mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-25 06:23:18 +00:00
126 lines
4.7 KiB
Matlab
126 lines
4.7 KiB
Matlab
% -------------------------------------------------------------------------
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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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%
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% Copyright (C) 2010-2019 (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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%
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%% Read Hibrid Observables Dump
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clearvars;
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close all;
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addpath('./libs');
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samplingFreq = 25000000; %[Hz]
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channels=10;
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path='/home/dmiralles/Documents/gnss-sdr/';
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observables_log_path=[path 'observables.dat'];
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GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
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%% Plo data
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%--- optional: search all channels having good satellite simultaneously
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min_tow_idx=1;
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obs_idx=1;
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for n=1:1:channels
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idx=find(GNSS_observables.valid(n,:)>0,1,'first');
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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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end
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end
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%--- plot observables from that index
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figure;
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plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Pseudorange_m(:,min_tow_idx+1:end)');
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grid on;
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xlabel('TOW [s]')
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ylabel('Pseudorange [m]');
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figure;
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plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Carrier_phase_hz(:,min_tow_idx+1:end)');
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xlabel('TOW [s]')
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ylabel('Accumulated Carrier Phase [cycles]');
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grid on;
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figure;
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plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Carrier_Doppler_hz(:,min_tow_idx+1:end)');
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xlabel('TOW [s]');
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ylabel('Doppler Frequency [Hz]');
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grid on;
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%% Deprecated Code
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% %read true obs from simulator (optional)
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% GPS_STARTOFFSET_s = 68.802e-3;
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%
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% true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
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% GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
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%
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% %correct the clock error using true values (it is not possible for a receiver to correct
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% %the receiver clock offset error at the observables level because it is required the
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% %decoding of the ephemeris data and solve the PVT equations)
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%
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% SPEED_OF_LIGHT_M_S = 299792458.0;
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%
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% %find the reference satellite
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% [~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
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% shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
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%
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%
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% %Compute deltas if required and interpolate to measurement time
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% delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
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% delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
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% delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
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% true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
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% GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
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% true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
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% GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
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%
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% %Compute measurement errors
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%
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% delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
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% psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
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% psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
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%
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% acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
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% -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
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%
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% acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
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%
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% acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
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% -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
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% acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
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%
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%
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% %plot results
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% figure;
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% plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
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% hold on;
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% plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b');
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% title('TRUE vs. measured Pseudoranges [m]')
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% xlabel('TOW [s]')
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% ylabel('[m]');
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%
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% figure;
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% plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
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% title('Pseudoranges error [m]')
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% xlabel('TOW [s]')
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% ylabel('[m]');
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%
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% figure;
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% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
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% title('Accumulated carrier phase error CH1 [hz]')
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% xlabel('TOW [s]')
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% ylabel('[hz]');
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%
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% figure;
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% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
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% title('Accumulated carrier phase error CH2 [hz]')
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% xlabel('TOW [s]')
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% ylabel('[hz]');
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%
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%
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