval(['[indCH' num2str(chan) ',~]= find(trkSolution.phase.real==chan);'])
eval(['Phase_real_CH' num2str(chan) '=trkSolution.phase.real(indCH' num2str(chan) ',2);'])
eval(['subplot(2,3,' num2str(chan+1) ');plot(Phase_real_CH' num2str(chan) ')'])
end
end
%%
% vtlSolution = Vtl2struct('dump_vtl_file.csv');
%%
kf_prototype_clk_d
kf_prototype4acc
%% ====== FILTERING =======================================================
% moving_avg_factor= 500;
@@ -100,3 +127,25 @@ legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
%%
figure;plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(9,:)');title('kf 9 xerr');xlabel('t U.A');ylabel('kf 9 xerr');grid minor
%%
figure;sgtitle(' error in phase')
for chan=0:4
eval(['subplot(2,3,' num2str(chan+1) ');plot(err_carrier_phase_rads_filt(' num2str(chan+1) ',:))'])
hold on; grid minor;
end
%%
% figure;sgtitle('real vs cmd phase')
% for chan=0:4
% eval(['subplot(2,3,' num2str(chan+1) ');plot(Phase_real_CH' num2str(chan) ')'])
% hold on; grid minor;
% eval(['subplot(2,3,' num2str(chan+1) ');plot(carrier_phase_rads_filt(' num2str(chan+1) ',1:3425)+Phase_real_CH' num2str(chan) '(1)' ')'])
% legend('real','cmd')
% end
% %%
% figure;sgtitle(' error in cmd to actual phase')
% for chan=0:4
% eval(['subplot(2,3,' num2str(chan+1) ');plot(Phase_real_CH' num2str(chan) '-transpose(carrier_phase_rads_filt(' num2str(chan+1) ',1:3425))+Phase_real_CH' num2str(chan) '(1)' ')'])
% grid minor;
% end