mirror of https://github.com/gnss-sdr/gnss-sdr
139 lines
4.3 KiB
Python
139 lines
4.3 KiB
Python
"""
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hybrid_observables_plot_sample.py
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Reads GNSS-SDR observables raw dump binary file using the provided function
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and plots some internal variables
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Irene Pérez Riega, 2023. iperrie@inta.es
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Modifiable in the file:
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sampling_freq - Sampling frequency [Hz]
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channels - Number of channels to check if they exist
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path - Path to folder which contains raw file
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fig_path - Path where plots will be save
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observables_log_path - Completed path to observables raw data file
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-----------------------------------------------------------------------------
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GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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This file is part of GNSS-SDR.
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Copyright (C) 2022 (see AUTHORS file for a list of contributors)
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SPDX-License-Identifier: GPL-3.0-or-later
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-----------------------------------------------------------------------------
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"""
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import numpy as np
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import matplotlib.pyplot as plt
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from lib.read_hybrid_observables_dump import read_hybrid_observables_dump
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import os
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observables = {}
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double_size_bytes = 8
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bytes_shift = 0
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# ---------- CHANGE HERE:
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samplingFreq = 2000000
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channels = 5
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path = '/home/labnav/Desktop/TEST_IRENE/'
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fig_path = '/home/labnav/Desktop/TEST_IRENE/PLOTS/HybridObservables/'
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observables_log_path = path + 'observables.dat'
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if not os.path.exists(fig_path):
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os.makedirs(fig_path)
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GNSS_observables = read_hybrid_observables_dump(channels,observables_log_path)
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# Plot data
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# --- optional: plot since it detect the first satellite connected
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min_tow_idx = 1
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obs_idx = 1
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for n in range(0, channels):
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idx = np.where(np.array(GNSS_observables['valid'][n])>0)[0][0]
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# Find the index from the first satellite connected
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if n == 0:
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min_tow_idx = idx
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if min_tow_idx > idx:
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min_tow_idx = idx
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obs_idx = n
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# Plot observables from that index
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# First plot
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plt.figure()
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plt.title('Pseudorange')
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for i in range(channels):
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plt.scatter(GNSS_observables['RX_time'][i][min_tow_idx:],
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GNSS_observables['Pseudorange_m'][i][min_tow_idx:],s=1,
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label=f'Channel {i}')
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plt.xlim(GNSS_observables['RX_time'][obs_idx][min_tow_idx]-100,
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GNSS_observables['RX_time'][obs_idx][-1]+100)
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plt.grid(True)
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plt.xlabel('TOW [s]')
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plt.ylabel('Pseudorange [m]')
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plt.legend()
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plt.gcf().canvas.manager.set_window_title('Pseudorange.png')
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plt.tight_layout()
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plt.savefig(os.path.join(fig_path, 'Pseudorange.png'))
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plt.show()
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# Second plot
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plt.figure()
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plt.title('Carrier Phase')
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for i in range(channels):
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plt.scatter(GNSS_observables['RX_time'][i][min_tow_idx:],
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GNSS_observables['Carrier_phase_hz'][i][min_tow_idx:],s=1,
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label=f'Channel {i}')
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plt.xlim(GNSS_observables['RX_time'][obs_idx][min_tow_idx]-100,
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GNSS_observables['RX_time'][obs_idx][-1]+100)
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plt.xlabel('TOW [s]')
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plt.ylabel('Accumulated Carrier Phase [cycles]')
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plt.grid(True)
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plt.legend()
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plt.gcf().canvas.manager.set_window_title('AccumulatedCarrierPhase.png')
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plt.tight_layout()
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plt.savefig(os.path.join(fig_path, 'AccumulatedCarrierPhase.png'))
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plt.show()
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# Third plot
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plt.figure()
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plt.title('Doppler Effect')
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for i in range(channels):
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plt.scatter(GNSS_observables['RX_time'][i][min_tow_idx:],
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GNSS_observables['Carrier_Doppler_hz'][i][min_tow_idx:],s=1,
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label=f'Channel {i}')
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plt.xlim(GNSS_observables['RX_time'][obs_idx][min_tow_idx]-100,
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GNSS_observables['RX_time'][obs_idx][-1]+100)
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plt.xlabel('TOW [s]')
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plt.ylabel('Doppler Frequency [Hz]')
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plt.grid(True)
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plt.legend()
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plt.gcf().canvas.manager.set_window_title('DopplerFrequency.png')
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plt.tight_layout()
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plt.savefig(os.path.join(fig_path, 'DopplerFrequency.png'))
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plt.show()
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# Fourth plot
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plt.figure()
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plt.title('GNSS Channels captured')
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for i in range(channels):
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lab = 0
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a = 0
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while lab == 0:
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lab = int(GNSS_observables["PRN"][i][min_tow_idx+a])
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a += 1
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plt.scatter(GNSS_observables['RX_time'][i][min_tow_idx:],
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GNSS_observables['PRN'][i][min_tow_idx:], s=1,
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label=f'PRN {i} = {lab}')
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plt.xlim(GNSS_observables['RX_time'][obs_idx][min_tow_idx]-100,
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GNSS_observables['RX_time'][obs_idx][-1]+100)
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plt.xlabel('TOW [s]')
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plt.ylabel('PRN')
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plt.grid(True)
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plt.legend()
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plt.gcf().canvas.manager.set_window_title('PRNs.png')
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plt.tight_layout()
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plt.savefig(os.path.join(fig_path, 'PRNs.png'))
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plt.show() |