mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-15 14:25:00 +00:00
MOD: update matlab files
This commit is contained in:
miguekf
parent
910bdde61a
commit
d85b108ee5
@ -5,55 +5,62 @@ time_reference_spirent_obs=129780;%s
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time_vtl_dump_file=linspace(38,157,length(vtlSolution.filt_dop_sat));
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% rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05.
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%%
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(1,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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Rx_Dopp_28=figure('Name','RX_Carrier_Doppler_hz');
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subplot(2,2,1);
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(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');
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(2,:),'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');
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subplot(2,2,2);
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(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(time_vtl_dump_file,vtlSolution.filt_dop_sat(3,:),'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');
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subplot(2,2,3);
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(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(time_vtl_dump_file,vtlSolution.filt_dop_sat(4,:),'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');
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subplot(2,2,4);
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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(time_vtl_dump_file,vtlSolution.filt_dop_sat(4,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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@ -46,7 +46,7 @@ end
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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(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim(:,1)','.','DisplayName','SPIRENT 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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@ -58,13 +58,13 @@ plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vX,'.');
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hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(4,:),'.');
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plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vX...
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,'.','DisplayName','reference')
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,'.','DisplayName','SPIRENT reference')
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% plot(navSolution.RX_time-navSolution.RX_time(1),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','reference','Location','eastoutside')
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legend ('raw navSolution','raw kf state','SPIRENT 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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@ -72,12 +72,12 @@ hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(5,:),'.');
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% plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(5,:),'.');
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plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vY...
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,'.','DisplayName','reference')
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,'.','DisplayName','SPIRENT reference')
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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','reference','Location','eastoutside')
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legend ('raw navSolution','raw kf state','SPIRENT 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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@ -85,12 +85,12 @@ hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(6,:),'.');
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% plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(6,:),'.');
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plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vZ...
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,'.','DisplayName','reference')
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,'.','DisplayName','SPIRENT reference')
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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','reference','Location','eastoutside')
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legend ('raw navSolution','raw kf state','SPIRENT reference','Location','eastoutside')
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sgtitle('velocities')
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@ -133,20 +133,22 @@ 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_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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Rx_Dopp_28=figure('Name','RX_Carrier_Doppler_hz');
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subplot(2,2,1)
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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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@ -155,11 +157,13 @@ if(load_observables)
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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(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,1)','.','DisplayName','SPIRENT 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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% Rx_Dopp_4=figure('Name','RX_Carrier_Doppler_hz');
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subplot(2,2,2)
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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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@ -168,11 +172,13 @@ if(load_observables)
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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(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,2)','.','DisplayName','SPIRENT 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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% Rx_Dopp_17=figure('Name','RX_Carrier_Doppler_hz');
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subplot(2,2,3)
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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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@ -181,11 +187,13 @@ if(load_observables)
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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(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,3)','.','DisplayName','SPIRENT 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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% Rx_Dopp_15=figure('Name','RX_Carrier_Doppler_hz');
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subplot(2,2,4)
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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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@ -194,54 +202,66 @@ if(load_observables)
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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(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,4)','.','DisplayName','SPIRENT 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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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(1:3,:)'-corr_kf_state(1:3,3)','.');
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plot(navSolution.RX_time-navSolution.RX_time(1),[navSolution.X-navSolution.X(1);...
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navSolution.Y-navSolution.Y(1) ;navSolution.Z-navSolution.Z(1)],...
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'b.','DisplayName','RTKLIB solution');
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hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(1:3,:)'-corr_kf_state(1:3,3)',...
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'k.','DisplayName','filt VTL');
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plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.X-refSolution.X(1)...
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refSolution.Y-refSolution.Y(1) refSolution.Z-refSolution.Z(1)],...
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'.','DisplayName','reference');
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'r.','DisplayName','SPIRENT reference');
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legend('Location','eastoutside');
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ylim([-200,200])
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xlim([0,120])
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ylabel('X Y Z (m)')
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xlabel('time U.A.')
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title('Subplot 1: POSITION ')
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xlabel('time [s]')
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title('Subplot 1: POSITION [m]')
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subplot(2,2,2);
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(4:6,:)','.');
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plot(navSolution.RX_time-navSolution.RX_time(1),[navSolution.vX;...
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navSolution.vY; navSolution.vZ],...
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'b.','DisplayName','RTKLIB solution');
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hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(4:6,:)',...
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'k.','DisplayName','filt VTL');
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plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.vX...
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refSolution.vY refSolution.vZ],...
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'.','DisplayName','reference');
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'r.','DisplayName','SPIRENT reference');
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xlim([0,120])
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ylabel('vX vY vZ (m/s)')
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xlabel('time U.A.')
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title('Subplot 1: VELOCITIES ')
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xlabel('time [s]')
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title('Subplot 1: VELOCITIES [m/s]')
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subplot(2,2,3);
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(7,:),'.');
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ylim([3019190, 3019700])
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plot(navSolution.RX_time-navSolution.RX_time(1),clk_bias_s*SPEED_OF_LIGHT_M_S,...
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'b.','DisplayName','RTKLIB solution');
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hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),clk_bias_s*SPEED_OF_LIGHT_M_S,'.');
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(7,:),...
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'k.','DisplayName','filt VTL');
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ylim([3019190, 3019700])
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xlim([0,120])
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ylabel('clk bias (m)')
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xlabel('time U.A.')
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title('Subplot 1: clk bias')
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legend('vtl','rtklib')
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xlabel('time [s]')
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title('Subplot 1: clk bias [m]')
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subplot(2,2,4);
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plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(8,:),'.');
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plot(navSolution.RX_time-navSolution.RX_time(1),clk_drift*SPEED_OF_LIGHT_M_S,...
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'b.','DisplayName','RTKLIB solution');
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hold on;grid on
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plot(navSolution.RX_time-navSolution.RX_time(1),clk_drift*SPEED_OF_LIGHT_M_S,'.');
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(8,:),...
|
||||
'k.','DisplayName','filt VTL');
|
||||
xlim([0,120])
|
||||
ylabel('clk drift (m/s)')
|
||||
legend('vtl','rtklib')
|
||||
xlabel('time U.A.')
|
||||
title('Subplot 1: clk drift ')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: clk drift [m/s]')
|
||||
|
||||
sgtitle('VTL STATE')
|
||||
Loading…
Reference in New Issue
Block a user