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https://github.com/gnss-sdr/gnss-sdr
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MOD: updated matlab vtl_kf
This commit is contained in:
miguekf
parent
ad50a5b1e7
commit
9b740b454d
@ -28,36 +28,7 @@ kf_yerr = zeros(2*sat_number, 1);
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% kf_xerr = zeros(8, 1);
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kf_S = zeros(2*sat_number, 2*sat_number); % kf_P_y innovation covariance matrix
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%% State error Covariance Matrix Q (PVT)
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kf_Q = [ 100 0 0 0 0 0 0 0
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0 100 0 0 0 0 0 0
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0 0 100 0 0 0 0 0
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0 0 0 10 0 0 0 0
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0 0 0 0 10 0 0 0
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0 0 0 0 0 10 0 0
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0 0 0 0 0 0 500 0
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0 0 0 0 0 0 0 1500];%careful, values for V and T could not be adecuate.
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%%
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% % Measurement error Covariance Matrix R assembling
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% for chan=1:5 %neccesary quantities
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% % It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error)
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% kf_R(chan, chan) = 40.0; %TODO: fill with real values.
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% kf_R(chan+sat_number, chan+sat_number) = 10.0;
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% end
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kf_R=[ 3 0 0 0 0 0 0 0 0 0
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0 3 0 0 0 0 0 0 0 0
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0 0 3 0 0 0 0 0 0 0
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0 0 0 3 0 0 0 0 0 0
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0 0 0 0 3 0 0 0 0 0
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0 0 0 0 0 30 0 0 0 0
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0 0 0 0 0 0 30 0 0 0
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0 0 0 0 0 0 0 30 0 0
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0 0 0 0 0 0 0 0 30 0
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0 0 0 0 0 0 0 0 0 30];
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% pre-allocate for speed
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%% pre-allocate for speed
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d = zeros(sat_number, 1);
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rho_pri = zeros(sat_number, 1);
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rhoDot_pri = zeros(sat_number, 1);
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@ -74,6 +45,20 @@ sat_dopp_hz_filt=zeros(sat_number,length(navSolution.RX_time));
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% receiver solution from rtklib_solver
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for t=2:length(navSolution.RX_time)
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%% State error Covariance Matrix Q (PVT) and R (MEASUREMENTS)
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if (t<length(navSolution.RX_time)-point_of_closure)
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%% State error Covariance Matrix Q (PVT)
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kf_Q = eye(8);%new_data.rx_pvt_var(i); %careful, values for V and T could not be adecuate.
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%%
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% Measurement error Covariance Matrix R assembling
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kf_R = blkdiag(eye(sat_number)*40,eye(sat_number)*10);
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else
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kf_Q = blkdiag(eye(3)*pos_var,eye(3)*vel_var,clk_bias_var,clk_drift_var);
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kf_R = blkdiag(eye(sat_number)*pr_var,eye(sat_number)*pr_dot_var);
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end
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clear x_u y_u z_u xDot_u yDot_u zDot_u cdeltatDot_u cdeltatDot_u_g cdeltat_u_g
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if (t<length(navSolution.RX_time)-point_of_closure)
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kf_x(1,t) = navSolution.X(t);
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@ -138,11 +123,11 @@ for t=2:length(navSolution.RX_time)
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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;
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end
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% unobsv(t) = length(kf_F) - rank(obsv(kf_F,kf_H));
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% !!!! Limitaciones
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% obsv no se recomienda para el diseño de control, ya que calcular el rango de la matriz de observabilidad
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% no se recomienda para las pruebas de observabilidad. Ob será numéricamente singular para la mayoría de los
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% sistemas con más de unos cuantos estados. Este hecho está bien documentado en la sección III de [1].
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% unobsv(t) = length(kf_F) - rank(obsv(kf_F,kf_H));
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% !!!! Limitaciones
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% obsv no se recomienda para el diseño de control, ya que calcular el rango de la matriz de observabilidad
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% no se recomienda para las pruebas de observabilidad. Ob será numéricamente singular para la mayoría de los
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% sistemas con más de unos cuantos estados. Este hecho está bien documentado en la sección III de [1].
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% Kalman estimation (measurement update)
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for chan=1:5 % Measurement matrix H assembling
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@ -52,6 +52,7 @@ end
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if(load_vtl)
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vtlSolution = Vtl2struct('dump_vtl_file.csv');
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end
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%% calculate LOS Rx-sat if advance_vtl_data_available=1
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if(advance_vtl_data_available)
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@ -348,3 +349,5 @@ if(load_observables)
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hold off
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grid on
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end
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%%
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dopp_filtered_plotting
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@ -1,6 +1,56 @@
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%%
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% vtl_general_plot.m
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%%
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time_reference_spirent_obs=129780;%s
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if(load_observables)
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Carrier_Doppler_hz_sim=zeros(length(refSatData.GPS.SIM_time),6);
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for i=1:length(refSatData.GPS.SIM_time)
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Carrier_Doppler_hz_sim(i,1)=refSatData.GPS.series(i).doppler_shift(4);%PRN 28
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Carrier_Doppler_hz_sim(i,2)=refSatData.GPS.series(i).doppler_shift(1);%PRN 4
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Carrier_Doppler_hz_sim(i,3)=refSatData.GPS.series(i).doppler_shift(6);%PRN 17
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Carrier_Doppler_hz_sim(i,4)=refSatData.GPS.series(i).doppler_shift(7);%PRN 15
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Carrier_Doppler_hz_sim(i,5)=refSatData.GPS.series(i).doppler_shift(8);%PRN 27
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Carrier_Doppler_hz_sim(i,6)=refSatData.GPS.series(i).doppler_shift(9);%PRN 9
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Pseudorange_m_sim(i,1)=refSatData.GPS.series(i).pr_m(4);%PRN 28
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Pseudorange_m_sim(i,2)=refSatData.GPS.series(i).pr_m(1);%PRN 4
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Pseudorange_m_sim(i,3)=refSatData.GPS.series(i).pr_m(6);%PRN 17
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Pseudorange_m_sim(i,4)=refSatData.GPS.series(i).pr_m(7);%PRN 15
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Pseudorange_m_sim(i,5)=refSatData.GPS.series(i).pr_m(8);%PRN 27
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Pseudorange_m_sim(i,6)=refSatData.GPS.series(i).pr_m(9);%PRN 9
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end
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end
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% -------------------------------------
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% if(load_observables)
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% Rx_pseudo_all=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m','s')
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% xlim([0,140]);
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% xlabel('')
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% ylabel('Pseudorange (m)')
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% xlabel('time from simulation init (seconds)')
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% grid on
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% hold on
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% plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim','.')
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% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, pr_m_filt,'o')
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% legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside')
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% hold off
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% grid on
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%
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% Rx_pseudo_one=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m(1,:)','s')
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% xlim([0,140]);
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% xlabel('')
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% ylabel('Pseudorange (m)')
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% xlabel('time from simulation init (seconds)')
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% grid on
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% hold on
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% legend('PRN 28 GNSS-SDR','Location','eastoutside')
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% plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim(:,1)','.','DisplayName','reference')
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% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, pr_m_filt(1,:),'o','DisplayName','filtered VTL')
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% hold off
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% grid on
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% end
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%---VTL VELOCITY: GNSS SDR plot --------------------------------------
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VTL_VEL=figure('Name','velocities');
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subplot(2,2,1);
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@ -14,7 +64,7 @@ ylabel('vX (m/s)')
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xlabel('time U.A.')
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ylim([-5 5])
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title('Subplot 1: vX ')
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legend ('raw navSolution','raw kf state','reference','Location','east')
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legend ('raw navSolution','raw kf state','reference','Location','eastoutside')
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subplot(2,2,2);
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plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vY,'.');
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@ -27,7 +77,7 @@ ylabel('vY (m/s)')
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xlabel('time U.A.')
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ylim([-5 5])
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title('Subplot 1: vY ')
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legend ('raw navSolution','raw kf state','reference','Location','east')
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legend ('raw navSolution','raw kf state','reference','Location','eastoutside')
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subplot(2,2,3);
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plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vZ,'.');
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@ -40,7 +90,7 @@ ylabel('vZ (m/s)')
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xlabel('time U.A.')
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ylim([-5 5])
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title('Subplot 1: vZ ')
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legend ('raw navSolution','raw kf state','reference','Location','east')
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legend ('raw navSolution','raw kf state','reference','Location','eastoutside')
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sgtitle('velocities')
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@ -50,38 +100,104 @@ VTL_POS=figure('Name','VTL UTM COORD CENTERED IN 1^{ST} POSITION');
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subplot(2,2,1);
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plot(navSolution.X-navSolution.X(1),'.');
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hold on;grid on
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plot(corr_kf_state(1,:)-corr_kf_state(1,1),'.');
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plot(corr_kf_state(1,3:end)-corr_kf_state(1,3))
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plot(kf_xerr(1,:),'.');
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ylabel('X (m)')
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xlabel('time U.A.')
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ylim([-200 800])
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title('Subplot 1: X ')
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legend ('raw navSolution','raw kf state','kferr','Location','east')
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legend ('raw navSolution','raw kf state','kferr','Location','eastoutside')
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subplot(2,2,2);
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plot(navSolution.Y-navSolution.Y(1),'.');
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hold on;grid on
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plot(corr_kf_state(2,:)-corr_kf_state(2,1),'.');
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plot(corr_kf_state(2,3:end)-corr_kf_state(2,3))
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plot(kf_xerr(2,:),'.');
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ylabel('Y (m)')
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xlabel('time U.A.')
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ylim([-200 50])
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title('Subplot 1: Y ')
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legend ('raw navSolution','raw kf state','kferr','Location','east')
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legend ('raw navSolution','raw kf state','kferr','Location','eastoutside')
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subplot(2,2,3);
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plot(navSolution.Z-navSolution.Z(1),'.');
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hold on;grid on
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plot(corr_kf_state(3,:)-corr_kf_state(3,1),'.');
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plot(corr_kf_state(3,3:end)-corr_kf_state(3,3))
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plot(kf_xerr(3,:),'.');
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ylabel('Z (m)')
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xlabel('time U.A.')
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ylim([-350 50])
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title('Subplot 1: Z ')
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legend ('raw navSolution','raw kf state','kferr','Location','east')
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legend ('raw navSolution','raw kf state','kferr','Location','eastoutside')
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sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION')
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%%
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if(load_observables)
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% Rx_Dopp_all=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz','s')
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% xlim([0,140]);
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% xlabel('')
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% ylabel('Doppler (Hz)')
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% xlabel('time from simulation init (seconds)')
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% grid on
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% hold on
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% plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim','.')
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% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt,'o')
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% legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside')
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% hold off
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% grid on
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Rx_Dopp_28=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(1,:)','s')
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xlim([0,140]);
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ylim([-2340,-2220]);
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xlabel('')
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ylabel('Doppler (Hz)')
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xlabel('time from simulation init (seconds)')
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grid on
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hold on
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legend('PRN 28 GNSS-SDR','Location','eastoutside')
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plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,1)','.','DisplayName','reference')
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plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(1,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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Rx_Dopp_4=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(2,:)','s')
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xlim([0,140]);
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ylim([2540,2640]);
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xlabel('')
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ylabel('Doppler (Hz)')
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xlabel('time from simulation init (seconds)')
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grid on
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hold on
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legend('PRN 4 GNSS-SDR','Location','eastoutside')
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plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,2)','.','DisplayName','reference')
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plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(2,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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Rx_Dopp_17=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(3,:)','s')
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xlim([0,140]);
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ylim([-1800,-1730]);
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xlabel('')
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ylabel('Doppler (Hz)')
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xlabel('time from simulation init (seconds)')
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grid on
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hold on
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legend('PRN 17 GNSS-SDR','Location','eastoutside')
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plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,3)','.','DisplayName','reference')
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plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(3,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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Rx_Dopp_15=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(4,:)','s')
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xlim([0,140]);
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ylim([-2680,-2620]);
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xlabel('')
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ylabel('Doppler (Hz)')
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xlabel('time from simulation init (seconds)')
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grid on
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hold on
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legend('PRN 15 GNSS-SDR','Location','eastoutside')
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plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,4)','.','DisplayName','reference')
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plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(4,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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end
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%% STATE PLOT
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VTL_STATE=figure('Name','VTL STATE');
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subplot(2,2,1);
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@ -23,8 +23,24 @@ clearvars
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% end
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SPEED_OF_LIGHT_M_S=299792458.0;
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Lambda_GPS_L1=0.1902937;
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point_of_closure=3000;
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%%
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point_of_closure=6000;
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%% ==================== VARIANCES =============================
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pos_var=100;%m^2
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vel_var=10;%m^2/s^2
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clk_bias_var=40;%m^2
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clk_drift_var=1500;%m^2/s^2
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pr_var=10;%m^2
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pr_dot_var=30;%m^2/s^2
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% CARLES PAPER LTE GNSS VTL
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% pos_var=2;%m^2
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% vel_var=0.2;%m^2/s^2
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% clk_bias_var=1e-7;%m^2
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% clk_drift_var=1e-4;%m^2/s^2
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% pr_var=20;%m^2
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% pr_dot_var=3;%m^2/s^2
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%% ============================================================
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samplingFreq=5000000;
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channels=6;
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TTFF_sec=41.48;
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@ -50,46 +66,10 @@ if(load_observables)
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end
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%%
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% vtlSolution = Vtl2struct('dump_vtl_file.csv');
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%% calculate LOS Rx-sat
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% for chan=1:5
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% for t=1:length(navSolution.RX_time)
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% d(chan)=(sat_posX_m(chan,t)-navSolution.X(t))^2;
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% d(chan)=d(chan)+(sat_posY_m(chan,t)-navSolution.Y(t))^2;
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% d(chan)=d(chan)+(sat_posZ_m(chan,t)-navSolution.Z(t))^2;
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% d(chan)=sqrt(d(chan));
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%
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% c_pr_m(chan,t)=d(chan)+clk_bias_s(t)*SPEED_OF_LIGHT_M_S;
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%
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% a_x(chan,t)=-(sat_posX_m(chan,t)-navSolution.X(t))/d(chan);
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% a_y(chan,t)=-(sat_posY_m(chan,t)-navSolution.Y(t))/d(chan);
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% a_z(chan,t)=-(sat_posZ_m(chan,t)-navSolution.Z(t))/d(chan);
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% end
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% end
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%
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% %%
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% %%
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% for chan=1:5
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% for t=1:length(navSolution.RX_time)
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% rhoDot_pri(chan,t)=(sat_velX(chan,t)-navSolution.vX(t))*a_x(chan,t)...
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% +(sat_velY(chan,t)-navSolution.vY(t))*a_y(chan,t)...
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% +(sat_velZ(chan,t)-navSolution.vZ(t))*a_z(chan,t);
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%
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% kf_yerr(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
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% end
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% end
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%%
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kf_prototype
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%%
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figure;plot(kf_yerr(1:5,:)');title('c pr m-error');xlabel('t U.A');ylabel('pr m [m]');grid minor
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legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
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figure;plot(kf_yerr(6:10,:)');title('c pr m DOT-error');xlabel('t U.A');ylabel('pr m dot [m/s]');grid minor
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legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
|
||||
|
||||
%% ====== FILTERING =======================================================
|
||||
% moving_avg_factor= 500;
|
||||
% LAT_FILT = movmean(navSolution.latitude,moving_avg_factor);
|
||||
@ -109,81 +89,9 @@ legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','Location','eastoutside')
|
||||
vtl_general_plot
|
||||
|
||||
%% ============================================== ==============================================
|
||||
time_reference_spirent_obs=129780;%s
|
||||
|
||||
if(load_observables)
|
||||
|
||||
Carrier_Doppler_hz_sim=zeros(length(refSatData.GPS.SIM_time),6);
|
||||
|
||||
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,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,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,6)=refSatData.GPS.series(i).doppler_shift(9);%PRN 9
|
||||
|
||||
Pseudorange_m_sim(i,1)=refSatData.GPS.series(i).pr_m(4);%PRN 28
|
||||
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
|
||||
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]);
|
||||
% xlabel('')
|
||||
% ylabel('Pseudorange (m)')
|
||||
% xlabel('time from simulation init (seconds)')
|
||||
% grid on
|
||||
% hold on
|
||||
% plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_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')
|
||||
% hold off
|
||||
% grid on
|
||||
%
|
||||
% Rx_pseudo_one=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m(1,:)','s')
|
||||
% xlim([0,140]);
|
||||
% xlabel('')
|
||||
% ylabel('Pseudorange (m)')
|
||||
% xlabel('time from simulation init (seconds)')
|
||||
% grid on
|
||||
% hold on
|
||||
% legend('PRN 28 GNSS-SDR','Location','eastoutside')
|
||||
% 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
|
||||
% grid on
|
||||
end
|
||||
%%
|
||||
figure;plot(navSolution.RX_time-navSolution.RX_time(1),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')
|
||||
figure;plot(navSolution.RX_time-navSolution.RX_time(1),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')
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user