You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.

126 lines
4.2 KiB

function [colorsOut]= PlotPseudorangeRates(gnssMeas,prFileName,colors)
% [colors] = PlotPseudorangeRates(gnssMeas,[prFileName],[colors])
% plot the Pseudorange Rates obtained from ProcessGnssMeas
%
%gnssMeas.FctSeconds = Nx1 vector. Rx time tag of measurements.
% .ClkDCount = Nx1 vector. Hw clock discontinuity count
% .Svid = 1xM vector of all svIds found in gnssRaw.
% ...
% .DelPrM = NxM change in pr while clock continuous
% .PrrMps = NxM pseudorange rate
% ...
%
% Optional inputs: prFileName = string with file name
% colors, Mx3 color matrix
% if colors is not Mx3, it will be ignored
%
%Output: colors, color matrix, so we match colors each time we plot the same sv
if nargin<2
prFileName = '';
end
M = length(gnssMeas.Svid);
N = length(gnssMeas.FctSeconds);
if nargin<3 || any(size(colors)~=[M,3])
colors = zeros(M,3); %initialize color matrix for storing colors
bGotColors = false;
else
bGotColors = true;
end
gray = [.5 .5 .5];
timeSeconds =gnssMeas.FctSeconds-gnssMeas.FctSeconds(1);%elapsed time in seconds
%plot slope of pr and prr
delPr = gnssMeas.DelPrM;
ts = ('diff(raw pr)/diff(time) and reported prr');
h12(1) = subplot(5,1,1:4); hold on
deltaMeanM = zeros(1,M)+NaN; %store mean diff(pr) - mean prr
for i=1:M
%plot prr
y = gnssMeas.PrrMps(:,i);
iFi = find(isfinite(y));
if ~isempty(iFi)
h = plot(timeSeconds,y); set(h,'Color',gray);
ti = timeSeconds(iFi(1));
ht=text(ti,y(iFi(1)),int2str(gnssMeas.Svid(i)),'Color',gray);
set(ht,'HorizontalAlignment','right')
meanPrrM = mean(y(iFi));%store for analysing delta prr dpr
%plot delta pr
y = delPr(:,i);
iFi = find(isfinite(y));
if any(iFi)
ti = timeSeconds(iFi(end));
y = diff(y)./diff(timeSeconds);%slope of pr (m/s)
h = plot(timeSeconds(2:end),y); set(h,'Marker','.','MarkerSize',4)
if bGotColors
set(h,'Color',colors(i,:));
else
colors(i,:) = get(h,'Color');
end
iFi = find(isfinite(y));
if any(iFi)
text(ti,y(iFi(end)),int2str(gnssMeas.Svid(i)),'Color',colors(i,:));
end
meanDprM = mean(y(iFi));%store for analysing delta prr dpr
deltaMeanM(i) = meanPrrM - meanDprM;
end
end
end
title(ts),ylabel('(m/s)')
ax = axis; %remember axis
yLimMps = [ax(3)-200, ax(4)];%make an extra 200 m/s on axis, to add text
set(gca,'YLim',yLimMps);
ts = ' For Svids [';
ds = sprintf('%.0f, ',gnssMeas.Svid);
ht=text(ax(1),ax(3),[ts,ds(1:end-2),'],']);
set(ht,'VerticalAlignment','top','Color',gray)
ts = ' mean(prr) - mean (diff(pr)/diff(time)) = [';
ds = sprintf('%.2f, ',deltaMeanM);
ht=text(ax(1),ax(3)-100,[ts,ds(1:end-2),'] (m/s)']);
set(ht,'VerticalAlignment','top','Color',gray)
bClockDis = [0;diff(gnssMeas.ClkDCount)~=0];%binary, 1 <=> clock discontinuity
%plot Clock discontinuity
h12(2) = subplot(5,1,5);
iCont = ~bClockDis;%index into where clock is continuous
plot(timeSeconds(iCont),bClockDis(iCont),'.b');%blue dots for continuous
hold on
plot(timeSeconds(~iCont),bClockDis(~iCont),'.r');%red dots for discontinuous
set(gca,'XLim',ax(1:2),'YLim',[-0.5 1.5]); grid on
set(gca,'YTick',[0 1],'YTickLabel',{'continuous ','discontinuous'})
set(gca,'YTickLabelRotation',45)
title('HW Clock Discontinuity')
xs = sprintf('time (seconds)\n%s',prFileName);
xlabel(xs,'Interpreter','none')
linkaxes(h12,'x')
if nargout
colorsOut = colors;
end
end %end of function PlotPseudorangeRates
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Copyright 2016 Google Inc.
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%     http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.