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https://github.com/gnss-sdr/gnss-sdr
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Clean up Matlab/Octave code
This commit is contained in:
Carles Fernandez
parent
5dea6da9e0
commit
c58107d56c
@ -1,32 +1,28 @@
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% /*!
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% * \file plot_dump.m
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% * \brief Read GNSS-SDR Tracking dump binary file and plot some internal
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% variables
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% * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
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% * -------------------------------------------------------------------------
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% *
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% * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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% *
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% * GNSS-SDR is a software defined Global Navigation
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% * Satellite Systems receiver
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% *
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% * This file is part of GNSS-SDR.
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% *
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% * GNSS-SDR is free software: you can redistribute it and/or modify
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% * it under the terms of the GNU General Public License as published by
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% * the Free Software Foundation, either version 3 of the License, or
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% * at your option) any later version.
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% *
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% * GNSS-SDR is distributed in the hope that it will be useful,
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% * but WITHOUT ANY WARRANTY; without even the implied warranty of
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% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% * GNU General Public License for more details.
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% *
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% * You should have received a copy of the GNU General Public License
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% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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% *
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% * -------------------------------------------------------------------------
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% */
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% -------------------------------------------------------------------------
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%
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% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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%
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% GNSS-SDR is a software defined Global Navigation
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% Satellite Systems receiver
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%
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% This file is part of GNSS-SDR.
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%
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% GNSS-SDR is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% at your option) any later version.
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%
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% GNSS-SDR is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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%
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% -------------------------------------------------------------------------
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%
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% Antonio Ramos, 2018. antonio.ramos(at)cttc.es
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clear all;
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clc;
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@ -109,7 +105,6 @@ v_3d=[E;N;U].'; %2D East Nort position vectors
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sigma_E_accuracy = sqrt((1/(numPoints-1)) * sum((v_2d(:,1) - mean_utm_X).^2));
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sigma_N_accuracy = sqrt((1/(numPoints-1)) * sum((v_2d(:,2) - mean_utm_Y).^2));
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sigma_ratio_2d_accuracy = sigma_N_accuracy / sigma_E_accuracy
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
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@ -125,7 +120,6 @@ sigma_U_accuracy=sqrt((1/(numPoints-1))*sum((v_3d(:,3)-mean_utm_Z).^2));
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
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SEP_accuracy = 0.51 * sqrt(sigma_E_accuracy^2 + sigma_N_accuracy^2 + sigma_U_accuracy^2)
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
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MRSE_accuracy = sqrt(sigma_E_accuracy^2 + sigma_N_accuracy^2 + sigma_U_accuracy^2)
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% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
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@ -135,14 +129,9 @@ TWO_MRSE_accuracy=2*MRSE_accuracy
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%% PRECISION
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% 2D analysis
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% Simulated X,Y measurements
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%v1=randn(1000,2);
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% 2D Mean and Variance
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mean_2d = [mean(v_2d(:,1)) ; mean(v_2d(:,2))];
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sigma_2d = [sqrt(var(v_2d(:,1))) ; sqrt(var(v_2d(:,2)))];
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sigma_ratio_2d = sigma_2d(2) / sigma_2d(1)
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
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@ -152,47 +141,45 @@ TWO_DRMS=2*DRMS
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% if sigma_ratio>0.3 -> Prob in circle with r=CEP -> 50%
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CEP = 0.62 * sigma_2d(1) + 0.56 * sigma_2d(2)
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% Mean and Variance
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% 3D Mean and Variance
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mean_3d = [mean(v_3d(:,1)) ; mean(v_3d(:,2)) ; mean(v_3d(:,3))];
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sigma_3d = [sqrt(var(v_3d(:,1))) ; sqrt(var(v_3d(:,2))) ; sqrt(var(v_3d(:,3)))];
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% absolute mean error
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% 2D
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error_2D_vec = [mean_utm_X-mean_2d(1) mean_utm_Y-mean_2d(2)];
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error_2D_m = norm(error_2D_vec)
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error_3D_vec = [mean_utm_X-mean_3d(1) mean_utm_Y-mean_3d(2) mean_utm_Z-mean_3d(3)];
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error_3D_m = norm(error_3D_vec)
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% RMSE 2D
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RMSE_X = sqrt(mean((v_3d(:,1)-mean_utm_X).^2))
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RMSE_Y = sqrt(mean((v_3d(:,2)-mean_utm_Y).^2))
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RMSE_Z = sqrt(mean((v_3d(:,3)-mean_utm_Z).^2))
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RMSE_2D = sqrt(mean((v_2d(:,1)-mean_utm_X).^2 + (v_2d(:,2)-mean_utm_Y).^2))
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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))
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% SCATTER PLOT
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
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SEP = 0.51 * sqrt(sigma_3d(1)^2 + sigma_3d(2)^2 + sigma_3d(3)^2)
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
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MRSE = sqrt(sigma_3d(1)^2 + sigma_3d(2)^2 + sigma_3d(3)^2)
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% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
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TWO_MRSE = 2 * MRSE
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%% SCATTER PLOT 2D
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subplot(3,3,8)
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scatter(v_2d(:,1)-mean_2d(1), v_2d(:,2)-mean_2d(2));
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hold on;
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plot(0, 0, 'k*');
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[x,y,z] = cylinder([TWO_DRMS TWO_DRMS], 200);
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plot(x(1,:), y(1,:), 'Color', [0 0.6 0]);
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str = strcat('2DRMS=', num2str(TWO_DRMS), ' m');
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text(cosd(65)*TWO_DRMS, sind(65)*TWO_DRMS, str, 'Color', [0 0.6 0]);
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[x,y,z] = cylinder([CEP CEP], 200);
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plot(x(1,:), y(1,:), 'r--');
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str = strcat('CEP=', num2str(CEP), ' m');
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text(cosd(80)*CEP, sind(80)*CEP, str, 'Color','r');
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@ -202,20 +189,9 @@ axis equal;
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xlabel('North [m]','fontname','Times','fontsize', fontsize)
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ylabel('East [m]','fontname','Times','fontsize', fontsize)
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% 3D analysis
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% Simulated X,Y,Z measurements
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
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SEP=0.51*sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
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% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
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MRSE=sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
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% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
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TWO_MRSE=2*MRSE
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% SCATTER PLOT
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%% SCATTER PLOT 3D
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subplot(3,3,9)
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scatter3(v_3d(:,1)-mean_3d(1), v_3d(:,2)-mean_3d(2), v_3d(:,3)-mean_3d(3));
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@ -223,10 +199,8 @@ hold on;
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[x,y,z] = sphere();
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hSurface = surf(MRSE*x, MRSE*y, MRSE*z); % sphere centered at origin
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set(hSurface, 'facecolor', 'none', 'edgecolor', [0 0.6 0], 'edgealpha', 1, 'facealpha', 1);
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%axis equal;
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xlabel('North [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
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ylabel('East [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
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zlabel('Up [m]', 'fontname', 'Times', 'fontsize', fontsize-2)
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