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MOD: matlab utils

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miguekf 2022-12-10 22:01:29 +01:00
parent f7aac29e1d
commit 74a8383393
4 changed files with 416 additions and 359 deletions
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138
src/utils/matlab/vtl/kf_prototype.m
View File

@ -29,14 +29,14 @@ kf_yerr = zeros(2*sat_number, 1);
kf_S = zeros(2*sat_number, 2*sat_number); % kf_P_y innovation covariance matrix kf_S = zeros(2*sat_number, 2*sat_number); % kf_P_y innovation covariance matrix
%% State error Covariance Matrix Q (PVT) %% State error Covariance Matrix Q (PVT)
kf_Q = [ 1 0 0 0 0 0 0 0 kf_Q = [ 100 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 100 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 100 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0 0 10 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 10 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 10 0 0
0 0 0 0 0 0 1e-9 0 0 0 0 0 0 0 500 0
0 0 0 0 0 0 0 1e-7];%new_data.rx_pvt_var(i); %careful, values for V and T could not be adecuate. 0 0 0 0 0 0 0 1500];%careful, values for V and T could not be adecuate.
%% %%
% % Measurement error Covariance Matrix R assembling % % Measurement error Covariance Matrix R assembling
@ -57,6 +57,7 @@ kf_R=[ 3 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 30 0 0 0 0 0 0 0 0 0 30 0
0 0 0 0 0 0 0 0 0 30]; 0 0 0 0 0 0 0 0 0 30];
% pre-allocate for speed
d = zeros(sat_number, 1); d = zeros(sat_number, 1);
rho_pri = zeros(sat_number, 1); rho_pri = zeros(sat_number, 1);
rhoDot_pri = zeros(sat_number, 1); rhoDot_pri = zeros(sat_number, 1);
@ -64,10 +65,16 @@ kf_R=[ 3 0 0 0 0 0 0 0 0 0
a_y = zeros(sat_number, 1); a_y = zeros(sat_number, 1);
a_z = zeros(sat_number, 1); a_z = zeros(sat_number, 1);
c_pr_m=zeros(sat_number,length(navSolution.RX_time)); c_pr_m=zeros(sat_number,length(navSolution.RX_time));
pr_m_filt=zeros(sat_number,length(navSolution.RX_time));
rhoDot_pri_filt=zeros(sat_number,length(navSolution.RX_time));
sat_dopp_hz_filt=zeros(sat_number,length(navSolution.RX_time));
%% ################## Kalman Tracking ###################################### %% ################## Kalman Tracking ######################################
% receiver solution from rtklib_solver % receiver solution from rtklib_solver
for t=1:length(navSolution.RX_time) for t=2:length(navSolution.RX_time)
clear x_u y_u z_u xDot_u yDot_u zDot_u cdeltatDot_u cdeltatDot_u_g cdeltat_u_g
if (t<length(navSolution.RX_time)-point_of_closure) if (t<length(navSolution.RX_time)-point_of_closure)
kf_x(1,t) = navSolution.X(t); kf_x(1,t) = navSolution.X(t);
kf_x(2,t) = navSolution.Y(t); kf_x(2,t) = navSolution.Y(t);
@ -86,38 +93,41 @@ for t=1:length(navSolution.RX_time)
zDot_u=kf_x(6,t); zDot_u=kf_x(6,t);
cdeltat_u(t)=kf_x(7,t); cdeltat_u(t)=kf_x(7,t);
cdeltatDot_u=kf_x(8,t); cdeltatDot_u=kf_x(8,t);
kf_P_x = eye(8)*100; %TODO: use a real value.
else
kf_x(:,t)=corr_kf_state(:,t-1);
x_u=kf_x(1,t);
y_u=kf_x(2,t);
z_u=kf_x(3,t);
xDot_u=kf_x(4,t);
yDot_u=kf_x(5,t);
zDot_u=kf_x(6,t);
cdeltat_u(t)=kf_x(7,t);%
cdeltatDot_u=kf_x(8,t);%
end
% Kalman state prediction (time update) % Kalman state prediction (time update)
kf_x(:,t) = kf_F * kf_x(:,t); % state prediction kf_P_x = eye(8)*100; %TODO: use a real value.
kf_xpri(:,t) = kf_F * (kf_x(:,t)-kf_x(:,t-1));% state prediction
kf_P_x= kf_F * kf_P_x * kf_F' + kf_Q;% state error covariance prediction kf_P_x= kf_F * kf_P_x * kf_F' + kf_Q;% state error covariance prediction
else
x_u=corr_kf_state(1,t-1);
y_u=corr_kf_state(2,t-1);
z_u=corr_kf_state(3,t-1);
xDot_u=corr_kf_state(4,t-1);
yDot_u=corr_kf_state(5,t-1);
zDot_u=corr_kf_state(6,t-1);
cdeltat_u(t)=corr_kf_state(7,t-1);
cdeltatDot_u=corr_kf_state(8,t-1);
% Kalman state prediction (time update)
kf_P_x= kf_F * kf_P_x * kf_F' + kf_Q;% state error covariance prediction
end
for chan=1:5 %neccesary quantities for chan=1:5 %neccesary quantities
d(chan)=(sat_posX_m(chan,t)-kf_x(1,t))^2; d(chan)=(sat_posX_m(chan,t)-x_u)^2;
d(chan)=d(chan)+(sat_posY_m(chan,t)-kf_x(2,t))^2; d(chan)=d(chan)+(sat_posY_m(chan,t)-y_u)^2;
d(chan)=d(chan)+(sat_posZ_m(chan,t)-kf_x(3,t))^2; d(chan)=d(chan)+(sat_posZ_m(chan,t)-z_u)^2;
d(chan)=sqrt(d(chan)); d(chan)=sqrt(d(chan));
c_pr_m(chan,t)=d(chan)+cdeltat_u(t); c_pr_m(chan,t)=d(chan)+cdeltat_u(t);
a_x(chan,t)=-(sat_posX_m(chan,t)-kf_x(1,t))/d(chan); a_x(chan,t)=-(sat_posX_m(chan,t)-x_u)/d(chan);
a_y(chan,t)=-(sat_posY_m(chan,t)-kf_x(2,t))/d(chan); a_y(chan,t)=-(sat_posY_m(chan,t)-y_u)/d(chan);
a_z(chan,t)=-(sat_posZ_m(chan,t)-kf_x(3,t))/d(chan); a_z(chan,t)=-(sat_posZ_m(chan,t)-z_u)/d(chan);
rhoDot_pri(chan,t)=(sat_velX(chan,t)-kf_x(4,t))*a_x(chan,t)... rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
+(sat_velY(chan,t)-kf_x(5,t))*a_y(chan,t)... +(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
+(sat_velZ(chan,t)-kf_x(6,t))*a_z(chan,t)+cdeltatDot_u; +(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
end end
@ -128,10 +138,16 @@ for t=1:length(navSolution.RX_time)
kf_H(chan+sat_number, 4) = a_x(chan,t); kf_H(chan+sat_number, 5) = a_y(chan,t); kf_H(chan+sat_number, 6) = a_z(chan,t); kf_H(chan+sat_number, 8) = 1.0; kf_H(chan+sat_number, 4) = a_x(chan,t); kf_H(chan+sat_number, 5) = a_y(chan,t); kf_H(chan+sat_number, 6) = a_z(chan,t); kf_H(chan+sat_number, 8) = 1.0;
end end
% unobsv(t) = length(kf_F) - rank(obsv(kf_F,kf_H));
% !!!! Limitaciones
% obsv no se recomienda para el diseño de control, ya que calcular el rango de la matriz de observabilidad
% no se recomienda para las pruebas de observabilidad. Ob será numéricamente singular para la mayoría de los
% sistemas con más de unos cuantos estados. Este hecho está bien documentado en la sección III de [1].
% Kalman estimation (measurement update) % Kalman estimation (measurement update)
for chan=1:5 % Measurement matrix H assembling for chan=1:5 % Measurement matrix H assembling
kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);%-0.000157*SPEED_OF_LIGHT_M_S; kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);%-0.000157*SPEED_OF_LIGHT_M_S;
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t); kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
end end
% DOUBLES DIFFERENCES % DOUBLES DIFFERENCES
@ -150,11 +166,57 @@ for t=1:length(navSolution.RX_time)
kf_K = (kf_P_x * kf_H') * inv(kf_S); % Kalman gain kf_K = (kf_P_x * kf_H') * inv(kf_S); % Kalman gain
kf_xerr(:,t) = kf_K * (kf_yerr(:,t)); % Error state estimation kf_xerr(:,t) = kf_K * (kf_yerr(:,t)); % Error state estimation
kf_P_x = (eye(length(kf_P_x)) - kf_K * kf_H) * kf_P_x; % update state estimation error covariance matrix kf_P_x = (eye(length(kf_P_x)) - kf_K * kf_H) * kf_P_x; % update state estimation error covariance matrix
corr_kf_state(:,t)=kf_x(:,t)-kf_xerr(:,t); %updated state estimation
err_clk_b=kf_xerr(7,t) if (t<length(navSolution.RX_time)-point_of_closure)
err_clk_d=kf_xerr(8,t) corr_kf_state(:,t)=kf_xpri(:,t)-kf_xerr(:,t)+kf_x(:,t); %updated state estimation
% States related tu USER clock adjust from m/s to s (by /SPEED_OF_LIGHT_M_S) else
% kf_x(6) =kf_x(6); corr_kf_state(:,t)=corr_kf_state(:,t-1)-kf_xerr(:,t); %updated state estimation
% kf_x(7) =kf_x(7); end
%% ################## Geometric Transformation ######################################
x_u=corr_kf_state(1,t);
y_u=corr_kf_state(2,t);
z_u=corr_kf_state(3,t);
xDot_u=corr_kf_state(4,t);
yDot_u=corr_kf_state(5,t);
zDot_u=corr_kf_state(6,t);
cdeltat_u_g=corr_kf_state(7,t);
cdeltatDot_u_g=corr_kf_state(8,t);
for chan=1:5 %neccesary quantities
d(chan)=(sat_posX_m(chan,t)-x_u)^2;
d(chan)=d(chan)+(sat_posY_m(chan,t)-y_u)^2;
d(chan)=d(chan)+(sat_posZ_m(chan,t)-z_u)^2;
d(chan)=sqrt(d(chan));
c_pr_m(chan,t)=d(chan)+cdeltat_u_g;
a_x(chan,t)=-(sat_posX_m(chan,t)-x_u)/d(chan);
a_y(chan,t)=-(sat_posY_m(chan,t)-y_u)/d(chan);
a_z(chan,t)=-(sat_posZ_m(chan,t)-z_u)/d(chan);
rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
+(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u_g;
end
kf_H = zeros(2*sat_number,8);
for chan=1:5 % Measurement matrix H assembling
% It has 8 columns (8 states) and 2*NSat rows (NSat psudorange error;NSat pseudo range rate error)
kf_H(chan, 1) = a_x(chan,t); kf_H(chan, 2) = a_y(chan,t); kf_H(chan, 3) = a_z(chan,t); kf_H(chan, 7) = 1.0;
kf_H(chan+sat_number, 4) = a_x(chan,t); kf_H(chan+sat_number, 5) = a_y(chan,t); kf_H(chan+sat_number, 6) = a_z(chan,t); kf_H(chan+sat_number, 8) = 1.0;
end
% Re-calculate error measurement vector with the most recent data available: kf_delta_y=kf_H*kf_delta_x
kf_yerr_g=kf_H*kf_xerr;
% Filtered pseudorange error measurement (in m) AND Filtered Doppler shift measurements (in Hz):
for chan=1:5 % Measurement vector
pr_m_filt(chan,t)=sat_prg_m(chan,t)+kf_yerr_g(chan,t);% now filtered
rhoDot_pri_filt(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+corr_kf_state(8,t))-kf_yerr_g(chan+sat_number,t);
%convert rhoDot_pri to doppler shift!
sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1;
end
end end

35
src/utils/matlab/vtl/pvt_raw_plotting_SPIRENT_GnssSDR.m
View File

@ -29,7 +29,7 @@ channels=6;
TTFF_sec=41.48; TTFF_sec=41.48;
%% ============================ PARSER TO STRUCT ============================ %% ============================ PARSER TO STRUCT ============================
plot_skyplot=0; plot_skyplot=0; % not yet implemented
plot_reference=1; plot_reference=1;
load_observables=1; load_observables=1;
advance_vtl_data_available=1; advance_vtl_data_available=1;
@ -146,7 +146,7 @@ vZ_FILT = movmean(navSolution.vZ,moving_avg_factor);
%% %%
general_raw_plot general_raw_plot
%% %%
if(load_vtl)
%---VTL VELOCITY: GNSS SDR plot -------------------------------------- %---VTL VELOCITY: GNSS SDR plot --------------------------------------
VTL_VEL=figure('Name','velocities and heigh'); VTL_VEL=figure('Name','velocities and heigh');
subplot(2,2,1); subplot(2,2,1);
@ -158,7 +158,7 @@ ylabel('vX (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vX ') title('Subplot 1: vX ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
subplot(2,2,2); subplot(2,2,2);
plot(vtlSolution.rtklibpvt.vY,'.'); plot(vtlSolution.rtklibpvt.vY,'.');
@ -169,7 +169,7 @@ ylabel('vY (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vY ') title('Subplot 1: vY ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
subplot(2,2,3); subplot(2,2,3);
plot(vtlSolution.rtklibpvt.vZ,'.'); plot(vtlSolution.rtklibpvt.vZ,'.');
@ -180,7 +180,7 @@ ylabel('vZ (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vZ ') title('Subplot 1: vZ ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
subplot(2,2,4); subplot(2,2,4);
plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.height,'.'); plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.height,'.');
@ -205,7 +205,7 @@ ylabel('X (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-200 800]) ylim([-200 800])
title('Subplot 1: X ') title('Subplot 1: X ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
subplot(2,2,2); subplot(2,2,2);
plot(vtlSolution.rtklibpvt.Y-vtlSolution.rtklibpvt.Y(1),'.'); plot(vtlSolution.rtklibpvt.Y-vtlSolution.rtklibpvt.Y(1),'.');
@ -216,7 +216,7 @@ ylabel('Y (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-200 50]) ylim([-200 50])
title('Subplot 1: Y ') title('Subplot 1: Y ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
subplot(2,2,3); subplot(2,2,3);
plot(vtlSolution.rtklibpvt.Z-vtlSolution.rtklibpvt.Z(1),'.'); plot(vtlSolution.rtklibpvt.Z-vtlSolution.rtklibpvt.Z(1),'.');
@ -227,7 +227,7 @@ ylabel('Z (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-350 50]) ylim([-350 50])
title('Subplot 1: Z ') title('Subplot 1: Z ')
legend ('raw RTKlib','raw kf','kferr','Location','east') legend ('raw RTKlib','VTL_engine kf','kferr','Location','east')
sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION') sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION')
%% %%
@ -239,75 +239,70 @@ plot(vtlSolution.rtklibpvt.X-vtlSolution.rtklibpvt.X(1),'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.X-vtlSolution.kfpvt.X(1),'.'); plot(vtlSolution.kfpvt.X-vtlSolution.kfpvt.X(1),'.');
plot(vtlSolution.kferr.X,'.'); plot(vtlSolution.kferr.X,'.');
plot(vtlSolution.kfpvt.X-vtlSolution.rtklibpvt.X(1)+vtlSolution.kferr.X,'.');
ylabel('X (m)') ylabel('X (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-200 800]) ylim([-200 800])
title('Subplot 1: X ') title('Subplot 1: X ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
subplot(2,3,2); subplot(2,3,2);
plot(vtlSolution.rtklibpvt.Y-vtlSolution.rtklibpvt.Y(1),'.'); plot(vtlSolution.rtklibpvt.Y-vtlSolution.rtklibpvt.Y(1),'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.Y-vtlSolution.kfpvt.Y(1),'.'); plot(vtlSolution.kfpvt.Y-vtlSolution.kfpvt.Y(1),'.');
plot(vtlSolution.kferr.Y,'.'); plot(vtlSolution.kferr.Y,'.');
plot(vtlSolution.kfpvt.Y-vtlSolution.rtklibpvt.Y(1)+vtlSolution.kferr.Y,'.');
ylabel('Y (m)') ylabel('Y (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-200 50]) ylim([-200 50])
title('Subplot 1: Y ') title('Subplot 1: Y ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
subplot(2,3,3); subplot(2,3,3);
plot(vtlSolution.rtklibpvt.Z-vtlSolution.rtklibpvt.Z(1),'.'); plot(vtlSolution.rtklibpvt.Z-vtlSolution.rtklibpvt.Z(1),'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.Z-vtlSolution.kfpvt.Z(1),'.'); plot(vtlSolution.kfpvt.Z-vtlSolution.kfpvt.Z(1),'.');
plot(vtlSolution.kferr.Z,'.'); plot(vtlSolution.kferr.Z,'.');
plot(vtlSolution.kfpvt.Z-vtlSolution.rtklibpvt.Z(1)+vtlSolution.kferr.Z,'.');
ylabel('Z (m)') ylabel('Z (m)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-350 50]) ylim([-350 50])
title('Subplot 1: Z ') title('Subplot 1: Z ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
subplot(2,3,4); subplot(2,3,4);
plot(vtlSolution.rtklibpvt.vX,'.'); plot(vtlSolution.rtklibpvt.vX,'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.vX,'.'); plot(vtlSolution.kfpvt.vX,'.');
plot(vtlSolution.kferr.vX,'.'); plot(vtlSolution.kferr.vX,'.');
plot(vtlSolution.kfpvt.vX+vtlSolution.kferr.vX,'.');
ylabel('vX (m/s)') ylabel('vX (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vX ') title('Subplot 1: vX ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
subplot(2,3,5); subplot(2,3,5);
plot(vtlSolution.rtklibpvt.vY,'.'); plot(vtlSolution.rtklibpvt.vY,'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.vY,'.'); plot(vtlSolution.kfpvt.vY,'.');
plot(vtlSolution.kferr.vY,'.'); plot(vtlSolution.kferr.vY,'.');
plot(vtlSolution.kfpvt.vY+vtlSolution.kferr.vY,'.');
ylabel('vY (m/s)') ylabel('vY (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vY ') title('Subplot 1: vY ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
subplot(2,3,6); subplot(2,3,6);
plot(vtlSolution.rtklibpvt.vZ,'.'); plot(vtlSolution.rtklibpvt.vZ,'.');
hold on;grid on hold on;grid on
plot(vtlSolution.kfpvt.vZ,'.'); plot(vtlSolution.kfpvt.vZ,'.');
plot(vtlSolution.kferr.vZ,'.'); plot(vtlSolution.kferr.vZ,'.');
plot(vtlSolution.kfpvt.vZ+vtlSolution.kferr.vZ,'.');
ylabel('vZ (m/s)') ylabel('vZ (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vZ ') title('Subplot 1: vZ ')
legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') legend ('raw RTKlib','VTL_engine kf','kferr','Location','eastoutside')
sgtitle('VTL errPV correction') sgtitle('VTL errPV correction')
end
%% ============================================== ============================================== %% ============================================== ==============================================
time_reference_spirent_obs=129780;%s time_reference_spirent_obs=129780;%s
if(load_observables) if(load_observables)

160
src/utils/matlab/vtl/vtl_general_plot.m
View File

@ -4,37 +4,43 @@
%---VTL VELOCITY: GNSS SDR plot -------------------------------------- %---VTL VELOCITY: GNSS SDR plot --------------------------------------
VTL_VEL=figure('Name','velocities'); VTL_VEL=figure('Name','velocities');
subplot(2,2,1); subplot(2,2,1);
plot(navSolution.vX,'.'); plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vX,'.');
hold on;grid on hold on;grid on
plot(kf_x(4,:),'.'); plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(4,:),'.');
plot(kf_xerr(4,:),'.'); plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vX...
,'.','DisplayName','reference')
% plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(4,:),'.');
ylabel('vX (m/s)') ylabel('vX (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vX ') title('Subplot 1: vX ')
legend ('raw navSolution','raw kf state','kferr','Location','east') legend ('raw navSolution','raw kf state','reference','Location','east')
subplot(2,2,2); subplot(2,2,2);
plot(navSolution.vY,'.'); plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vY,'.');
hold on;grid on hold on;grid on
plot(kf_x(5,:),'.'); plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(5,:),'.');
plot(kf_xerr(5,:),'.'); % plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(5,:),'.');
plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vY...
,'.','DisplayName','reference')
ylabel('vY (m/s)') ylabel('vY (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vY ') title('Subplot 1: vY ')
legend ('raw navSolution','raw kf state','kferr','Location','east') legend ('raw navSolution','raw kf state','reference','Location','east')
subplot(2,2,3); subplot(2,2,3);
plot(navSolution.vZ,'.'); plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vZ,'.');
hold on;grid on hold on;grid on
plot(kf_x(6,:),'.'); plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(6,:),'.');
plot(kf_xerr(6,:),'.'); % plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(6,:),'.');
plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vZ...
,'.','DisplayName','reference')
ylabel('vZ (m/s)') ylabel('vZ (m/s)')
xlabel('time U.A.') xlabel('time U.A.')
ylim([-5 5]) ylim([-5 5])
title('Subplot 1: vZ ') title('Subplot 1: vZ ')
legend ('raw navSolution','raw kf state','kferr','Location','east') legend ('raw navSolution','raw kf state','reference','Location','east')
sgtitle('velocities') sgtitle('velocities')
@ -44,7 +50,7 @@ VTL_POS=figure('Name','VTL UTM COORD CENTERED IN 1^{ST} POSITION');
subplot(2,2,1); subplot(2,2,1);
plot(navSolution.X-navSolution.X(1),'.'); plot(navSolution.X-navSolution.X(1),'.');
hold on;grid on hold on;grid on
plot(kf_x(1,:)-kf_x(1,1),'.'); plot(corr_kf_state(1,:)-corr_kf_state(1,1),'.');
plot(kf_xerr(1,:),'.'); plot(kf_xerr(1,:),'.');
ylabel('X (m)') ylabel('X (m)')
xlabel('time U.A.') xlabel('time U.A.')
@ -55,7 +61,7 @@ legend ('raw navSolution','raw kf state','kferr','Location','east')
subplot(2,2,2); subplot(2,2,2);
plot(navSolution.Y-navSolution.Y(1),'.'); plot(navSolution.Y-navSolution.Y(1),'.');
hold on;grid on hold on;grid on
plot(kf_x(2,:)-kf_x(2,1),'.'); plot(corr_kf_state(2,:)-corr_kf_state(2,1),'.');
plot(kf_xerr(2,:),'.'); plot(kf_xerr(2,:),'.');
ylabel('Y (m)') ylabel('Y (m)')
xlabel('time U.A.') xlabel('time U.A.')
@ -66,7 +72,7 @@ legend ('raw navSolution','raw kf state','kferr','Location','east')
subplot(2,2,3); subplot(2,2,3);
plot(navSolution.Z-navSolution.Z(1),'.'); plot(navSolution.Z-navSolution.Z(1),'.');
hold on;grid on hold on;grid on
plot(kf_x(3,:)-kf_x(3,1),'.'); plot(corr_kf_state(3,:)-corr_kf_state(3,1),'.');
plot(kf_xerr(3,:),'.'); plot(kf_xerr(3,:),'.');
ylabel('Z (m)') ylabel('Z (m)')
xlabel('time U.A.') xlabel('time U.A.')
@ -76,80 +82,50 @@ legend ('raw navSolution','raw kf state','kferr','Location','east')
sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION') sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION')
%% %%
% % --- 'VTL errPV correction -------------------------------------- %% STATE PLOT
% VTL_STATE=figure('Name','VTL STATE');
% VTL_errPV=figure('Name','VTL errPV correction'); subplot(2,2,1);
% subplot(2,3,1); plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(1:3,:)'-corr_kf_state(1:3,3)','.');
% plot(navSolution.X-navSolution.X(1),'.'); hold on;grid on
% hold on;grid on plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.X-refSolution.X(1)...
% plot(vtlSolution.kfpvt.X-vtlSolution.kfpvt.X(1),'.'); refSolution.Y-refSolution.Y(1) refSolution.Z-refSolution.Z(1)],...
% plot(vtlSolution.kferr.X,'.'); '.','DisplayName','reference');
% plot(vtlSolution.kfpvt.X-navSolution.X(1)+vtlSolution.kferr.X,'.'); ylim([-200,200])
% ylabel('X (m)') xlim([0,120])
% xlabel('time U.A.') ylabel('X Y Z (m)')
% ylim([-200 800]) xlabel('time U.A.')
% title('Subplot 1: X ') title('Subplot 1: POSITION ')
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
% subplot(2,2,2);
% subplot(2,3,2); plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(4:6,:)','.');
% plot(navSolution.Y-navSolution.Y(1),'.'); hold on;grid on
% hold on;grid on plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.vX...
% plot(vtlSolution.kfpvt.Y-vtlSolution.kfpvt.Y(1),'.'); refSolution.vY refSolution.vZ],...
% plot(vtlSolution.kferr.Y,'.'); '.','DisplayName','reference');
% plot(vtlSolution.kfpvt.Y-navSolution.Y(1)+vtlSolution.kferr.Y,'.'); xlim([0,120])
% ylabel('Y (m)') ylabel('vX vY vZ (m/s)')
% xlabel('time U.A.') xlabel('time U.A.')
% ylim([-200 50]) title('Subplot 1: VELOCITIES ')
% title('Subplot 1: Y ')
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') subplot(2,2,3);
% plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(7,:),'.');
% subplot(2,3,3); ylim([3019190, 3019700])
% plot(navSolution.Z-navSolution.Z(1),'.'); hold on;grid on
% hold on;grid on plot(navSolution.RX_time-navSolution.RX_time(1),clk_bias_s*SPEED_OF_LIGHT_M_S,'.');
% plot(vtlSolution.kfpvt.Z-vtlSolution.kfpvt.Z(1),'.'); xlim([0,120])
% plot(vtlSolution.kferr.Z,'.'); ylabel('clk bias (m)')
% plot(vtlSolution.kfpvt.Z-navSolution.Z(1)+vtlSolution.kferr.Z,'.'); xlabel('time U.A.')
% ylabel('Z (m)') title('Subplot 1: clk bias')
% xlabel('time U.A.') legend('vtl','rtklib')
% ylim([-350 50])
% title('Subplot 1: Z ') subplot(2,2,4);
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside') plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(8,:),'.');
% hold on;grid on
% subplot(2,3,4); plot(navSolution.RX_time-navSolution.RX_time(1),clk_drift*SPEED_OF_LIGHT_M_S,'.');
% plot(navSolution.vX,'.'); xlim([0,120])
% hold on;grid on ylabel('clk drift (m/s)')
% plot(vtlSolution.kfpvt.vX,'.'); legend('vtl','rtklib')
% plot(vtlSolution.kferr.vX,'.'); xlabel('time U.A.')
% plot(vtlSolution.kfpvt.vX+vtlSolution.kferr.vX,'.'); title('Subplot 1: clk drift ')
% ylabel('vX (m/s)')
% xlabel('time U.A.') sgtitle('VTL STATE')
% ylim([-5 5])
% title('Subplot 1: vX ')
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
%
% subplot(2,3,5);
% plot(navSolution.vY,'.');
% hold on;grid on
% plot(vtlSolution.kfpvt.vY,'.');
% plot(vtlSolution.kferr.vY,'.');
% plot(vtlSolution.kfpvt.vY+vtlSolution.kferr.vY,'.');
% ylabel('vY (m/s)')
% xlabel('time U.A.')
% ylim([-5 5])
% title('Subplot 1: vY ')
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
%
% subplot(2,3,6);
% plot(navSolution.vZ,'.');
% hold on;grid on
% plot(vtlSolution.kfpvt.vZ,'.');
% plot(vtlSolution.kferr.vZ,'.');
% plot(vtlSolution.kfpvt.vZ+vtlSolution.kferr.vZ,'.');
% ylabel('vZ (m/s)')
% xlabel('time U.A.')
% ylim([-5 5])
% title('Subplot 1: vZ ')
% legend ('raw RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
%
%
% sgtitle('VTL errPV correction')

126
src/utils/matlab/vtl/vtl_prototype.m
View File

@ -23,15 +23,17 @@ clearvars
% end % end
SPEED_OF_LIGHT_M_S=299792458.0; SPEED_OF_LIGHT_M_S=299792458.0;
Lambda_GPS_L1=0.1902937; Lambda_GPS_L1=0.1902937;
point_of_closure=6000; point_of_closure=3000;
%% %%
samplingFreq=5000000; samplingFreq=5000000;
channels=6; channels=6;
TTFF_sec=41.48; TTFF_sec=41.48;
%% ============================ PARSER TO STRUCT ============================
plot_skyplot=0; plot_skyplot=0;
plot_reference=1; plot_reference=1;
load_observables=1;
%% ============================ PARSER TO STRUCT ============================
navSolution = GnssSDR2struct('PVT_raw.mat'); navSolution = GnssSDR2struct('PVT_raw.mat');
refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv'); refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv');
@ -41,8 +43,13 @@ load observables\observable_raw.mat
rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05. rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05.
load('PVT_raw.mat','sat_posX_m','sat_posY_m','sat_posZ_m','sat_velX','sat_velY'... load('PVT_raw.mat','sat_posX_m','sat_posY_m','sat_posZ_m','sat_velX','sat_velY'...
,'sat_velZ','sat_prg_m','clk_bias_s','clk_drift','sat_dopp_hz','user_clk_offset') ,'sat_velZ','sat_prg_m','clk_bias_s','clk_drift','sat_dopp_hz','user_clk_offset')
if(load_observables)
load observables\observable_raw.mat
refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
end
%% %%
vtlSolution = Vtl2struct('dump_vtl_file.csv'); % vtlSolution = Vtl2struct('dump_vtl_file.csv');
%% calculate LOS Rx-sat %% calculate LOS Rx-sat
% for chan=1:5 % for chan=1:5
@ -78,13 +85,11 @@ vtlSolution = Vtl2struct('dump_vtl_file.csv');
kf_prototype kf_prototype
%% %%
figure;plot(kf_yerr(1:5,:)');title('c_pr_m-error');xlabel('t U.A');ylabel('pr_m [m]');grid minor figure;plot(kf_yerr(1:5,:)');title('c pr m-error');xlabel('t U.A');ylabel('pr m [m]');grid minor
legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside') legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
figure;plot(kf_yerr(6:10,:)');title('c_pr_m_dot-error');xlabel('t U.A');ylabel('pr_m_dot [m/s]');grid minor figure;plot(kf_yerr(6:10,:)');title('c pr m DOT-error');xlabel('t U.A');ylabel('pr m dot [m/s]');grid minor
legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside') legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
%%
% figure;plot([a_x(1,:);a_y(1,:);a_z(1,:)]');
% figure;plot([vtlSolution.LOSx vtlSolution.LOSy vtlSolution.LOSz])
%% ====== FILTERING ======================================================= %% ====== FILTERING =======================================================
% moving_avg_factor= 500; % moving_avg_factor= 500;
% LAT_FILT = movmean(navSolution.latitude,moving_avg_factor); % LAT_FILT = movmean(navSolution.latitude,moving_avg_factor);
@ -102,64 +107,83 @@ legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
%% %%
%general_raw_plot %general_raw_plot
vtl_general_plot vtl_general_plot
%%
% close all
% figure;plot(kf_xerr(7,:),'.');title('clk bias err')
% figure;plot(kf_xerr(8,:),'.');title('clk drift err')
% figure;plot(kf_x(7,:),'.');title('clk bias state')
% figure;plot(kf_x(8,:),'.');title('clk drift state')
% figure;plot(corr_kf_state(7,:),'.');title('clk bias corrected state')
% figure;plot(corr_kf_state(8,:),'.');title('clk drift corrected state')
%%
% close all
% kferr_pos_all=[vtlSolution.kferr.X vtlSolution.kferr.Y vtlSolution.kferr.Z];
% kferr_vel_all=[vtlSolution.kferr.vX vtlSolution.kferr.vY vtlSolution.kferr.vZ];
% figure;plot(kferr_pos_all,'.');title('original pos err')
% figure;plot(kf_xerr(1:3,:)','.');title('calc pos err')
% figure;plot(kferr_vel_all,'.');title('original vel err')
% figure;plot(kf_xerr(4:6,:)','.');title('calc vel err')
%% ============================================== ============================================== %% ============================================== ==============================================
% time_reference_spirent_obs=129780;%s time_reference_spirent_obs=129780;%s
% if(load_observables)
% % figure;plot(Carrier_phase_cycles','.') if(load_observables)
% % figure;plot(Pseudorange_m','.')
% %%% Carrier_Doppler_hz_sim=zeros(length(refSatData.GPS.SIM_time),6);
% Carrier_Doppler_hz_sim=zeros(length(refSatData.GPS.SIM_time),6);
% for i=1:length(refSatData.GPS.SIM_time)
% for i=1:length(refSatData.GPS.SIM_time) Carrier_Doppler_hz_sim(i,1)=refSatData.GPS.series(i).doppler_shift(4);%PRN 28
% Carrier_Doppler_hz_sim(i,1)=refSatData.GPS.series(i).doppler_shift(4);%PRN 28 Carrier_Doppler_hz_sim(i,2)=refSatData.GPS.series(i).doppler_shift(1);%PRN 4
% Carrier_Doppler_hz_sim(i,2)=refSatData.GPS.series(i).doppler_shift(1);%PRN 4 Carrier_Doppler_hz_sim(i,3)=refSatData.GPS.series(i).doppler_shift(6);%PRN 17
% Carrier_Doppler_hz_sim(i,3)=refSatData.GPS.series(i).doppler_shift(6);%PRN 17 Carrier_Doppler_hz_sim(i,4)=refSatData.GPS.series(i).doppler_shift(7);%PRN 15
% Carrier_Doppler_hz_sim(i,4)=refSatData.GPS.series(i).doppler_shift(7);%PRN 15 Carrier_Doppler_hz_sim(i,5)=refSatData.GPS.series(i).doppler_shift(8);%PRN 27
% Carrier_Doppler_hz_sim(i,5)=refSatData.GPS.series(i).doppler_shift(8);%PRN 27 Carrier_Doppler_hz_sim(i,6)=refSatData.GPS.series(i).doppler_shift(9);%PRN 9
% Carrier_Doppler_hz_sim(i,6)=refSatData.GPS.series(i).doppler_shift(9);%PRN 9
% Pseudorange_m_sim(i,1)=refSatData.GPS.series(i).pr_m(4);%PRN 28
% end Pseudorange_m_sim(i,2)=refSatData.GPS.series(i).pr_m(1);%PRN 4
% Pseudorange_m_sim(i,3)=refSatData.GPS.series(i).pr_m(6);%PRN 17
% Pseudorange_m_sim(i,4)=refSatData.GPS.series(i).pr_m(7);%PRN 15
% Rx_Dopp_all=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz','.') Pseudorange_m_sim(i,5)=refSatData.GPS.series(i).pr_m(8);%PRN 27
Pseudorange_m_sim(i,6)=refSatData.GPS.series(i).pr_m(9);%PRN 9
end
Rx_Dopp_all=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz','s')
xlim([0,140]);
xlabel('')
ylabel('Doppler (Hz)')
xlabel('time from simulation init (seconds)')
grid on
hold on
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim','.')
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt,'o')
legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside')
hold off
grid on
Rx_Dopp_one=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(1,:)','s')
xlim([0,140]);
ylim([-2340,-2220]);
xlabel('')
ylabel('Doppler (Hz)')
xlabel('time from simulation init (seconds)')
grid on
hold on
legend('PRN 28 GNSS-SDR','Location','eastoutside')
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,1)','.','DisplayName','reference')
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(1,:),'o','DisplayName','filtered VTL')
hold off
grid on
% -------------------------------------
% Rx_pseudo_all=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m','s')
% xlim([0,140]); % xlim([0,140]);
% xlabel('') % xlabel('')
% ylabel('Doppler (Hz)') % ylabel('Pseudorange (m)')
% xlabel('time from simulation init (seconds)') % xlabel('time from simulation init (seconds)')
% grid on % grid on
% hold on % hold on
% legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside') % plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim','.')
% plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim','.') % plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, pr_m_filt,'o')
% legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside') % legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside')
% hold off % hold off
% grid on % grid on
% %
% Rx_Dopp_one=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(1,:)','.') % Rx_pseudo_one=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m(1,:)','s')
% xlim([0,140]); % xlim([0,140]);
% ylim([-2340,-2220]);
% xlabel('') % xlabel('')
% ylabel('Doppler (Hz)') % ylabel('Pseudorange (m)')
% xlabel('time from simulation init (seconds)') % xlabel('time from simulation init (seconds)')
% grid on % grid on
% hold on % hold on
% legend('PRN 28 GNSS-SDR','Location','eastoutside') % legend('PRN 28 GNSS-SDR','Location','eastoutside')
% plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,1)','.','DisplayName','reference') % plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim(:,1)','.','DisplayName','reference')
% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, pr_m_filt(1,:),'o','DisplayName','filtered VTL')
% hold off % hold off
% grid on % grid on
% end end