MOD: matlab trk_cmd files updated

src/utils/matlab/vtl/pvt_raw_plotting_SPIRENT_GnssSDR.m

@@ -23,6 +23,7 @@ clearvars
 % end
 SPEED_OF_LIGHT_M_S=299792458.0;
 Lambda_GPS_L1=0.1902937;
+GPS_L1_freq_hz=1575.42e6;
 %%
 samplingFreq=5000000;
 channels=6;
@@ -34,12 +35,13 @@ plot_reference=1;
 load_observables=1;
 advance_vtl_data_available=1;
 load_vtl=1;
+load_tfk_cmd=1;
 
 navSolution = GnssSDR2struct('PVT_raw.mat');
 refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv');
 %%
 if(load_observables)
-    load observables\observable_raw.mat
+    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.
 end
@@ -53,6 +55,25 @@ if(load_vtl)
 vtlSolution = Vtl2struct('dump_vtl_file.csv');
 end
 
+if(load_tfk_cmd)
+    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
+
+end
+
 %% calculate LOS Rx-sat if advance_vtl_data_available=1
 
 if(advance_vtl_data_available)

src/utils/matlab/vtl/trk2struct.m

@@ -0,0 +1,56 @@
+%% Import data from text file
+% Script for importing data from the following text file:
+%
+%    filename: D:\virtualBOX_VM\ubuntu20\ubuntu20\shareFolder\myWork\results\spirent_usrp_airing\dump_vtl_file.csv
+%
+% %
+% -------------------------------------------------------------------------
+%  USE EXAMPLE: vtlSolution = Vtl2struct('dump_vtl_file.csv')
+% -------------------------------------------------------------------------
+
+% Auto-generated by MATLAB on 24-Nov-2022 17:34:27
+function [trkSolution] = trk2struct(path_to_trk_csv)
+%% Set up the Import Options and import the data
+opts = delimitedTextImportOptions("NumVariables", 4);
+
+% Specify range and delimiter
+opts.DataLines = [1, Inf];
+opts.Delimiter = ",";
+
+% Specify column names and types
+opts.VariableNames = ["doppler_corr", "VarName2", "VarName3", "VarName4"];
+opts.VariableTypes = ["char", "double", "double", "double"];
+
+% Specify file level properties
+opts.ExtraColumnsRule = "ignore";
+opts.EmptyLineRule = "read";
+
+% Specify variable properties
+opts = setvaropts(opts, "doppler_corr", "WhitespaceRule", "preserve");
+opts = setvaropts(opts, "doppler_corr", "EmptyFieldRule", "auto");
+
+% Import the data
+dumptrackingfile = readtable(path_to_trk_csv, opts);
+
+%% Convert to output type
+dumptrackingfile = table2cell(dumptrackingfile);
+numIdx = cellfun(@(x) ~isnan(str2double(x)), dumptrackingfile);
+dumptrackingfile(numIdx) = cellfun(@(x) {str2double(x)}, dumptrackingfile(numIdx));
+
+%% Clear temporary variables
+clear numIdx opts
+
+trkSolution.dopp=[];
+
+%% split by solution type
+[indDopp,~]= find(strcmp(dumptrackingfile, 'doppler_corr'));
+
+trk_dopp=dumptrackingfile(indDopp,:);trk_dopp(:,1)=[];
+
+trk_dopp=cell2mat(trk_dopp);
+
+for i=1:length(trk_dopp)
+    trkSolution.dopp.real=[trk_dopp(:,1) trk_dopp(:,3)];
+    trkSolution.dopp.cmd=[trk_dopp(:,1) trk_dopp(:,2)];
+end
+end

src/utils/matlab/vtl/vtl_prototype.m

@@ -23,15 +23,16 @@ clearvars
 % end
 SPEED_OF_LIGHT_M_S=299792458.0;
 Lambda_GPS_L1=0.1902937;
-point_of_closure=6000;
+GPS_L1_freq_hz=1575.42e6;
+point_of_closure=3400;
 
 %% ==================== 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=10;%m^2
+pr_var=20;%m^2
-pr_dot_var=30;%m^2/s^2
+pr_dot_var=2;%m^2/s^2
 
 % CARLES PAPER LTE GNSS VTL
 % pos_var=2;%m^2
@@ -55,14 +56,14 @@ load_observables=1;
 navSolution = GnssSDR2struct('PVT_raw.mat');
 refSolution = SpirentMotion2struct('..\log_spirent\motion_V1_SPF_LD_05.csv');
 %
-load observables\observable_raw.mat
+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\observable_raw.mat
+    load observables\observables_raw.mat
     refSatData = SpirentSatData2struct('..\log_spirent\sat_data_V1A1_SPF_LD_05.csv');
 end
 %%

src/utils/matlab/vtl/vtl_tracking.m

@@ -23,42 +23,58 @@ clearvars
 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
-load(['tracking\tracking_raw' num2str(chan) '.mat']);
+eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.real==chan);'])
-tracking_channel(chan+1).PRN=PRN;
+eval(['Dopp_real_CH' num2str(chan) '=trkSolution.dopp.real(indCH' num2str(chan) ',2);'])
-tracking_channel(chan+1).CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
+eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_real_CH' num2str(chan) ')'])
-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;sgtitle('cmd doppler')
-figure
+for chan=0:4
-for chan=1:5
+eval(['[indCH' num2str(chan) ',~]= find(trkSolution.dopp.cmd==chan);'])
-subplot(2,3,chan);
+eval(['Dopp_cmd_CH' num2str(chan) '=trkSolution.dopp.cmd(indCH' num2str(chan) ',2);'])
-plot(tracking_channel(chan).carrier_doppler_hz);
+eval(['subplot(2,3,' num2str(chan+1) ');plot(Dopp_cmd_CH' num2str(chan) ')'])
-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=0:4
-for chan=1:5
+% load(['tracking\tracking_raw' num2str(chan) '.mat']);
-subplot(2,3,chan);
+% tracking_channel(chan+1).PRN=PRN;
-plot(tracking_channel(chan).acc_carrier_phase_rad);
+% tracking_channel(chan+1).CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
-grid minor
+% tracking_channel(chan+1).carrier_doppler_hz=carrier_doppler_hz;
-end
+% tracking_channel(chan+1).carrier_doppler_rate_hz=carrier_doppler_rate_hz;
-sgtitle('acc carrier phase rad')
+% 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')