gps-measurement-tools/ProcessGNSSMeas/main.m

tic;
clc;clear all; close(findall(0,'Type','figure')); 
%%
%ProcessGnssMeasScript.m, script to read GnssLogger output, compute and plot:
% pseudoranges, C/No, and weighted least squares PVT solution
%
% you can run the data in pseudoranges log files provided for you:
%prFileName = 'pseudoranges_log_2016_06_30_21_26_07.txt'; %with duty cycling, no carrier phase
% prFileName = 'pseudoranges_log_2016_08_22_14_45_50.txt'; %no duty cycling, with carrier phase
%prFileName = 'workshop_trials01.txt';
%prFileName = 'N9_google.txt';
prFileName = 's8_01.txt';
% as follows
% 1) copy everything from GitHub google/gps-measurement-tools/ to 
%    a local directory on your machine
% 2) softPath will read current working directory
softPath = pwd;
addpath(softPath);
%CHANGE this to your data folder
dirName = sprintf('%s%s',softPath,'\demoFiles');

% 3) run ProcessGnssMeasScript.m script file 
% 4) when asked select 'change folder' to get proper pwd

%Author: Frank van Diggelen
%edits: LKB
%Open Source code for processing Android GNSS Measurements
%% debug and profiling tools
% tools below are used to debug/follow code
% profile on;
% profile clear;
display('DEBUG MODE');
dbclear all
dbstop if error %gives post-mortem
% dbstop if naninf
% dbstop in subRoutine at 17 if idx==7
%dbstop in ProcessGnssMeas at 98
%dbstop in ReadGnssLogger at 20
%dbstop at 66
dbstatus
% get display screen file
HW_ScrSize = get(0,'ScreenSize');%in pixels

%% parameters
%param.llaTrueDegDegM = [];
%enter true WGS84 lla, if you know it:
%param.llaTrueDegDegM = [37.422578, -122.081678, -28];%Charleston Park Test Site
param.llaTrueDegDegM = [45.5298979 -122.6619045 24.16] %workshop trial approx coords
param.llaTrueDegDegM = [37.4224423 -122.0819186 -16.66] %google Nexus9 approx coords
param.llaTrueDegDegM = [48.0530356 11.6535412 660.57] %S8 trial approx coords

%% Set the data filter and Read log file
dataFilter = SetDataFilter;
[gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,prFileName,dataFilter);
if isempty(gnssRaw), return, end

%% Get online ephemeris from Nasa ftp, first 
fctSeconds = 1e-3*double(gnssRaw.allRxMillis(end));
utcTime = Gps2Utc([],fctSeconds); %compute UTC Time from gnssRaw:
allGpsEph = GetNasaHourlyEphemeris(utcTime,dirName); %Get online ephemeris
if isempty(allGpsEph), return, end

%% process raw measurements, compute pseudoranges:
[gnssMeas] = ProcessGnssMeas(gnssRaw);

%% plot pseudoranges and pseudorange rates
h1 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
[colors] = PlotPseudoranges(gnssMeas,prFileName);
% h2 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
% PlotPseudorangeRates(gnssMeas,prFileName,colors);
% h3 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
% PlotCno(gnssMeas,prFileName,colors);

%% compute WLS position and velocity
gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph);

%% plot Pvt results
h4 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
ts = 'Raw Pseudoranges, Weighted Least Squares solution';
PlotPvt(gpsPvt,prFileName,param.llaTrueDegDegM,ts); drawnow;
h5 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
PlotPvtStates(gpsPvt,prFileName);

% if no results visible make sure that param.llaTrueDegDegM is correctly set
% if unknown, use Median llaDegDegM 

%% Plot Accumulated Delta Range 
if any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0))
    print('this phone has ICP');
    [gnssMeas]= ProcessAdr(gnssMeas);
    h6 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
    PlotAdr(gnssMeas,prFileName,colors);
    [adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,param.llaTrueDegDegM);drawnow
    h7 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]);
    PlotAdrResids(adrResid,gnssMeas,prFileName,colors);
else print('this phone do not have ICP capacity, sorry');
end

%% end of ProcessGnssMeasScript
rmpath(softPath)
toc



%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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.