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ADD: vtl2struct filtered_doppler_field

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miguekf 2022-12-11 02:11:38 +01:00
parent 9b740b454d
commit 910bdde61a
2 changed files with 69 additions and 0 deletions
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10
src/utils/matlab/vtl/Vtl2struct.m
View File

@ -48,14 +48,18 @@ vtlSolution.rtklibpvt=[];
[indKF,~]= find(strcmp(dumpvtlfile, 'kf_state')); [indKF,~]= find(strcmp(dumpvtlfile, 'kf_state'));
[indRTKlib,~]= find(strcmp(dumpvtlfile, 'rtklib_state')); [indRTKlib,~]= find(strcmp(dumpvtlfile, 'rtklib_state'));
[indkf_err,~]= find(strcmp(dumpvtlfile, 'kf_xerr')); [indkf_err,~]= find(strcmp(dumpvtlfile, 'kf_xerr'));
[ind_filt_dop_sat,~]= find(strcmp(dumpvtlfile, 'filt_dopp_sat'));
kfpvt=dumpvtlfile(indKF,:);kfpvt(:,1)=[]; kfpvt=dumpvtlfile(indKF,:);kfpvt(:,1)=[];
rtklibpvt=dumpvtlfile(indRTKlib,:); rtklibpvt(:,1)=[]; rtklibpvt=dumpvtlfile(indRTKlib,:); rtklibpvt(:,1)=[];
kferr=dumpvtlfile(indkf_err,:); kferr(:,1)=[]; kferr=dumpvtlfile(indkf_err,:); kferr(:,1)=[];
filt_dop_sat=dumpvtlfile(ind_filt_dop_sat,:); filt_dop_sat(:,1)=[];
kfpvt=cell2mat(kfpvt); kfpvt=cell2mat(kfpvt);
rtklibpvt=cell2mat(rtklibpvt); rtklibpvt=cell2mat(rtklibpvt);
kferr=cell2mat(kferr); kferr=cell2mat(kferr);
filt_dop_sat=cell2mat(filt_dop_sat);
vtlSolution.kfpvt.X=kfpvt(:,1); vtlSolution.kfpvt.X=kfpvt(:,1);
vtlSolution.kfpvt.Y=kfpvt(:,2); vtlSolution.kfpvt.Y=kfpvt(:,2);
@ -84,4 +88,10 @@ vtlSolution.kferr.vZ=kferr(:,6);
vtlSolution.kferr.biasclock=kferr(:,7); vtlSolution.kferr.biasclock=kferr(:,7);
vtlSolution.kferr.rateblock=kferr(:,8); vtlSolution.kferr.rateblock=kferr(:,8);
vtlSolution.filt_dop_sat(1,:)=filt_dop_sat(:,1);
vtlSolution.filt_dop_sat(2,:)=filt_dop_sat(:,2);
vtlSolution.filt_dop_sat(3,:)=filt_dop_sat(:,3);
vtlSolution.filt_dop_sat(4,:)=filt_dop_sat(:,4);
vtlSolution.filt_dop_sat(5,:)=filt_dop_sat(:,5);
end end

59
src/utils/matlab/vtl/dopp_filtered_plotting.m Normal file
View File

@ -0,0 +1,59 @@
time_reference_spirent_obs=129780;%s
time_vtl_dump_file=linspace(38,157,length(vtlSolution.filt_dop_sat));
% rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05.
%%
Rx_Dopp_28=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(time_vtl_dump_file,vtlSolution.filt_dop_sat(1,:),'o','DisplayName','filtered VTL')
hold off;grid minor
Rx_Dopp_4=figure('Name','RX_Carrier_Doppler_hz');
plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(2,:)','s')
xlim([0,140]);
ylim([2540,2640]);
xlabel('')
ylabel('Doppler (Hz)')
xlabel('time from simulation init (seconds)')
grid on
hold on
legend('PRN 4 GNSS-SDR','Location','eastoutside')
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,2)','.','DisplayName','reference')
plot(time_vtl_dump_file,vtlSolution.filt_dop_sat(2,:),'o','DisplayName','filtered VTL')
hold off;grid minor
Rx_Dopp_17=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(3,:)','s')
xlim([0,140]);
ylim([-1800,-1730]);
xlabel('')
ylabel('Doppler (Hz)')
xlabel('time from simulation init (seconds)')
grid on
hold on
legend('PRN 17 GNSS-SDR','Location','eastoutside')
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,3)','.','DisplayName','reference')
plot(time_vtl_dump_file,vtlSolution.filt_dop_sat(3,:),'o','DisplayName','filtered VTL')
hold off;grid minor
Rx_Dopp_15=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(4,:)','s')
xlim([0,140]);
ylim([-2680,-2620]);
xlabel('')
ylabel('Doppler (Hz)')
xlabel('time from simulation init (seconds)')
grid on
hold on
legend('PRN 15 GNSS-SDR','Location','eastoutside')
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,4)','.','DisplayName','reference')
plot(time_vtl_dump_file,vtlSolution.filt_dop_sat(4,:),'o','DisplayName','filtered VTL')
hold off;grid minor