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MOD: matlab trk_cmd files updated

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This commit is contained in:
miguekf 2022-12-17 14:24:55 +01:00
parent 4d5a92b5ad
commit f466687b23
4 changed files with 133 additions and 39 deletions
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23
src/utils/matlab/vtl/pvt_raw_plotting_SPIRENT_GnssSDR.m
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@ -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)

56
src/utils/matlab/vtl/trk2struct.m Normal file
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@ -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

11
src/utils/matlab/vtl/vtl_prototype.m
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@ -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_dot_var=30;%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
@ -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
%%

82
src/utils/matlab/vtl/vtl_tracking.m
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@ -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']);
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
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
for chan=1:5
subplot(2,3,chan);
plot(tracking_channel(chan).carrier_doppler_hz);
grid minor
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
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')
% 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')