% Function plots variations of coordinates over time and a 3D position % plot. It plots receiver coordinates in UTM system or coordinate offsets if % the true UTM receiver coordinates are provided. % % plotNavigation(navSolutions, settings) % % Inputs: % navSolutions - Results from navigation solution function. It % contains measured pseudoranges and receiver % coordinates. % settings - Receiver settings. The true receiver coordinates % are contained in this structure. % plot_skyplot - If ==1 then use satellite coordinates to plot the % the satellite positions % Darius Plausinaitis % Modified by Javier Arribas, 2011. jarribas(at)cttc.es % ------------------------------------------------------------------------- % % 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 % % ------------------------------------------------------------------------- % function plotNavigation(navSolutions, settings,plot_skyplot) %% Plot results in the necessary data exists ============================== if (~isempty(navSolutions)) %% If reference position is not provided, then set reference position %% to the average position if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ... || isnan(settings.truePosition.U) %=== Compute mean values ========================================== % Remove NaN-s or the output of the function MEAN will be NaN. refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E))); refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N))); refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U))); %Also convert geodetic coordinates to deg:min:sec vector format meanLongitude = dms2mat(deg2dms(... mean(navSolutions.longitude(~isnan(navSolutions.longitude)))), -5); meanLatitude = dms2mat(deg2dms(... mean(navSolutions.latitude(~isnan(navSolutions.latitude)))), -5); LatLong_str=[num2str(meanLatitude(1)), '??', ... num2str(meanLatitude(2)), '''', ... num2str(meanLatitude(3)), '''''', ... ',', ... num2str(meanLongitude(1)), '??', ... num2str(meanLongitude(2)), '''', ... num2str(meanLongitude(3)), ''''''] refPointLgText = ['Mean Position\newline Lat: ', ... num2str(meanLatitude(1)), '{\circ}', ... num2str(meanLatitude(2)), '{\prime}', ... num2str(meanLatitude(3)), '{\prime}{\prime}', ... '\newline Lng: ', ... num2str(meanLongitude(1)), '{\circ}', ... num2str(meanLongitude(2)), '{\prime}', ... num2str(meanLongitude(3)), '{\prime}{\prime}', ... '\newline Hgt: ', ... num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')]; else % compute the mean error for static receiver mean_position.E = mean(navSolutions.E(~isnan(navSolutions.E))); mean_position.N = mean(navSolutions.N(~isnan(navSolutions.N))); mean_position.U = mean(navSolutions.U(~isnan(navSolutions.U))); refCoord.E = settings.truePosition.E; refCoord.N = settings.truePosition.N; refCoord.U = settings.truePosition.U; error_meters=sqrt((mean_position.E-refCoord.E)^2+(mean_position.N-refCoord.N)^2+(mean_position.U-refCoord.U)^2); refPointLgText = ['Reference Position, Mean 3D error = ' num2str(error_meters) ' [m]']; end figureNumber = 300; % The 300 is chosen for more convenient handling of the open % figure windows, when many figures are closed and reopened. Figures % drawn or opened by the user, will not be "overwritten" by this % function if the auto numbering is not used. %=== Select (or create) and clear the figure ========================== figure(figureNumber); clf (figureNumber); set (figureNumber, 'Name', 'Navigation solutions'); %--- Draw axes -------------------------------------------------------- handles(1, 1) = subplot(4, 2, 1 : 4); handles(3, 1) = subplot(4, 2, [5, 7]); handles(3, 2) = subplot(4, 2, [6, 8]); %% Plot all figures ======================================================= %--- Coordinate differences in UTM system ----------------------------- plot(handles(1, 1), [(navSolutions.E - refCoord.E)', ... (navSolutions.N - refCoord.N)',... (navSolutions.U - refCoord.U)']); title (handles(1, 1), 'Coordinates variations in UTM system'); legend(handles(1, 1), 'E', 'N', 'U'); xlabel(handles(1, 1), ['Measurement period: ', ... num2str(settings.navSolPeriod), 'ms']); ylabel(handles(1, 1), 'Variations (m)'); grid (handles(1, 1)); axis (handles(1, 1), 'tight'); %--- Position plot in UTM system -------------------------------------- plot3 (handles(3, 1), navSolutions.E - refCoord.E, ... navSolutions.N - refCoord.N, ... navSolutions.U - refCoord.U, '+'); hold (handles(3, 1), 'on'); %Plot the reference point plot3 (handles(3, 1), 0, 0, 0, 'r+', 'LineWidth', 1.5, 'MarkerSize', 10); hold (handles(3, 1), 'off'); view (handles(3, 1), 0, 90); axis (handles(3, 1), 'equal'); grid (handles(3, 1), 'minor'); legend(handles(3, 1), 'Measurements', refPointLgText); title (handles(3, 1), 'Positions in UTM system (3D plot)'); xlabel(handles(3, 1), 'East (m)'); ylabel(handles(3, 1), 'North (m)'); zlabel(handles(3, 1), 'Upping (m)'); if (plot_skyplot==1) %--- Satellite sky plot ----------------------------------------------- skyPlot(handles(3, 2), ... navSolutions.channel.az, ... navSolutions.channel.el, ... navSolutions.channel.PRN(:, 1)); title (handles(3, 2), ['Sky plot (mean PDOP: ', ... num2str(mean(navSolutions.DOP(2,:))), ')']); end else disp('plotNavigation: No navigation data to plot.'); end % if (~isempty(navSolutions))