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MOD: matlab files update
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miguekf
parent
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commit
dec07c9c0c
35
src/utils/matlab/vtl/doppler_vtl_plot.m
Normal file
35
src/utils/matlab/vtl/doppler_vtl_plot.m
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@ -0,0 +1,35 @@
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%% LOAD
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Carrier_Doppler_hz_sim=zeros(length(refSatData.GPS.SIM_time),channels);
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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(3);%PRN 20
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Carrier_Doppler_hz_sim(i,3)=refSatData.GPS.series(i).doppler_shift(8);%PRN 17
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Carrier_Doppler_hz_sim(i,4)=refSatData.GPS.series(i).doppler_shift(6);%PRN 12
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Carrier_Doppler_hz_sim(i,5)=refSatData.GPS.series(i).doppler_shift(5);%PRN 9
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Carrier_Doppler_hz_sim(i,6)=refSatData.GPS.series(i).doppler_shift(2);%PRN 5
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Carrier_Doppler_hz_sim(i,7)=refSatData.GPS.series(i).doppler_shift(1);%PRN 4
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Carrier_Doppler_hz_sim(i,8)=refSatData.GPS.series(i).doppler_shift(7);%PRN 2
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end
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%%
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figure('Name','RX_Carrier_Doppler_hz');
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for channel_cnt=1:channels
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subplot(3,3,channel_cnt)
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plot(linspace(0,tFinal,length(Carrier_Doppler_hz(channel_cnt,:)')), Carrier_Doppler_hz(channel_cnt,:)','s')
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xlim([0,tFinal]);
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ylim([min(Carrier_Doppler_hz_sim(:,channel_cnt+1)),max(Carrier_Doppler_hz_sim(:,channel_cnt+1))]);
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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' num2str(rx_PRN(channel_cnt)) ' GNSS-SDR'],'Location','eastoutside')% bench
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plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,channel_cnt+1)','.','DisplayName','SPIRENT reference')
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plot(linspace(TTFF_sec+23,tFinal,length(sat_dopp_hz_filt(channel_cnt,:))),sat_dopp_hz_filt(channel_cnt,:),'o','DisplayName','filtered VTL')
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hold off;grid minor
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end
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280
src/utils/matlab/vtl/kf_prototype_model.m
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280
src/utils/matlab/vtl/kf_prototype_model.m
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@ -0,0 +1,280 @@
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%% vtl KF
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load rocket_model_dynamics.mat
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%%
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sat_number=6; % limit by csv?
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%% ################## Kalman filter initialization ######################################
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state_number=9;
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% covariances (static)
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kf_P_x = eye(state_number); %TODO: use a real value.
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kf_x = zeros(state_number, 1);
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kf_R = zeros(2*sat_number, 2*sat_number);
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kf_dt=0.05;
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% kf_F = eye(state_number, state_number);
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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_F=[ 1 0 0 kf_dt 0 0 0 0 0
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0 1 0 0 kf_dt 0 0 0 0
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0 0 1 0 0 kf_dt 0 0 0
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0 0 0 1 0 0 0 0 0
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0 0 0 0 1 0 0 0 0
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0 0 0 0 0 1 0 0 0
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0 0 0 0 0 0 1 kf_dt kf_dt^2/2
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0 0 0 0 0 0 0 1 kf_dt
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0 0 0 0 0 0 0 0 1];
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% kf_F=[ 1 0 0 kf_dt 0 0 0 0
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% 0 1 0 0 kf_dt 0 0 0
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% 0 0 1 0 0 kf_dt 0 0
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% 0 0 0 1 0 0 0 0
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% 0 0 0 0 1 0 0 0
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% 0 0 0 0 0 1 0 0
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% 0 0 0 0 0 0 1 kf_dt
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% 0 0 0 0 0 0 0 1];
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%
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kf_H = zeros(2*sat_number,state_number);
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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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%% 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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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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pr_m_filt=zeros(sat_number,length(navSolution.RX_time));
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rhoDot_pri_filt=zeros(sat_number,length(navSolution.RX_time));
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sat_dopp_hz_filt=zeros(sat_number,length(navSolution.RX_time));
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%% ################## Kalman Tracking ######################################
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% receiver solution from rtklib_solver
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index=0;
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modelflag=0;
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t_from_lunch=0;
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for t=2:length(navSolution.RX_time)
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index=index+1;
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%% State error Covariance Matrix Q (PVT) and R (MEASUREMENTS)
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if (index < point_of_closure)
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%% State error Covariance Matrix Q (PVT)
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kf_Q = blkdiag(posx_var,posy_var,posz_var,velx_var,vely_var,velz_var,clk_bias_var,clk_drift_var,clk_d_drift_var);
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%%
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% Measurement error Covariance Matrix R assembling
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kf_R = blkdiag(eye(sat_number)*pr_var,eye(sat_number)*pr_dot_var);
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else
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kf_Q = blkdiag(posx_var,posy_var,posz_var,velx_var,vely_var,velz_var,clk_bias_var,clk_drift_var,clk_d_drift_var);
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for chan=1:sat_number
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kf_R(chan,chan) = pr_var*sat_CN0_dBhz(chan,t)/200;
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kf_R(chan+sat_number,chan+sat_number)= pr_dot_var*sat_CN0_dBhz(chan,t)/200;
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end
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end
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if(~modelflag)
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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 (index < point_of_closure)
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disp('one step')
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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)*SPEED_OF_LIGHT_M_S;
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kf_x(8,t) = clk_drift(t)*SPEED_OF_LIGHT_M_S;%new_data.rx_dts(1);
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kf_x(9,t) = 1.0;
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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(t)=kf_x(7,t);
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cdeltatDot_u=kf_x(8,t);
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% Kalman state prediction (time update)
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kf_P_x = eye(state_number)*100; %TODO: use a real value.
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kf_xpri(:,t) = kf_F * (kf_x(:,t)-kf_x(:,t-1));% 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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else
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disp('feedback')
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x_u=corr_kf_state(1,t-1);
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y_u=corr_kf_state(2,t-1);
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z_u=corr_kf_state(3,t-1);
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xDot_u=corr_kf_state(4,t-1);
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yDot_u=corr_kf_state(5,t-1);
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zDot_u=corr_kf_state(6,t-1);
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cdeltat_u(t)=corr_kf_state(7,t-1);
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cdeltatDot_u=corr_kf_state(8,t-1);
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% Kalman state prediction (time update)
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kf_P_x= kf_F * kf_P_x * kf_F' + kf_Q;% state error covariance prediction
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end
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else
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disp('MODEL')
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t_from_lunch=t_from_lunch+3;
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if(t_from_lunch>length(rocket_model_dynamics.vX))
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t_from_lunch=length(rocket_model_dynamics.vX);
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end
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kf_x(1,t) = rocket_model_dynamics.X(t_from_lunch);
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kf_x(2,t) = rocket_model_dynamics.Y(t_from_lunch);
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kf_x(3,t) = rocket_model_dynamics.Z(t_from_lunch);
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kf_x(4,t) = rocket_model_dynamics.vX(t_from_lunch);
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kf_x(5,t) = rocket_model_dynamics.vY(t_from_lunch);
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kf_x(6,t) = rocket_model_dynamics.vZ(t_from_lunch);
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kf_x(7,t) = clk_bias_s(t)*SPEED_OF_LIGHT_M_S;
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kf_x(8,t) = clk_drift(t)*SPEED_OF_LIGHT_M_S;%new_data.rx_dts(1);
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kf_x(9,t) = 1.0;
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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(t)=kf_x(7,t);
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cdeltatDot_u=kf_x(8,t);
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% Kalman state prediction (time update)
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kf_P_x = eye(state_number)*1; %TODO: use a real value.
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kf_xpri(:,t) = kf_F * (kf_x(:,t)-kf_x(:,t-1));% 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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end
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for chan=1:sat_number %neccesary quantities
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d(chan)=(sat_posX_m(chan,t)-x_u)^2;
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d(chan)=d(chan)+(sat_posY_m(chan,t)-y_u)^2;
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d(chan)=d(chan)+(sat_posZ_m(chan,t)-z_u)^2;
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d(chan)=sqrt(d(chan));
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c_pr_m(chan,t)=d(chan)+cdeltat_u(t);
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a_x(chan,t)=-(sat_posX_m(chan,t)-x_u)/d(chan);
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a_y(chan,t)=-(sat_posY_m(chan,t)-y_u)/d(chan);
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a_z(chan,t)=-(sat_posZ_m(chan,t)-z_u)/d(chan);
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rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
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+(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
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+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
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end
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for chan=1:sat_number % Measurement matrix H assembling
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% It has st_nmbr columns (st_nmbr 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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% 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 stimation (measurement update)
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for chan=1:sat_number % Measurement matrix H assembling
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kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);
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if (t<length(navSolution.RX_time)-point_of_closure)
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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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else
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kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t);
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end
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end
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% pause
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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_P_x = (eye(length(kf_P_x)) - kf_K * kf_H) * kf_P_x; % update state estimation error covariance matrix
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if (index<point_of_closure)
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corr_kf_state(:,t)=kf_xpri(:,t)-kf_xerr(:,t)+kf_x(:,t); %updated state estimation
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else
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corr_kf_state(:,t)=corr_kf_state(:,t-1)-kf_xerr(:,t); %updated state estimation
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end
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if(modelflag)
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corr_kf_state(:,t)=kf_xpri(:,t)-kf_xerr(:,t)+kf_x(:,t); %updated state estimation
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end
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if(sum(abs([xDot_u;yDot_u;zDot_u])>100)>1)
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modelflag=1;
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end
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%% ################## Geometric Transformation ######################################
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x_u=corr_kf_state(1,t);
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y_u=corr_kf_state(2,t);
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z_u=corr_kf_state(3,t);
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xDot_u=corr_kf_state(4,t);
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yDot_u=corr_kf_state(5,t);
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zDot_u=corr_kf_state(6,t);
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cdeltat_u_g=corr_kf_state(7,t);
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cdeltatDot_u_g=corr_kf_state(8,t);
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for chan=1:sat_number %neccesary quantities
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d(chan)=(sat_posX_m(chan,t)-x_u)^2;
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d(chan)=d(chan)+(sat_posY_m(chan,t)-y_u)^2;
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d(chan)=d(chan)+(sat_posZ_m(chan,t)-z_u)^2;
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d(chan)=sqrt(d(chan));
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c_pr_m(chan,t)=d(chan)+cdeltat_u_g;
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a_x(chan,t)=-(sat_posX_m(chan,t)-x_u)/d(chan);
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a_y(chan,t)=-(sat_posY_m(chan,t)-y_u)/d(chan);
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a_z(chan,t)=-(sat_posZ_m(chan,t)-z_u)/d(chan);
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rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
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+(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
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+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
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end
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kf_H = zeros(2*sat_number,state_number);
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for chan=1:sat_number % Measurement matrix H assembling
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% It has st_nmbr columns (st_nmbr 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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% Re-calculate error measurement vector with the most recent data available: kf_delta_y=kf_H*kf_delta_x
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kf_yerr_g=kf_H*kf_xerr;
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disp("kf_yerr_g:")
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disp(kf_yerr_g(:,t))
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disp('zDot_u:')
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disp(zDot_u)
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% Filtered pseudorange error measurement (in m) AND Filtered Doppler shift measurements (in Hz):
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for chan=1:sat_number % Measurement vector
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pr_m_filt(chan,t)=sat_prg_m(chan,t)+kf_yerr_g(chan,t);% now filtered
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rhoDot_pri_filt(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+corr_kf_state(8,t))-kf_yerr_g(chan+sat_number,t);
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%convert rhoDot_pri to doppler shift!
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% d_dt_clk_drift=(corr_kf_state(8,t)-corr_kf_state(8,t-1));
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% d_dt_clk_drift=0;
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sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1;
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err_carrier_phase_rads_filt(chan,t) = trapz(kf_yerr_g(chan+sat_number,1:t)/Lambda_GPS_L1)*2*kf_dt;
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carrier_freq_hz =GPS_L1_freq_hz+sat_dopp_hz_filt(chan,t);
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% carrier_freq_rate_hz_s = 0;
|
||||
err_code_phase_chips(chan,t) = (kf_yerr_g(chan,t))/SPEED_OF_LIGHT_M_S*1023e3;
|
||||
end
|
||||
|
||||
end
|
||||
49
src/utils/matlab/vtl/pr_m_vtl_plot.m
Normal file
49
src/utils/matlab/vtl/pr_m_vtl_plot.m
Normal file
@ -0,0 +1,49 @@
|
||||
%% LOAD
|
||||
|
||||
Pseudorange_m_sim=zeros(length(refSatData.GPS.SIM_time),channels);
|
||||
|
||||
for i=1:length(refSatData.GPS.SIM_time)
|
||||
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(3);%PRN 20
|
||||
Pseudorange_m_sim(i,3)=refSatData.GPS.series(i).pr_m(8);%PRN 17
|
||||
Pseudorange_m_sim(i,4)=refSatData.GPS.series(i).pr_m(6);%PRN 12
|
||||
Pseudorange_m_sim(i,5)=refSatData.GPS.series(i).pr_m(5);%PRN 9
|
||||
Pseudorange_m_sim(i,6)=refSatData.GPS.series(i).pr_m(2);%PRN 5
|
||||
Pseudorange_m_sim(i,7)=refSatData.GPS.series(i).pr_m(1);%PRN 4
|
||||
Pseudorange_m_sim(i,8)=refSatData.GPS.series(i).pr_m(7);%PRN 2
|
||||
end
|
||||
%%
|
||||
|
||||
figure('Name','RX_PseudoRange_m');
|
||||
for channel_cnt=1:channels
|
||||
subplot(3,3,channel_cnt)
|
||||
plot(linspace(0,tFinal,length(Pseudorange_m(channel_cnt,:)')), Pseudorange_m(channel_cnt,:)','s')
|
||||
xlim([0,tFinal]);
|
||||
% ylim([min(Pseudorange_m_sim(:,channel_cnt)),max(Pseudorange_m_sim(:,channel_cnt))]);
|
||||
xlabel('')
|
||||
ylabel('PR [m] (m)')
|
||||
xlabel('time from simulation init (seconds)')
|
||||
grid on
|
||||
hold on
|
||||
legend(['PRN' num2str(rx_PRN(channel_cnt)) ' GNSS-SDR'],'Location','eastoutside')% bench
|
||||
% plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim(:,channel_cnt)','.','DisplayName','SPIRENT reference')
|
||||
% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(1,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
end
|
||||
%%
|
||||
figure('Name','Rsim_PseudoRange_m');
|
||||
for channel_cnt=1:channels
|
||||
subplot(3,3,channel_cnt)
|
||||
plot(linspace(0,tFinal,length(Pseudorange_m(channel_cnt,:)')), Pseudorange_m(channel_cnt,:)','s')
|
||||
xlim([0,tFinal]);
|
||||
ylim([min(Pseudorange_m_sim(:,channel_cnt)),max(Pseudorange_m_sim(:,channel_cnt))]);
|
||||
xlabel('')
|
||||
ylabel('PR [m] (m)')
|
||||
xlabel('time from simulation init (seconds)')
|
||||
grid on
|
||||
hold on
|
||||
legend(['PRN' num2str(rx_PRN(channel_cnt)) ' GNSS-SDR'],'Location','eastoutside')% bench
|
||||
plot(refSatData.GPS.SIM_time/1000, Pseudorange_m_sim(:,channel_cnt)','.','DisplayName','SPIRENT reference')
|
||||
% plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(1,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
end
|
||||
@ -1,28 +1,17 @@
|
||||
%%
|
||||
% vtl_general_plot.m
|
||||
%%
|
||||
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
|
||||
end
|
||||
%
|
||||
% if(load_observables)
|
||||
% for i=1:length(refSatData.GPS.SIM_time)
|
||||
% Pseudorange_m_sim(i,1)=refSatData.GPS.series(i).pr_m(9);%PRN 30
|
||||
% Pseudorange_m_sim(i,2)=refSatData.GPS.series(i).pr_m(3);%PRN 29
|
||||
% Pseudorange_m_sim(i,3)=refSatData.GPS.series(i).pr_m(5);%PRN 24
|
||||
% Pseudorange_m_sim(i,4)=refSatData.GPS.series(i).pr_m(2);%PRN 12
|
||||
% Pseudorange_m_sim(i,5)=refSatData.GPS.series(i).pr_m(8);%PRN 10
|
||||
% Pseudorange_m_sim(i,6)=refSatData.GPS.series(i).pr_m(6);%PRN 5
|
||||
% end
|
||||
% end
|
||||
% -------------------------------------
|
||||
% if(load_observables)
|
||||
% Rx_pseudo_all=figure('Name','RX_pr_m');plot(RX_time(1,:)-time_reference_spirent_obs, Pseudorange_m','s')
|
||||
@ -51,7 +40,7 @@ end
|
||||
% hold off
|
||||
% grid on
|
||||
% end
|
||||
%---VTL VELOCITY: GNSS SDR plot --------------------------------------
|
||||
%% ---VTL VELOCITY: GNSS SDR plot --------------------------------------
|
||||
VTL_VEL=figure('Name','velocities');
|
||||
subplot(2,2,1);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.vX,'.');
|
||||
@ -62,7 +51,7 @@ plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vX...
|
||||
% plot(navSolution.RX_time-navSolution.RX_time(1),kf_xerr(4,:),'.');
|
||||
ylabel('vX (m/s)')
|
||||
xlabel('time U.A.')
|
||||
ylim([-5 5])
|
||||
% ylim([-5 5])
|
||||
title('Subplot 1: vX ')
|
||||
legend ('raw navSolution','raw kf state','SPIRENT reference','Location','eastoutside')
|
||||
|
||||
@ -75,7 +64,7 @@ plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vY...
|
||||
,'.','DisplayName','SPIRENT reference')
|
||||
ylabel('vY (m/s)')
|
||||
xlabel('time U.A.')
|
||||
ylim([-5 5])
|
||||
% ylim([-5 5])
|
||||
title('Subplot 1: vY ')
|
||||
legend ('raw navSolution','raw kf state','SPIRENT reference','Location','eastoutside')
|
||||
|
||||
@ -88,7 +77,7 @@ plot(refSolution.SIM_time/1000-TTFF_sec,refSolution.vZ...
|
||||
,'.','DisplayName','SPIRENT reference')
|
||||
ylabel('vZ (m/s)')
|
||||
xlabel('time U.A.')
|
||||
ylim([-5 5])
|
||||
% ylim([-5 5])
|
||||
title('Subplot 1: vZ ')
|
||||
legend ('raw navSolution','raw kf state','SPIRENT reference','Location','eastoutside')
|
||||
|
||||
@ -96,7 +85,7 @@ sgtitle('velocities')
|
||||
|
||||
%% --- VTL UTM centered POSITION: GNSS SDR plot --------------------------------------
|
||||
|
||||
VTL_POS=figure('Name','VTL UTM COORD CENTERED IN 1^{ST} POSITION');
|
||||
VTL_POS=figure('Name','VTL UTM COORD ');
|
||||
subplot(2,2,1);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),navSolution.X,'.');
|
||||
hold on;grid on
|
||||
@ -131,84 +120,10 @@ title('Subplot 1: Z ')
|
||||
legend ('raw navSolution','raw kf state','SPIRENT ref','Location','eastoutside')
|
||||
|
||||
sgtitle('VTL UTM COORD')
|
||||
%%
|
||||
if(load_observables)
|
||||
% 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_28=figure('Name','RX_Carrier_Doppler_hz');
|
||||
subplot(2,2,1)
|
||||
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','SPIRENT reference')
|
||||
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(1,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
|
||||
% Rx_Dopp_4=figure('Name','RX_Carrier_Doppler_hz');
|
||||
subplot(2,2,2)
|
||||
plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(2,:)','s')
|
||||
xlim([0,140]);
|
||||
ylim([2540,2640]);
|
||||
xlabel('')
|
||||
ylabel('Doppler (Hz)')
|
||||
xlabel('time from simulation init (seconds)')
|
||||
grid on
|
||||
hold on
|
||||
legend('PRN 4 GNSS-SDR','Location','eastoutside')
|
||||
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,2)','.','DisplayName','SPIRENT reference')
|
||||
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(2,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
|
||||
% Rx_Dopp_17=figure('Name','RX_Carrier_Doppler_hz');
|
||||
subplot(2,2,3)
|
||||
plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(3,:)','s')
|
||||
xlim([0,140]);
|
||||
ylim([-1800,-1730]);
|
||||
xlabel('')
|
||||
ylabel('Doppler (Hz)')
|
||||
xlabel('time from simulation init (seconds)')
|
||||
grid on
|
||||
hold on
|
||||
legend('PRN 17 GNSS-SDR','Location','eastoutside')
|
||||
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,3)','.','DisplayName','SPIRENT reference')
|
||||
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(3,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
|
||||
% Rx_Dopp_15=figure('Name','RX_Carrier_Doppler_hz');
|
||||
subplot(2,2,4)
|
||||
plot(RX_time(1,:)-time_reference_spirent_obs, Carrier_Doppler_hz(4,:)','s')
|
||||
xlim([0,140]);
|
||||
ylim([-2680,-2620]);
|
||||
xlabel('')
|
||||
ylabel('Doppler (Hz)')
|
||||
xlabel('time from simulation init (seconds)')
|
||||
grid on
|
||||
hold on
|
||||
legend('PRN 15 GNSS-SDR','Location','eastoutside')
|
||||
plot(refSatData.GPS.SIM_time/1000, Carrier_Doppler_hz_sim(:,4)','.','DisplayName','SPIRENT reference')
|
||||
plot(navSolution.RX_time(1,:)-time_reference_spirent_obs, sat_dopp_hz_filt(4,:),'o','DisplayName','filtered VTL')
|
||||
hold off;grid minor
|
||||
end
|
||||
%% STATE PLOT
|
||||
VTL_STATE=figure('Name','VTL STATE');
|
||||
subplot(2,2,1);
|
||||
subplot(2,3,1);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),[navSolution.X-navSolution.X(1);...
|
||||
navSolution.Y-navSolution.Y(1) ;navSolution.Z-navSolution.Z(1)],...
|
||||
'b.','DisplayName','RTKLIB solution');
|
||||
@ -219,13 +134,13 @@ plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.X-refSolution.X(spirent_ind
|
||||
refSolution.Y-refSolution.Y(spirent_index_TTFF) refSolution.Z-refSolution.Z(spirent_index_TTFF)],...
|
||||
'r.','DisplayName','SPIRENT reference');
|
||||
legend('Location','eastoutside');
|
||||
ylim([-200,200])
|
||||
xlim([0,120])
|
||||
% ylim([-200,200])
|
||||
xlim([0,tFinal])
|
||||
ylabel('X Y Z (m)')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: POSITION [m]')
|
||||
|
||||
subplot(2,2,2);
|
||||
subplot(2,3,2);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),[navSolution.vX;...
|
||||
navSolution.vY; navSolution.vZ],...
|
||||
'b.','DisplayName','RTKLIB solution');
|
||||
@ -236,30 +151,41 @@ plot(refSolution.SIM_time/1000-TTFF_sec,[refSolution.vX...
|
||||
refSolution.vY refSolution.vZ],...
|
||||
'r.','DisplayName','SPIRENT reference');
|
||||
|
||||
xlim([0,120])
|
||||
xlim([0,tFinal])
|
||||
ylabel('vX vY vZ (m/s)')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: VELOCITIES [m/s]')
|
||||
|
||||
subplot(2,2,3);
|
||||
subplot(2,3,3);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),clk_bias_s*SPEED_OF_LIGHT_M_S,...
|
||||
'b.','DisplayName','RTKLIB solution');
|
||||
hold on;grid on
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(7,:),...
|
||||
'k.','DisplayName','filt VTL');
|
||||
ylim([3019190, 3019700])
|
||||
xlim([0,120])
|
||||
% ylim([3633390, 3634580])
|
||||
xlim([0,tFinal])
|
||||
ylabel('clk bias (m)')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: clk bias [m]')
|
||||
|
||||
subplot(2,2,4);
|
||||
subplot(2,3,4);
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),clk_drift*SPEED_OF_LIGHT_M_S,...
|
||||
'b.','DisplayName','RTKLIB solution');
|
||||
hold on;grid on
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(8,:),...
|
||||
'k.','DisplayName','filt VTL');
|
||||
xlim([0,120])
|
||||
xlim([0,tFinal])
|
||||
ylabel('clk drift (m/s)')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: clk drift [m/s]')
|
||||
|
||||
subplot(2,3,5);
|
||||
plot(navSolution.RX_time(1:end-1)-navSolution.RX_time(1),diff(clk_drift)/kf_dt*SPEED_OF_LIGHT_M_S,...
|
||||
'b.','DisplayName','RTKLIB solution');
|
||||
hold on;grid on
|
||||
plot(navSolution.RX_time-navSolution.RX_time(1),corr_kf_state(9,:),...
|
||||
'k.','DisplayName','filt VTL');
|
||||
xlim([0,tFinal])
|
||||
ylabel('clk drift (m/s)')
|
||||
xlabel('time [s]')
|
||||
title('Subplot 1: clk drift [m/s]')
|
||||
|
||||
@ -1,99 +0,0 @@
|
||||
% VTL prototype
|
||||
% -------------------------------------------------------------------------
|
||||
%
|
||||
% GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
% This file is part of GNSS-SDR.
|
||||
%
|
||||
% Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
% SPDX-License-Identifier: GPL-3.0-or-later
|
||||
%
|
||||
% -------------------------------------------------------------------------
|
||||
%
|
||||
%%
|
||||
clc
|
||||
close all
|
||||
clearvars
|
||||
|
||||
% if ~exist('gps_l1_ca_read_pvt_raw_dump.m', 'file')
|
||||
% addpath('./libs')
|
||||
% end
|
||||
%
|
||||
% if ~exist('cat2geo.m', 'file')
|
||||
% addpath('./libs/geoFunctions')
|
||||
% end
|
||||
SPEED_OF_LIGHT_M_S=299792458.0;
|
||||
Lambda_GPS_L1=0.1902937;
|
||||
GPS_L1_freq_hz=1575.42e6;
|
||||
point_of_closure=4060;
|
||||
|
||||
%% ==================== VARIANCES =============================
|
||||
pos_var=100;%m^2
|
||||
vel_var=10;%m^2/s^2
|
||||
clk_bias_var=40;%m^2
|
||||
clk_drift_var=1500;%m^2/s^2
|
||||
pr_var=20;%m^2
|
||||
pr_dot_var=2;%m^2/s^2
|
||||
|
||||
% CARLES PAPER LTE GNSS VTL
|
||||
% pos_var=2;%m^2
|
||||
% vel_var=0.2;%m^2/s^2
|
||||
% clk_bias_var=1e-7;%m^2
|
||||
% clk_drift_var=1e-4;%m^2/s^2
|
||||
% pr_var=20;%m^2
|
||||
% pr_dot_var=3;%m^2/s^2
|
||||
%% ============================================================
|
||||
samplingFreq=5000000;
|
||||
channels=6;
|
||||
TTFF_sec=41.48;
|
||||
spirent_index_TTFF=416;
|
||||
|
||||
plot_skyplot=0;
|
||||
plot_reference=1;
|
||||
load_observables=1;
|
||||
|
||||
%% ============================ PARSER TO STRUCT ============================
|
||||
|
||||
navSolution = GnssSDR2struct('PVT_raw.mat');
|
||||
refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv');
|
||||
%
|
||||
load observables\observables_raw.mat
|
||||
% refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
|
||||
rx_PRN=[28 4 17 15 27 9]; % for SPF_LD_05.
|
||||
load('PVT_raw.mat','sat_posX_m','sat_posY_m','sat_posZ_m','sat_velX','sat_velY'...
|
||||
,'sat_velZ','sat_prg_m','clk_bias_s','clk_drift','sat_dopp_hz','user_clk_offset')
|
||||
|
||||
if(load_observables)
|
||||
load observables\observables_raw.mat
|
||||
refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
|
||||
end
|
||||
%%
|
||||
% vtlSolution = Vtl2struct('dump_vtl_file.csv');
|
||||
%%
|
||||
|
||||
kf_prototype
|
||||
|
||||
%% ====== 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
|
||||
|
||||
%% ============================================== ==============================================
|
||||
%%
|
||||
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')
|
||||
|
||||
@ -1,80 +0,0 @@
|
||||
% -------------------------------------------------------------------------
|
||||
%
|
||||
% GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
% This file is part of GNSS-SDR.
|
||||
%
|
||||
% Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
% SPDX-License-Identifier: GPL-3.0-or-later
|
||||
%
|
||||
% -------------------------------------------------------------------------
|
||||
%
|
||||
%%
|
||||
clc
|
||||
close all
|
||||
clearvars
|
||||
|
||||
% if ~exist('gps_l1_ca_read_pvt_raw_dump.m', 'file')
|
||||
% addpath('./libs')
|
||||
% end
|
||||
%
|
||||
% if ~exist('cat2geo.m', 'file')
|
||||
% addpath('./libs/geoFunctions')
|
||||
% end
|
||||
SPEED_OF_LIGHT_M_S=299792458.0;
|
||||
Lambda_GPS_L1=0.1902937;
|
||||
%%
|
||||
trkSolution=trk2struct('dump_trk_file.csv');
|
||||
|
||||
%% split by solution type
|
||||
figure;sgtitle('real doppler')
|
||||
for chan=0:4
|
||||
eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.real==chan);'])
|
||||
eval(['Dopp_real_CH' num2str(chan) '=trkSolution.dopp.real(indCH' num2str(chan) ',2);'])
|
||||
eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_real_CH' num2str(chan) ')'])
|
||||
end
|
||||
figure;sgtitle('cmd doppler')
|
||||
for chan=0:4
|
||||
eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.cmd==chan);'])
|
||||
eval(['Dopp_cmd_CH' num2str(chan) '=trkSolution.dopp.cmd(indCH' num2str(chan) ',2);'])
|
||||
eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_cmd_CH' num2str(chan) ')'])
|
||||
end
|
||||
|
||||
%%
|
||||
% for chan=0:4
|
||||
% load(['tracking\tracking_raw' num2str(chan) '.mat']);
|
||||
% tracking_channel(chan+1).PRN=PRN;
|
||||
% tracking_channel(chan+1).CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
|
||||
% tracking_channel(chan+1).carrier_doppler_hz=carrier_doppler_hz;
|
||||
% tracking_channel(chan+1).carrier_doppler_rate_hz=carrier_doppler_rate_hz;
|
||||
% tracking_channel(chan+1).code_error_chips=code_error_chips;
|
||||
% tracking_channel(chan+1).code_freq_chips=code_freq_chips;
|
||||
% tracking_channel(chan+1).code_freq_rate_chips=code_freq_rate_chips;
|
||||
% tracking_channel(chan+1).acc_carrier_phase_rad=acc_carrier_phase_rad;
|
||||
%
|
||||
% clearvars -except tracking_channel chan
|
||||
% end
|
||||
% %%
|
||||
% figure
|
||||
% for chan=1:5
|
||||
% subplot(2,3,chan);
|
||||
% plot(tracking_channel(chan).carrier_doppler_hz);
|
||||
% grid minor
|
||||
% end
|
||||
% sgtitle('carrier doppler hz channel')
|
||||
% %%
|
||||
% figure
|
||||
% for chan=1:5
|
||||
% subplot(2,3,chan);
|
||||
% plot(tracking_channel(chan).CN0_SNV_dB_Hz);
|
||||
% grid minor
|
||||
% end
|
||||
% sgtitle('CN0 SNV dB Hz channel')
|
||||
%
|
||||
% %%
|
||||
% figure
|
||||
% for chan=1:5
|
||||
% subplot(2,3,chan);
|
||||
% plot(tracking_channel(chan).acc_carrier_phase_rad);
|
||||
% grid minor
|
||||
% end
|
||||
% sgtitle('acc carrier phase rad')
|
||||
Loading…
Reference in New Issue
Block a user