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function [gnssMeas]= ProcessAdr(gnssMeas)
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% [gnssMeas]= ProcessAdr(gnssMeas)
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% process the Accumulated Delta Ranges obtained from ProcessGnssMeas
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%
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%gnssMeas.FctSeconds = Nx1 vector. Rx time tag of measurements.
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% .ClkDCount = Nx1 vector. Hw clock discontinuity count
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% .Svid = 1xM vector of all svIds found in gnssRaw.
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% ...
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% .PrM = NxM pseudoranges, row i corresponds to FctSeconds(i)
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% .DelPrM = NxM change in pr while clock continuous
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% .AdrM = NxM accumulated delta range (= -k*carrier phase)
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% ...
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%
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% output:
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% gnssMeas.DelPrMinusAdrM = NxM DelPrM - AdrM, re-initialized to zero at each
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% discontinuity or reset of DelPrM or AdrM
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%Author: Frank van Diggelen
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%Open Source code for processing Android GNSS Measurements
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if ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0))
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%Nothing in AdrM but NaNs and zeros
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fprintf(' No ADR recorded\n'), return
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end
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M = length(gnssMeas.Svid);
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N = length(gnssMeas.FctSeconds);
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DelPrMinusAdrM = zeros(N,M)+NaN;
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for j=1:M %loop over Svid
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AdrM = gnssMeas.AdrM(:,j); %make local variables for readability
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DelPrM = gnssMeas.DelPrM(:,j);
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AdrState = gnssMeas.AdrState(:,j);
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%From gps.h:
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%/* However, it is expected that the data is only accurate when:
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% * 'accumulated delta range state' == GPS_ADR_STATE_VALID.
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%*/
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% #define GPS_ADR_STATE_UNKNOWN 0
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% #define GPS_ADR_STATE_VALID (1<<0)
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% #define GPS_ADR_STATE_RESET (1<<1)
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% #define GPS_ADR_STATE_CYCLE_SLIP (1<<2)
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%keep valid values of AdrM only
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iValid = bitand(AdrState,2^0);
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iReset = bitand(AdrState,2^1);
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AdrM(~iValid) = NaN;
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%% work out DelPrM - AdrM since last discontinuity, plot DelPrM-AdrM
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DelPrM0 = NaN; %to store initial offset from AdrM
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for i=1:N %loop over time
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if isfinite(AdrM(i)) && (AdrM(i)~=0) && isfinite(DelPrM(i)) && ...
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~iReset(i)
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%reinitialize after NaNs or AdrM zero or AdrState reset
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if isnan(DelPrM0)
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DelPrM0 = DelPrM(i) - AdrM(i);
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end
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else %reset at NaNs or AdrM zero
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DelPrM0 = NaN;
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end
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DelPrMinusAdrM(i,j) = DelPrM(i) - DelPrM0 - AdrM(i);
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end
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end
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gnssMeas.DelPrMinusAdrM = DelPrMinusAdrM;
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end %end of function ProcessAdr
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Copyright 2016 Google Inc.
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%
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% Licensed under the Apache License, Version 2.0 (the "License");
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% you may not use this file except in compliance with the License.
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% You may obtain a copy of the License at
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%
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% http://www.apache.org/licenses/LICENSE-2.0
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%
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% Unless required by applicable law or agreed to in writing, software
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% distributed under the License is distributed on an "AS IS" BASIS,
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% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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% See the License for the specific language governing permissions and
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% limitations under the License.
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