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https://github.com/gnss-sdr/gnss-sdr
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ADD: new matlab routines for vtl
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miguekf
parent
3062b5565d
commit
ce964eea67
142
src/utils/matlab/vtl/kf_prototype.m
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142
src/utils/matlab/vtl/kf_prototype.m
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%% vtl KF
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%%
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sat_number=5;
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%% ################## Kalman filter initialization ######################################
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% covariances (static)
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kf_P_x = eye(8)*10.0; %TODO: use a real value.
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kf_x = zeros(8, 1);
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kf_R = zeros(2*sat_number, 2*sat_number);
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kf_dt=0.1;
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kf_F = eye(8, 8);
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kf_F(1, 4) = kf_dt;
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kf_F(2, 5) = kf_dt;
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kf_F(3, 6) = kf_dt;
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kf_F(7, 8) = kf_dt;
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kf_H = zeros(2*sat_number,8);
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kf_y = zeros(2*sat_number, 1);
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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 = 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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for chan=1:5 %neccesary quantities
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for t=1:length(navSolution.RX_time)
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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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end
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%% ################## Kalman Tracking ######################################
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% receiver solution from rtklib_solver
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for t=1:length(navSolution.RX_time)
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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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kf_x(2,t) = navSolution.Y(t);
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kf_x(3,t) = navSolution.Z(t);
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kf_x(4,t) = navSolution.vX(t);
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kf_x(5,t) = navSolution.vY(t);
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kf_x(6,t) = navSolution.vZ(t);
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kf_x(7,t) = clk_bias_s(t);
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kf_x(8,t) = 1e-6;%new_data.rx_dts(1);
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x_u=kf_x(1,t);
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y_u=kf_x(2,t);
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z_u=kf_x(3,t);
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xDot_u=kf_x(4,t);
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yDot_u=kf_x(5,t);
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zDot_u=kf_x(6,t);
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cdeltat_u=kf_x(7,t)*SPEED_OF_LIGHT_M_S;
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cdeltatDot_u=1e-8*SPEED_OF_LIGHT_M_S;
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else
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kf_x(:,t)=corr_kf_state(:,t-1);
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x_u=kf_x(1,t);
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y_u=kf_x(2,t);
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z_u=kf_x(3,t);
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xDot_u=kf_x(4,t);
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yDot_u=kf_x(5,t);
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zDot_u=kf_x(6,t);
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cdeltat_u=kf_x(7,t)*SPEED_OF_LIGHT_M_S;
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cdeltatDot_u=1e-8*SPEED_OF_LIGHT_M_S;
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end
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% Kalman state prediction (time update)
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kf_x(:,t) = kf_F * kf_x(:,t); % state prediction
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kf_P_x= kf_F * kf_P_x * kf_F' + kf_Q; % state error covariance prediction
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%from error state variables to variables
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% From state variables definition
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% TODO: cast to type properly
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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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a_x = zeros(sat_number, 1);
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a_y = zeros(sat_number, 1);
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a_z = zeros(sat_number, 1);
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c_pr_m=zeros(sat_number,length(navSolution.RX_time));
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for chan=1:5 %neccesary quantities
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d(chan)=(sat_posX_m(chan,t)-kf_x(1,t))^2;
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d(chan)=d(chan)+(sat_posY_m(chan,t)-kf_x(2,t))^2;
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d(chan)=d(chan)+(sat_posZ_m(chan,t)-kf_x(3,t))^2;
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d(chan)=sqrt(d(chan));
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c_pr_m(chan,t)=d(chan)+clk_bias_s(t)*SPEED_OF_LIGHT_M_S;
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a_x(chan,t)=-(sat_posX_m(chan,t)-kf_x(1,t))/d(chan);
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a_y(chan,t)=-(sat_posY_m(chan,t)-kf_x(2,t))/d(chan);
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a_z(chan,t)=-(sat_posZ_m(chan,t)-kf_x(3,t))/d(chan);
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rhoDot_pri(chan,t)=(sat_velX(chan,t)-kf_x(4,t))*a_x(chan,t)...
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+(sat_velY(chan,t)-kf_x(5,t))*a_y(chan,t)...
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+(sat_velZ(chan,t)-kf_x(6,t))*a_z(chan,t);
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end
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for chan=1:5 % Measurement matrix H assembling
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% It has 8 columns (8 states) and 2*NSat rows (NSat psudorange error;NSat pseudo range rate error)
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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;
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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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% Kalman estimation (measurement update)
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for chan=1:5 % Measurement matrix H assembling
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%kf_y(i) = new_data.pr_m(i); % i-Satellite
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%kf_y(i+sat_number) = rhoDot_pri(i)/Lambda_GPS_L1; % i-Satellite
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kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);%-0.000157*SPEED_OF_LIGHT_M_S;
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kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
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end
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% DOUBLES DIFFERENCES
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% kf_yerr = zeros(2*sat_number, 1);
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% for (int32_t i = 1; i < sat_number; i++) % Measurement vector
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% {
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% kf_y(i)=new_data.pr_m(i)-new_data.pr_m(i-1);
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% kf_yerr(i)=kf_y(i)-(rho_pri(i)+rho_pri(i-1));
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% kf_y(i+sat_number)=(rhoDot_pri(i)-rhoDot_pri(i-1))/Lambda_GPS_L1;
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% kf_yerr(i+sat_number)=kf_y(i+sat_number)-(new_data.doppler_hz(i)-new_data.doppler_hz(i-1));
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% }
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% kf_yerr.print("DOUBLES DIFFERENCES");
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% Kalman filter update step
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kf_S = kf_H * kf_P_x* kf_H' + kf_R; % innovation covariance matrix (S)
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kf_K = (kf_P_x * kf_H') * inv(kf_S); % Kalman gain
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kf_xerr(:,t) = kf_K * (kf_yerr(:,t)); % Error state estimation
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%kf_x = kf_x(:,t) - kf_xerr(:,t); % updated state estimation (a priori + error)
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kf_P_x = (eye(length(kf_P_x)) - kf_K * kf_H) * kf_P_x; % update state estimation error covariance matrix
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corr_kf_state(:,t)=kf_x(:,t)-kf_xerr(:,t); %updated state estimation
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% TODO: compare how KF state diverges from RTKLIB solution!
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% States related tu USER clock adjust from m/s to s (by /SPEED_OF_LIGHT_M_S)
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% kf_x(6) =kf_x(6) /SPEED_OF_LIGHT_M_S;
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% kf_x(7) =kf_x(7) /SPEED_OF_LIGHT_M_S;
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corr_kf_state(7,t)=corr_kf_state(7,t)/SPEED_OF_LIGHT_M_S;
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corr_kf_state(8,t)=1e-8/SPEED_OF_LIGHT_M_S;
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end
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155
src/utils/matlab/vtl/vtl_general_plot.m
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155
src/utils/matlab/vtl/vtl_general_plot.m
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%%
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% vtl_general_plot.m
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%%
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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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plot(navSolution.vX,'.');
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hold on;grid on
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plot(kf_x(4,:),'.');
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plot(kf_xerr(4,:),'.');
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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','kferr','Location','east')
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subplot(2,2,2);
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plot(navSolution.vY,'.');
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hold on;grid on
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plot(kf_x(5,:),'.');
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plot(kf_xerr(5,:),'.');
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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','kferr','Location','east')
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subplot(2,2,3);
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plot(navSolution.vZ,'.');
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hold on;grid on
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plot(kf_x(6,:),'.');
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plot(kf_xerr(6,:),'.');
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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','kferr','Location','east')
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sgtitle('velocities')
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%% --- VTL UTM centered POSITION: GNSS SDR plot --------------------------------------
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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(kf_x(1,:)-kf_x(1,1),'.');
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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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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(kf_x(2,:)-kf_x(2,1),'.');
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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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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(kf_x(3,:)-kf_x(3,1),'.');
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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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sgtitle('VTL UTM COORD CENTERED IN 1^{ST} POSITION')
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%%
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% % --- 'VTL errPV correction --------------------------------------
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%
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% VTL_errPV=figure('Name','VTL errPV correction');
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% subplot(2,3,1);
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% plot(navSolution.X-navSolution.X(1),'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.X-vtlSolution.kfpvt.X(1),'.');
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% plot(vtlSolution.kferr.X,'.');
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% plot(vtlSolution.kfpvt.X-navSolution.X(1)+vtlSolution.kferr.X,'.');
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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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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% subplot(2,3,2);
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% plot(navSolution.Y-navSolution.Y(1),'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.Y-vtlSolution.kfpvt.Y(1),'.');
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% plot(vtlSolution.kferr.Y,'.');
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% plot(vtlSolution.kfpvt.Y-navSolution.Y(1)+vtlSolution.kferr.Y,'.');
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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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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% subplot(2,3,3);
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% plot(navSolution.Z-navSolution.Z(1),'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.Z-vtlSolution.kfpvt.Z(1),'.');
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% plot(vtlSolution.kferr.Z,'.');
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% plot(vtlSolution.kfpvt.Z-navSolution.Z(1)+vtlSolution.kferr.Z,'.');
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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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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% subplot(2,3,4);
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% plot(navSolution.vX,'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.vX,'.');
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% plot(vtlSolution.kferr.vX,'.');
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% plot(vtlSolution.kfpvt.vX+vtlSolution.kferr.vX,'.');
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% 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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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% subplot(2,3,5);
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% plot(navSolution.vY,'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.vY,'.');
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% plot(vtlSolution.kferr.vY,'.');
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% plot(vtlSolution.kfpvt.vY+vtlSolution.kferr.vY,'.');
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% 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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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% subplot(2,3,6);
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% plot(navSolution.vZ,'.');
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% hold on;grid on
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% plot(vtlSolution.kfpvt.vZ,'.');
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% plot(vtlSolution.kferr.vZ,'.');
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% plot(vtlSolution.kfpvt.vZ+vtlSolution.kferr.vZ,'.');
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% 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 RTKlib','raw kf','kferr','added err+raw','Location','eastoutside')
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%
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%
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% sgtitle('VTL errPV correction')
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149
src/utils/matlab/vtl/vtl_prototype.m
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149
src/utils/matlab/vtl/vtl_prototype.m
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% VTL prototype
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% -------------------------------------------------------------------------
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%
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% GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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% This file is part of GNSS-SDR.
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%
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% Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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% SPDX-License-Identifier: GPL-3.0-or-later
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%
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% -------------------------------------------------------------------------
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%
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%%
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clc
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close all
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clearvars
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% if ~exist('gps_l1_ca_read_pvt_raw_dump.m', 'file')
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% addpath('./libs')
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% end
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%
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% if ~exist('cat2geo.m', 'file')
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% addpath('./libs/geoFunctions')
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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=6000;
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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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%% ============================ PARSER TO STRUCT ============================
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plot_skyplot=0;
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plot_reference=1;
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navSolution = GnssSDR2struct('PVT_raw.mat');
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refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv');
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%
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load observables\observable_raw.mat
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% refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
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rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05.
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load('PVT_raw.mat','sat_posX_m','sat_posY_m','sat_posZ_m','sat_velX','sat_velY'...
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,'sat_velZ','sat_prg_m','clk_bias_s','sat_dopp_hz')
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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);
|
||||
% a_y(chan,t)=-(sat_posY_m(chan,t)-navSolution.Y(t))/d(chan);
|
||||
% a_z(chan,t)=-(sat_posZ_m(chan,t)-navSolution.Z(t))/d(chan);
|
||||
% end
|
||||
% end
|
||||
%
|
||||
% %%
|
||||
|
||||
% %%
|
||||
% for chan=1:5
|
||||
% for t=1:length(navSolution.RX_time)
|
||||
% rhoDot_pri(chan,t)=(sat_velX(chan,t)-navSolution.vX(t))*a_x(chan,t)...
|
||||
% +(sat_velY(chan,t)-navSolution.vY(t))*a_y(chan,t)...
|
||||
% +(sat_velZ(chan,t)-navSolution.vZ(t))*a_z(chan,t);
|
||||
%
|
||||
% kf_yerr(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
|
||||
% end
|
||||
% end
|
||||
|
||||
%%
|
||||
|
||||
kf_prototype
|
||||
|
||||
%%
|
||||
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')
|
||||
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')
|
||||
%%
|
||||
% figure;plot([a_x(1,:);a_y(1,:);a_z(1,:)]');
|
||||
% figure;plot([vtlSolution.LOSx vtlSolution.LOSy vtlSolution.LOSz])
|
||||
%% ====== FILTERING =======================================================
|
||||
% moving_avg_factor= 500;
|
||||
% LAT_FILT = movmean(navSolution.latitude,moving_avg_factor);
|
||||
% LON_FILT = movmean(navSolution.longitude,moving_avg_factor);
|
||||
% HEIGH_FILT = movmean(navSolution.height,moving_avg_factor);
|
||||
%
|
||||
% X_FILT = movmean(navSolution.X,moving_avg_factor);
|
||||
% Y_FILT = movmean(navSolution.Y,moving_avg_factor);
|
||||
% Z_FILT = movmean(navSolution.Z,moving_avg_factor);
|
||||
%
|
||||
% vX_FILT = movmean(navSolution.vX,moving_avg_factor);
|
||||
% vY_FILT = movmean(navSolution.vY,moving_avg_factor);
|
||||
% vZ_FILT = movmean(navSolution.vZ,moving_avg_factor);
|
||||
%
|
||||
%%
|
||||
%general_raw_plot
|
||||
vtl_general_plot
|
||||
%% ============================================== ==============================================
|
||||
% time_reference_spirent_obs=129780;%s
|
||||
% if(load_observables)
|
||||
% % figure;plot(Carrier_phase_cycles','.')
|
||||
% % figure;plot(Pseudorange_m','.')
|
||||
% %%%
|
||||
% 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
|
||||
%
|
||||
% end
|
||||
%
|
||||
%
|
||||
% Rx_Dopp_all=figure('Name','RX_Carrier_Doppler_hz');plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz','.')
|
||||
% xlim([0,140]);
|
||||
% xlabel('')
|
||||
% ylabel('Doppler (Hz)')
|
||||
% xlabel('time from simulation init (seconds)')
|
||||
% grid on
|
||||
% hold on
|
||||
% legend('PRN 28','PRN 4','PRN 17','PRN 15','PRN 27','PRN 9','Location','eastoutside')
|
||||
% plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim','.')
|
||||
% 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,:)','.')
|
||||
% 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')
|
||||
% hold off
|
||||
% grid on
|
||||
% end
|
||||
Loading…
Reference in New Issue
Block a user