commit 9607dfad5234c474c8e5024f3c77ff146f02bf66 Author: Frank van Diggelen Date: Fri Aug 5 12:53:38 2016 -0700 GPS Tools Open Source, MATLAB tools to: read data from GnssLogger App, compute and visualize pseudoranges, compute weighted least squares position and velocity, view and analyze carrier phase (if it is present in the log file). diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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Great! First, read this page (including the small print at the end). + +### Before you contribute +Before we can use your code, you must sign the +[Google Individual Contributor License Agreement] +(https://cla.developers.google.com/about/google-individual) +(CLA), which you can do online. The CLA is necessary mainly because you own the +copyright to your changes, even after your contribution becomes part of our +codebase, so we need your permission to use and distribute your code. We also +need to be sure of various other things—for instance that you'll tell us if you +know that your code infringes on other people's patents. You don't have to sign +the CLA until after you've submitted your code for review and a member has +approved it, but you must do it before we can put your code into our codebase. +Before you start working on a larger contribution, you should get in touch with +us first through the issue tracker with your idea so that we can help out and +possibly guide you. Coordinating up front makes it much easier to avoid +frustration later on. + +### Code reviews +All submissions, including submissions by project members, require review. We +use Github pull requests for this purpose. + +### The small print +Contributions made by corporations are covered by a different agreement than +the one above, the +[Software Grant and Corporate Contributor License Agreement] +(https://cla.developers.google.com/about/google-corporate). diff --git a/opensource/CheckGpsEphInputs.m b/opensource/CheckGpsEphInputs.m new file mode 100644 index 0000000..fa71c57 --- /dev/null +++ b/opensource/CheckGpsEphInputs.m @@ -0,0 +1,37 @@ +function [bOk,gpsEph,gpsWeek,ttxSec] = CheckGpsEphInputs(gpsEph,gpsTime) +%[bOk,gpsEph,gpsWeek,ttxSec] = CheckGpsEphInputs(gpsEph,gpsTime) +%check the inputs for GpsEph2Pvt, GpsEph2Xyz, GpsEph2Dtsv + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +bOk=false; +if ~isstruct(gpsEph) + error('gpsEph input must be a structure, as defined by ReadRinexNav') +end + +p=length(gpsEph); +%Check that gpsTime is a px2 vector +if any(size(gpsTime) ~= [p 2]) + error('gpsTime must be px2 [gpsWeek, gpsSec], where p =length(gpsEph)') +end +gpsWeek = gpsTime(:,1); +ttxSec = gpsTime(:,2); + +bOk = true; +end %end of function CheckGpsEphInputs +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/ClosestGpsEph.m b/opensource/ClosestGpsEph.m new file mode 100644 index 0000000..1b4f83b --- /dev/null +++ b/opensource/ClosestGpsEph.m @@ -0,0 +1,64 @@ +function [gpsEph,iSv] = ClosestGpsEph(allGpsEph,svIds,fctSeconds) +%[gpsEph,iSv] = ClosestGpsEph(allGpsEph,svIds,fctSeconds); +%find ephemeris in a GPS ephemeris structure allGpsEph for all svIds listed +%return gpsEph = unique ephemeris for svIds, with fctToe closest to fctSeconds, +% and |fctToe - fctSeconds| < fitInterval +% +%output: gpsEph, iSv +% gpsEph = valid ephemeris corresponding to svIds(iSv) + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +gpsEph = allGpsEph(1);%initialize gpsEph +numEph = 0; + +%find all ephemeris corresponding to svIds(i) +for i=1:length(svIds) + iThisSv = [allGpsEph.PRN] == svIds(i); + if any(iThisSv) + ephThisSv = allGpsEph(iThisSv); + %find Toe within fit interval + %set fit interval + fitIntervalHours = [ephThisSv.Fit_interval]; + %Rinex says "Zero if not known", so adjust for zeros + fitIntervalHours(fitIntervalHours == 0) = 4; + %full cycle time of ephemeris Toe + fctToe = [ephThisSv.GPS_Week]*GpsConstants.WEEKSEC + [ephThisSv.Toe]; + %find freshest Toe + [ageSeconds, iMin] = min(abs(fctToe - fctSeconds)); + if ageSeconds < (fitIntervalHours/2)*3600; + numEph = numEph+1; + gpsEph(numEph) = ephThisSv(iMin); + iSv(numEph) = i;%save index into svIds + else + fprintf('No valid ephemeris found for svId %d,', svIds(i)) + ageHours = (fctToe(iMin)-fctSeconds)/3600; + fprintf(' closest Toe is %.1f hours away.\n',ageHours) + end + end +end + +if numEph==0 + gpsEph=[];iSv=[];%return empty matrices +end + + +end %of function ClosestGpsEph +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + diff --git a/opensource/CompareVersions.m b/opensource/CompareVersions.m new file mode 100644 index 0000000..a26f220 --- /dev/null +++ b/opensource/CompareVersions.m @@ -0,0 +1,44 @@ +function s = CompareVersions(v,w) +%s = CompareVersions(v,w); +%compares version v to w +% s = 'before','equal','after' +% 'before <=> version v is before version w +% +% v and w must be vectors of the same length +% +% example: v = [1,0,0,0]; w = [1,4,0,0]; s = 'before' + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +if length(v)~=length(w) + error('The two inputs must be scalars or vectors of the same length') +end + +d = v(:)-w(:); +%find first d that differs from zero +i = find(d~=0); +if isempty(i) + s = 'equal'; +elseif d(i(1)) < 0 %the first field that differs is the most significant + s = 'before'; +else + s = 'after'; +end + +end %end function CompareVersions +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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. + diff --git a/opensource/Contents.m b/opensource/Contents.m new file mode 100644 index 0000000..b48f43d --- /dev/null +++ b/opensource/Contents.m @@ -0,0 +1,72 @@ +% GNSS Tools Open Source, MATLAB tools to: +% read data from GnssLogger App, +% compute and visualize pseudoranges, +% compute weighted least squares position and velocity, +% view and analyze carrier phase (if it is present in the log file). +% +% ProcessGnssMeasScript - script to set file name and call all other functions +% Start with this file, and the run the demo log files provided with this code +% +% Coordinate transformations +% Lla2Ned - Difference of [lat,lon,alt], return NED coords in meters +% Lla2Xyz - lat,lon,alt transform to x,y,z (Earth Centered Earth Fixed) +% RotEcef2Ned - Rotation matrix to convert ECEF vector to NED, & vice versa +% Xyz2Lla - x,y,z (Earth Centered Earth Fixed) transform to lat,lon,alt +% +% Ephemeris and Orbit functions +% CheckGpsEphInputs - Check the inputs for all GpsEph2* functions +% ClosestGpsEph - find unique fresh ephemeris from a GPS ephemeris structure +% GpsEph2Dtsv - Satellite clock bias from GPS ephemeris +% GpsEph2Pvt - Satellite position, velocity and clock bias from GPS ephemeris +% GpsEph2Xyz - Satellite position from GPS ephemeris +% FlightTimeCorrection - Rotated coords from Earth rotation during flight time +% Kepler - Solve Kepler's equation for eccentric anomaly +% ReadRinexNav - Read ephemeris & iono data from an ASCII formatted RINEX2 file +% +% Navigation, Pseudorange and Accumulated Delta Range functions +% GpsAdrResiduals - Residuals from GPS Accumulated Delta Ranges (carrier) +% GpsWlsPvt - Position Velocity and Time from GPS measurements +% WlsPvt - Weighted least squares PVT solution from pr and prr +% ProcessAdr - Compute Delta PR minus ADR (carrier) +% ProcessGnssMeas - Process raw GnssLogger measurements and compute pseudoranges +% +% Plotting functions +% PlotAdrResids - Plot the Accumulated Delta Range (carrier) residuals +% PlotCno - Plot the carrier-to-noise-density ratio, C/No, from gnssMeas +% PlotPseudoranges - Plot the pseudoranges obtained from ProcessGnssMeas +% PlotPvt - Plot the results of GpsWlsPvt +% PlotPvtStates - Plot Position, Velocity and Time/clock states +% +% Time functions +% DayOfYear - Day number of the year +% Gps2Utc - Convert GPS time (week & seconds) to UTC +% JulianDay - Number of days since first GPS week +% LeapSeconds - Number of leap seconds since the first GPS week +% Utc2Gps - Convert UTC time to GPS time +% +% File reading +% GetNasaHourlyEphemeris - Read hourly ephemeris file +% ReadRinexNav - Read ephemeris & iono data from a RINEX2 Nav file +% ReadGnssLogger - Read the file created by Gnss Logger App in Android +% +% General functions and classes +% CompareVersions - Compare two version numbers +% GnssThresholds - GNSS validity thresholds we use in the code +% GpsConstants - GPS constants, from WGS84 and IS-GPS-200 + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/DayOfYear.m b/opensource/DayOfYear.m new file mode 100644 index 0000000..c873783 --- /dev/null +++ b/opensource/DayOfYear.m @@ -0,0 +1,34 @@ +function dayNumber = DayOfYear(utcTime) +%dayNumber = DayOfYear(utcTime); +% +% Return the day number of the year +% utcTime: [1x6] [year,month,day,hours,minutes,seconds] + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +if any(size(utcTime)~=[1,6]) + error('utcTime must be 1x6 for DayOfYear function') +end + +jDay = JulianDay([utcTime(1:3),0,0,0]);%midnight morning of this day +jDayJan1 = JulianDay([utcTime(1),1,1,0,0,0]);%midnight morning of Jan 1st +dayNumber = jDay - jDayJan1 + 1; + +end %end of function DayOfYear +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/FlightTimeCorrection.m b/opensource/FlightTimeCorrection.m new file mode 100644 index 0000000..ab0556c --- /dev/null +++ b/opensource/FlightTimeCorrection.m @@ -0,0 +1,48 @@ +function xERot = FlightTimeCorrection(xE, dTflightSeconds) +%xERot = FlightTimeCorrection(xE, dtflight); +% Compute rotated satellite ECEF coordinates caused by Earth +% rotation during signal flight time +% +% Inputs: +% xE - satellite ECEF position at time of transmission +% dtflight - signal flight time (seconds) +% +% Outputs: +% XeRot - rotated satelite position vector (ECEF at trx) +% +% Reference: +% IS GPS 200, 20.3.3.4.3.3.2 Earth-Centered, Inertial (ECI) Coordinate System + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements +%See also "A software receiver for GPS and Galileo", K. Borre at al. + +%Rotation angle (radians): +theta = GpsConstants.WE * dTflightSeconds; + +%Apply rotation from IS GPS 200-E, 20.3.3.4.3.3.2 +%Note: IS GPS 200-E shows the rotation from ecef to eci +% so our rotation R3, is in the opposite direction: +R3 = [ cos(theta) sin(theta) 0; + -sin(theta) cos(theta) 0; + 0 0 1]; + +xERot = (R3*xE(:))'; + +end %end of function FlightTimeCorrection +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/GetNasaHourlyEphemeris.m b/opensource/GetNasaHourlyEphemeris.m new file mode 100644 index 0000000..6034259 --- /dev/null +++ b/opensource/GetNasaHourlyEphemeris.m @@ -0,0 +1,183 @@ +function [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) +%[allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) +%Get hourly ephemeris files, +% If a GPS ephemeris file is in dirName, with valid ephemeris for at +% least 24 svs, then read it; else download from NASA's archive of +% Space Geodesy Data +% +%Output allGpsEph structure of ephemerides in format defined in ReadRinexNav.m +% TBD: allGloEph, and any other supported by the NSA ftp site +% +%examples of how to call GetNasaHourlyEphemeris: +%1) with /demoFiles and utcTime where ephemeris has already been downloaded: +% replace '~/...' with actual path: +% dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles'; +% utcTime = [2016,8,22,22,50,00]; +% [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) +% +%2) with utcTime for which ephemeris has not been downloaded, +% this exercises the automatic ftp download. +% Replace '~' with actual path: +% dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles'; +% utcTime = [2016,5,ceil(rand(1,2).*[30,24]),0,0],%a random Hour and Day in May +% [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) +% +% More details: +% The Nasa ephemeris Unix-compressed. +% GetNasaHourlyEphemeris will automatically uncompress it, if you have the right +% uncompress function on you computer. If you need to install an unzip utility, +% see http://cddis.nasa.gov/ and http://www.gpzip.org +% Search for 'uncompress' in the GetNasaHourlyEphemeris function to find and +% edit the name of the unzip utility. + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +allGpsEph=[];allGloEph=[]; +if nargin<2 + dirName = []; +end +[bOk,dirName] = CheckInputs(utcTime,dirName); +if ~bOk, return, end + +%Description of file names, see: +%http://cddis.gsfc.nasa.gov/Data_and_Derived_Products/GNSS/... +% broadcast_ephemeris_data.html#GPShourly +yearNumber4Digit = utcTime(1); +yearNumber2Digit = rem(utcTime(1),100); +dayNumber = DayOfYear(utcTime); + +hourlyZFile = sprintf('hour%03d0.%02dn.Z',dayNumber,yearNumber2Digit); +ephFilename = hourlyZFile(1:end-2); +fullEphFilename = [dirName,ephFilename]; %full name (with directory specified) + +%check if ephemeris file already exists (e.g. you downloaded it 'by hand') +%and if there are fresh ephemeris for lotsa sats within 2 hours of fctSeconds +bGotGpsEph = false; +if exist(fullEphFilename,'file')==2 + %% file exists locally, so read it + fprintf('Reading GPS ephemeris from ''%s'' file in local directory\n',... + ephFilename); + fprintf('%s\n',dirName); + allGpsEph = ReadRinexNav(fullEphFilename); + [~,fctSeconds] = Utc2Gps(utcTime); + ephAge = [allGpsEph.GPS_Week]*GpsConstants.WEEKSEC + [allGpsEph.Toe] - ... + fctSeconds; + %get index into fresh and healthy ephemeris (health bit set => unhealthy) + iFreshAndHealthy = abs(ephAge) 0 + goodEphSvs = unique([allGpsEph(iFreshAndHealthy).PRN]); + if length(goodEphSvs)>=GnssThresholds.MINNUMGPSEPH + bGotGpsEph = true; + end +end + +if ~bGotGpsEph + %% get ephemeris from Nasa site + ftpSiteName = 'cddis.gsfc.nasa.gov'; + hourlyDir=sprintf('/gnss/data/hourly/%4d/%03d/',yearNumber4Digit,dayNumber); + fprintf('\nGetting GPS ephemeris ''%s'' from NASA ftp site ...',hourlyZFile) + fprintf('\nftp://%s%s\n',ftpSiteName,hourlyDir); + + %check that the dirName has been properly specified + if strfind(dirName,'~') + fprintf('\nYou set: dirName = ''%s''\n',dirName) + fprintf('To download ephemeris from ftp,') + fprintf(' specify ''dirName'' with full path, and no tilde ''~''\n') + fprintf('Change ''dirName'' or download ephemeris file ''%s'' by hand\n',... + hourlyZFile); + fprintf('To unzip the *.Z file, see http://www.gzip.org/\n') + return + end + + try + nasaFtp=ftp(ftpSiteName); %connect to ftp server and create ftp object + cd(nasaFtp,hourlyDir); + zF = mget(nasaFtp,hourlyZFile,dirName); %get compressed (.Z) file + catch + %failed automatic ftp, ask user to do this by hand + fprintf('\nAutomatic ftp download failed.\n') + fprintf('Please go to this ftp, ftp://cddis.gsfc.nasa.gov/ \n') + fprintf('and get this file:%s%s \n',hourlyDir,hourlyZFile); + fprintf('Extract contents to the directory with your pseudorange log file:\n') + fprintf('%s\n',dirName) + fprintf('To unzip the *.Z file, see http://www.gzip.org/\n') + fprintf('Then run this function again, it will read from that directory\n') + return + end + + %Now we have the zipped file from nasa. Unzip it: + unzipCommand='uncompress';%edit if your platform uses something different + if any(strfind(computer,'PCWIN')) + unzipCommand='gunzip'; + end + s = sprintf('%s "%s"',unzipCommand,zF{1}); %string for system command + [sysFlag,result] = system(s); + if any(sysFlag) + fprintf('\nError in GetNasaHourlyEphemeris.m\n') + fprintf('%s',result); + fprintf('System command ''%s'' failed\n',unzipCommand) + fprintf('Unzip contents of %s by hand. See http://www.gzip.org/\n',zF{1}) + fprintf('Then run this function again, it will read the uncompressed file\n') + return + end + + bOk = bOk && ~sysFlag; + if bOk + fprintf('\nSuccessfully downloaded ephemeris file ''%s''\n',ephFilename) + if ~isempty(dirName) + fprintf('to: %s\n',dirName); + end + else + end +end +allGpsEph = ReadRinexNav(fullEphFilename); + +end %end of function GetNasaHourlyEphemeris +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [bOk,dirName] = CheckInputs(utcTime,dirName) +%% check we have the utcTime and right kind of dirName +if any(size(utcTime)~=[1,6]) + error('utcTime must be a (1x6) vector') +end +if isempty(dirName), return, end + +bOk = true; +if ~exist(dirName,'dir') + bOk = false; + fprintf('Error: directory ''%s'' not found\n',dirName); + if any(strfind(computer,'PCWIN')) && any(strfind(dirName,'/')) + fprintf('Looks like you''re using a PC, be sure your directory is specified with back-slashes ''\\''\n'); + end +else + % check if there is a slash at the end of dirName + %decide what type of slash to use: + slashChar = '/'; %default + if any(strfind(dirName,'\')) + slashChar = '\'; + end + if dirName(end)~=slashChar + dirName = [dirName,slashChar]; %add slash + end +end + + +end %end of function CheckInputs +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/GnssThresholds.m b/opensource/GnssThresholds.m new file mode 100644 index 0000000..d542c3c --- /dev/null +++ b/opensource/GnssThresholds.m @@ -0,0 +1,34 @@ +classdef GnssThresholds + % GNSS validity thresholds we use in the code + + %Author: Frank van Diggelen + %Open Source code for processing Android GNSS Measurements + + properties (Constant) %listed alphabetically + MAXDELPOSFORNAVM = 20; %maximum position can change on one iteration of + % nav solution without los vector changing by more than 1 microradian + MAXPRRUNCMPS = 10; %max pseudorange rate (Doppler) uncertainty. + %bigger values may just be the search bin size, thus not valid for nav. + MAXTOWUNCNS = 500; %maximum Tow uncertainty, 500 ns. Satellite range + %can change by about half a millimeter in this time + MINNUMGPSEPH = 24; %minimum number of GPS ephemeris considered OK + end +end +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + + diff --git a/opensource/Gps2Utc.m b/opensource/Gps2Utc.m new file mode 100644 index 0000000..c503910 --- /dev/null +++ b/opensource/Gps2Utc.m @@ -0,0 +1,148 @@ +function [utcTime] = Gps2Utc(gpsTime) +% [utcTime] = Gps2Utc(gpsTime) +% Convert GPS time (week & seconds) to UTC +% +% Input: gpsTime, [mx2] matrix [gpsWeek, gpsSeconds], +% +% Outputs: utcTime, [mx6] matrix = [year,month,day,hours,minutes,seconds] +% +% Valid range of inputs: +% gps times corresponding to 1980/6/1 <= time < 2100/1/1 +% i.e. [0,0] <= gpsTime < [6260, 432000] +% +% See also: Utc2Gps + +% Other functions needed: LeapSeconds.m + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%Algorithm for handling leap seconds: +% When a leap second happens, utc time stands still for one second, so +% gps seconds get further ahead, so we subtract leapSecs to move from gps time +% +% 1) convert gpsTime to time = [yyyy,mm,dd,hh,mm,ss] (with no leap seconds) +% 2) look up leap seconds for time: ls = LeapSeconds(time); +% This is (usually) the correct leap second value. Unless: +% If (utcTime=time) and (utcTime=time+ls) straddle a leap second +% then we need to add 1 to ls +% So, after step 2) ... +% 3) convert gpsTime-ls to timeMLs +% 4) look up leap seconds: ls1 = LeapSeconds(timeMLs); +% 5) if ls1~=ls, convert (gpsTime-ls1) to UTC Time + +%% Check inputs +if size(gpsTime,2)~=2 + error('gpsTime must have two columns') +end +fctSeconds = gpsTime*[GpsConstants.WEEKSEC; 1]; +%fct at 2100/1/1 00:00:00, not counting leap seconds: +fct2100 = [6260, 432000]*[GpsConstants.WEEKSEC; 1]; +if any(fctSeconds<0) || any (fctSeconds >= fct2100) + error('gpsTime must be in this range: [0,0] <= gpsTime < [6260, 432000]'); +end +%% Finished checks + +%from now on work with fct +%% Apply algorithm for handling leaps seconds +% 1) convert gpsTime to time = [yyyy,mm,dd,hh,mm,ss] (with no leap seconds) +time = Fct2Ymdhms(fctSeconds); +% 2) look up leap seconds for time: ls = LeapSeconds(time); +ls = LeapSeconds(time); +% 3) convert gpsTime-ls to timeMLs +timeMLs = Fct2Ymdhms(fctSeconds-ls); +% 4) look up leap seconds: ls1 = LeapSeconds(timeMLs); +ls1 = LeapSeconds(timeMLs); +% 5) if ls1~=ls, convert (gpsTime-ls1) to UTC Time +if all(ls1==ls) + utcTime = timeMLs; +else + utcTime = Fct2Ymdhms(fctSeconds-ls1); +end + +% NOTE: +% Gps2Utc.m doesn't produce 23:59:60, at a leap second. +% Instead, as the leap second occurs, the Gps2Utc.m sequence of +% UTC hh:mm:ss is 23:59:59, 00:00:00, 00:00:00 +% and we keep it like that for code simplicity. +% Here are a sequence of UTC and GPS times around a leap second: +% formalUtcTimes = [1981 12 31 23 59 59; 1981 12 31 23 59 60; 1982 1 1 0 0 0]; +% gpsTimes = [103 431999; 103 432000; 103 432001]; +% >> Gps2Utc(gpsTimes) +% ans = +% 1981 12 31 23 59 59 +% 1982 1 1 0 0 0 +% 1982 1 1 0 0 0 + +% If you want to change this you could check LeapSeconds.m to see if you're +% exactly on the addition of a leap second, and then change the UTC format +% to include the '60' seconds + +end %end of function Gps2Utc +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function time = Fct2Ymdhms(fctSeconds) +%Utility function for Gps2Utc +%Convert GPS full cycle time to [yyyy,mm,dd,hh,mm,ss.s] format +HOURSEC = 3600; MINSEC = 60; +monthDays=[31,28,31,30,31,30,31,31,30,31,30,31];%days each month (not leap year) + +m=length(fctSeconds); +days = floor(fctSeconds / GpsConstants.DAYSEC) + 6;%days since 1980/1/1 +years=zeros(m,1)+1980; +%decrement days by a year at a time, until we have calculated the year: +leap=ones(m,1); %1980 was a leap year +while (any(days > (leap+365))) + I = find(days > (leap+365) ); + days(I) = days(I) - (leap(I) + 365); + years(I)=years(I)+1; + leap(I) = (rem(years(I),4) == 0); % leap = 1 on a leap year, 0 otherwise + % This works from 1901 till 2099, 2100 isn't a leap year (2000 is). + % Calculate the year, ie time(1) +end, +time=zeros(m,6);%initialize matrix +time(:,1)=years; + +%decrement days by a month at a time, until we have calculated the month +% Calculate the month, ie time(:,2) +% Loop through m: +for i=1:m + month = 1; + if (rem(years(i),4) == 0) %This works from 1901 till 2099 + monthDays(2)=29; %Make February have 29 days in a leap year + else + monthDays(2)=28; + end + while (days(i) > monthDays(month)) + days(i) = days(i)-monthDays(month); + month = month+1; + end + time(i,2)=month; +end + +time(:,3) = days; + +sinceMidnightSeconds = rem(fctSeconds, GpsConstants.DAYSEC); +time(:,4) = fix(sinceMidnightSeconds/HOURSEC); +lastHourSeconds = rem(sinceMidnightSeconds, HOURSEC); +time(:,5) = fix(lastHourSeconds/MINSEC); +time(:,6) = rem(lastHourSeconds,MINSEC); + +end %end of function Fct2Ymdhms +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +% 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. + diff --git a/opensource/GpsAdrResiduals.m b/opensource/GpsAdrResiduals.m new file mode 100644 index 0000000..0a984c5 --- /dev/null +++ b/opensource/GpsAdrResiduals.m @@ -0,0 +1,148 @@ +function [adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,llaDegDegM) +% [adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,llaDegDegM) +% Compute residuals from GPS Accumulated Delta Ranges +% +% Inputs: +% 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. +% ... +% .tRxSeconds = NxM time of reception, seconds of gps week +% .tTxSeconds = NxM time of tranmission, seconds of gps week +% .AdrM = NxM accumulated delta range (= -k*carrier phase) +% ... +% +% allGpsEph, structure with all ephemeris +% llaDegDegM [1x3] true position +% +% Output: +% adrResid.FctSeconds = Nx1 time vector, same as gnssMeas.FctSeconds +% .Svid0 = reference satellite for single differences +% .Svid = 1xM vector of all svid +% .ResidM = [NxM] adr residuals +% +%Algorithm: compute single difference from sv to reference satellite svid0, then +% diff from reference time: tk - t0 (where t0 is the first common epoch for +% sv & svid0), then subtract expected values + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +adrResid = []; +if ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) + %Nothing in AdrM but NaNs and zeros + return +end +if nargin<3 || isempty(llaDegDegM) + fprintf('\nGpsAdrWlsPvt needs the true position: llaDegDegM') + return +end +xyz0M = Lla2Xyz(llaDegDegM); + +M = length(gnssMeas.Svid); +N = length(gnssMeas.FctSeconds); + +weekNum = floor(gnssMeas.FctSeconds/GpsConstants.WEEKSEC); + +adrResid.FctSeconds = gnssMeas.FctSeconds; +adrResid.Svid0 = []; +adrResid.Svid = gnssMeas.Svid; +adrResid.ResidM = zeros(N,M)+NaN; + +%From gps.h: +%/* However, it is expected that the data is only accurate when: +% * 'accumulated delta range state' == GPS_ADR_STATE_VALID. +%*/ +% #define GPS_ADR_STATE_UNKNOWN 0 +% #define GPS_ADR_STATE_VALID (1<<0) +% #define GPS_ADR_STATE_RESET (1<<1) +% #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) + +%choose Svid0 as the satellite that has most valid adr +numValidAdr = zeros(1,M); +for j=1:M + numValidAdr(j) = length(find(bitand(gnssMeas.AdrState(:,j),2^0))); +end +[~,j0] = max(numValidAdr); +adrResid.Svid0 = gnssMeas.Svid(j0); +svid = gnssMeas.Svid; + +%% Compute expected pseudoranges +prHatM = zeros(N,M)+NaN; %to store expected pseudoranges +%"pseudo" here refers to the clock error in the satellite, not the receiver +%compute expected pr at each epoch +for i=1:N + for j=1:M + ttxSeconds = gnssMeas.tTxSeconds(i,j); + if isnan(ttxSeconds) + continue %skip to next + end + [gpsEph,iSv]= ClosestGpsEph(allGpsEph,svid(j),gnssMeas.FctSeconds(i)); + if isempty(iSv) + continue; %skip to next + end + %compute pr for this sv + dtsv = GpsEph2Dtsv(gpsEph,ttxSeconds); + ttxSeconds = ttxSeconds - dtsv;%subtract dtsv from sv time to get true gps time + + %calculate satellite position at ttx: + [svXyzTtxM,dtsv]=GpsEph2Xyz(gpsEph,[weekNum(i),ttxSeconds]); + %in ECEF coordinates at trx: + dtflightSeconds = norm(xyz0M - svXyzTtxM)/GpsConstants.LIGHTSPEED; + svXyzTrxM = FlightTimeCorrection(svXyzTtxM, dtflightSeconds); + prHatM(i,j) = norm(xyz0M - svXyzTrxM) - GpsConstants.LIGHTSPEED*dtsv; + % Use of dtsv: dtsv>0 <=> pr too small + end +end + +%% Compute single difference, then delta from t0, then residuals +iT0 = zeros(1,M); %to store common start index for svid and svid0 +for i=1:N %loop over time + if ~bitand(gnssMeas.AdrState(i,j0),2^0) + continue; %skip to next epoch + end + %now we have valid Adr for reference satellite, svid(j0) at this epoch + for j=1:M %loop over svid + if j==j0 + continue; %skip over reference satellite + end + if ~bitand(gnssMeas.AdrState(i,j),2^0) %no valid adr for this svid + iT0(j) = 0;%reset common start index for this svid + continue %skip to next svid + elseif ~iT0(j) %we haven't yet set a common start, + if all(isfinite(prHatM(i,[j,j0]))) %we have valid prHat at this epoch + iT0(j) = i;%set common start index + end + end + %Now we have valid Adr for svid(j) and svid(j0) + + i0 = iT0(j); %common start index for svid(j) and svid(j0) + if i>i0 && all(isfinite(prHatM(i,[j,j0])))%valid prHat at this epoch + delAdrM = (gnssMeas.AdrM(i,j) - gnssMeas.AdrM(i,j0)) - ... + (gnssMeas.AdrM(i0,j) - gnssMeas.AdrM(i0,j0)); + delPrHatM = (prHatM(i,j) - prHatM(i,j0)) - ... + (prHatM(i0,j) - prHatM(i0,j0)); + adrResid.ResidM(i,j) = delAdrM - delPrHatM; + %by all the above 'isfinite' checks, residM should not be NaN + assert(isfinite(adrResid.ResidM(i,j)),... + 'Residual should be finite, check the above logic'); + end + end +end + +end %end of function GpsAdrResiduals +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/GpsConstants.m b/opensource/GpsConstants.m new file mode 100644 index 0000000..4c17bbe --- /dev/null +++ b/opensource/GpsConstants.m @@ -0,0 +1,41 @@ +classdef GpsConstants + % GPS constants, defined by WGS84 and IS-GPS-200, and derived from those + + %Author: Frank van Diggelen + %Open Source code for processing Android GNSS Measurements + + properties (Constant) %listed alphabetically + EARTHECCEN2 = 6.69437999014e-3; %WGS 84 (Earth eccentricity)^2 (m^2) + EARTHMEANRADIUS = 6371009;%Mean R of ellipsoid(m) IU Gedosey& Geophysics + EARTHSEMIMAJOR = 6378137; %WGS 84 Earth semi-major axis (m) + EPHVALIDSECONDS = 7200; %+- 2 hours ephemeris validity + DAYSEC = 86400; %number of seconds in a day + FREL = -4.442807633e-10; %Clock relativity parameter, (s/m^1/2) + GPSEPOCHJD = 2444244.5; %GPS Epoch in Julian Days + HORIZDEG = 5; %angle above horizon at which GPS models break down + LIGHTSPEED = 2.99792458e8; %WGS-84 Speed of light in a vacuum (m/s) + %mean time of flight btwn closest GPS sat (~66 ms) & furthest (~84 ms): + MEANTFLIGHTSECONDS = 75e-3; + mu = 3.986005e14; %WGS-84 Universal gravitational parameter (m^3/sec^2) + WE = 7.2921151467e-5; % WGS 84 value of earth's rotation rate (rad/s) + WEEKSEC = 604800; %number of seconds in a week + end +end +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + + diff --git a/opensource/GpsEph2Dtsv.m b/opensource/GpsEph2Dtsv.m new file mode 100644 index 0000000..379aa05 --- /dev/null +++ b/opensource/GpsEph2Dtsv.m @@ -0,0 +1,89 @@ +function [dtsvS] = GpsEph2Dtsv(gpsEph,tS) +%[dtsvS] = GpsEph2Dtsv(gpsEph,tS) +% +% Calculate satellite clock bias +% Inputs: +% gpsEph = vector of GPS ephemeris structures defined in ReadRinexNav +% tS GPS time of week (secs) at time of transmission, calculate this as: +% tS = trx - PR/c, +% where trx = time of reception (receiver clock) +% PR = pseudorange +% +% tS may be a vector, gpsEph is a structure or vector of structures +% If gpsEph is a vector then t must have the same number of rows as gpsEph +% tS(i) is interpreted as being associated with gpsEph(i,:) +% If gpsEph is a single structure then tS may be any length +% +% Outputs: +% dtsvS = sat clock bias (seconds). GPS time = satellite time - dtsvS +% length(dtsvS) = length(tS) +% +% See IS-GPS-200 and RTCM Paper 99-92 SC104-88 for details of data + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%% Check size of inputs +if min(size(tS))>1 + error('tS must be a vector or a scalar, not a matrix') +end +tS=tS(:)';%make t a row vector, to match [gpsEph.*] vectors below +pt=length(tS); +[p]=length(gpsEph); +if (p>1 && pt~=p), + error('If gpsEph is a vector tS must be a vector with #rows = length(gpsEph),\n') +end +%% +%%Extract the necessary variables from gpsEph +TGD = [gpsEph.TGD]; +Toc = [gpsEph.Toc]; +af2 = [gpsEph.af2]; +af1 = [gpsEph.af1]; +af0 = [gpsEph.af0]; +Delta_n = [gpsEph.Delta_n]; +M0 = [gpsEph.M0]; +e = [gpsEph.e]; +Asqrt = [gpsEph.Asqrt]; +Toe = [gpsEph.Toe]; +%% +%%Calculate dependent variables ------------------------------------------------ + +tk = tS - Toe; %time since time of applicability +I = find(tk > 302400.0); +if any(I), tk(I) = tk(I)-GpsConstants.WEEKSEC; end, +I = find(tk < -302400.0); +if (I), tk(I) = tk(I)+GpsConstants.WEEKSEC; end, + +A = Asqrt.^2; %semi-major axis of orbit +n0=sqrt(GpsConstants.mu./(A.^3)); %Computed mean motion (rad/sec) +n=n0+Delta_n; %Corrected Mean Motion +Mk=M0+n.*tk; %Mean Anomaly +Ek=Kepler(Mk,e); %Solve Kepler's equation for eccentric anomaly +%% +%%Calculate satellite clock bias (See ICD-GPS-200 20.3.3.3.3.1) ---------------- +dt = tS - Toc; +I = find(dt > 302400.0); +if any(I), dt(I) = dt(I)-GpsConstants.WEEKSEC; end, +I = find(dt < -302400.0); +if (I), dt(I) = dt(I)+GpsConstants.WEEKSEC; end, + +dtsvS = af0 + af1.*dt + af2.*(dt.^2) + ... + GpsConstants.FREL.*e.*Asqrt.*sin(Ek) -TGD; + +end % end of function GpsEph2Dtsv +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/GpsEph2Pvt.m b/opensource/GpsEph2Pvt.m new file mode 100644 index 0000000..563684a --- /dev/null +++ b/opensource/GpsEph2Pvt.m @@ -0,0 +1,66 @@ +function [xM,dtsvS,vMps,dtsvSDot] = GpsEph2Pvt(gpsEph,gpsTime) +%[xM,dtsvS,vMps,dtsvSDot] = GpsEph2Pvt(gpsEph,gpsTime) +% +% Calculate sv coordinates, in ECEF frame, sv clock bias, and sv velocity +% Inputs: +% gpsEph: vector of ephemeris structures, as defined in ReadRinexEph.m +% +% gpsTime = [gpsWeek, ttxSec]: GPS time at time of transmission, ttx +% ttx = trx - PR/c - dtsvS, where trx is time of reception (receiver clock), +% dtsvS is the satellite clock error (seconds), can be computed in advance +% using eph2dtsv.m or iterating this function: gps time = sat time - dtsvS +% gpsWeek, ttxSec must be vectors of length(gpsEph), +% +% outputs: +% xM = [i,j,k] matrix of coordinates of satellites (ecef meters) +% dtsvS = vector of satellite clock error (seconds) +% vMps = [i,j,k] matrix of satellite velocity (ecef m/s) +% dtsvSDot = vector of satellite clock error rate (seconds/second) +% The row dimension of xM, dtsvS, vMps, dtsvSDot = length(gpsEph) +% +% xM and vMps are the satellite positions and velocities +% at time ttxSec, in terms of ecef coords at the same time +% Use FlightTimeCorrection.m to get xM & vMps in ecef coord at time of reception +% +% functions called: GpsEph2Xyz.m +% +% See IS-GPS-200 for details of data + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +vMps = []; dtsvSDot = []; + +[xM,dtsvS]=GpsEph2Xyz(gpsEph,gpsTime); +if isempty(xM) + return +end + +%compute velocity from delta position & dtsvS at (t+0.5) - (t-0.5) +%This is better than differentiating, because both the orbital and relativity +%terms have nonlinearities that are not easily differentiable +t1 = [gpsTime(:,1), gpsTime(:,2)+0.5]; %time + 0.5 seconds +[xPlus,dtsvPlus] = GpsEph2Xyz(gpsEph,t1); +t1 = [gpsTime(:,1), gpsTime(:,2)-0.5]; %time - 0.5 seconds +[xMinus,dtsvMinus]= GpsEph2Xyz(gpsEph,t1); +vMps = xPlus - xMinus; +dtsvSDot = dtsvPlus - dtsvMinus; + +end %end of function GpsEph2Pvt +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + diff --git a/opensource/GpsEph2Xyz.m b/opensource/GpsEph2Xyz.m new file mode 100644 index 0000000..31461d6 --- /dev/null +++ b/opensource/GpsEph2Xyz.m @@ -0,0 +1,152 @@ +function [xyzM,dtsvS] = GpsEph2Xyz(gpsEph,gpsTime) +%[xyzM,dtsvS] = GpsEph2Xyz(gpsEph,gpsTime) +% Calculate sv coordinates, in ECEF frame, at ttx = gpsTime +% +% Inputs: +% gpsEph: vector of GPS ephemeris structures, as defined in ReadRinexNav.m +% +% gpsTime = [gpsWeek, ttxSec]: GPS time at time of transmission, ttx +% ttx = trx - PR/c - dtsvS, where trx is time of reception (receiver clock), +% dtsvS is the satellite clock error (seconds), can be computed in advance +% using Eph2Dtsv.m or iterating this function: gps time = sat time - dtsvS +% gpsWeek, ttxSec must be vectors of length(gpsEph), +% +% outputs: +% xyzM = [i,j,k] matrix of coordinates of satellites (ecef meters) +% dtsvS = vector of satellite clock error (seconds) +% The row dimension of xyzM, dtsvS = length(gpsEph) +% +% xyzM = sat positions at time ttxSec, in terms of ecef coords at the same time +% Use FlightTimeCorrection.m to get xyzM & v in ecef coords at time of reception +% +% See IS-GPS-200 for details of data + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +xyzM=[]; dtsvS=[]; + +[bOk,gpsEph,gpsWeek,ttxSec] = CheckGpsEphInputs(gpsEph,gpsTime); +if ~bOk + return +end +p=length(gpsEph); +%Now we are done checking and manipulating the inputs +% the time vectors: gpsWeek, ttxSec are the same length as gpsEph +%------------------------------------------------------------------------------- + +%set fitIntervalSeconds +fitIntervalHours = [gpsEph.Fit_interval]'; +%Rinex says "Zero if not known", so adjust for zeros +fitIntervalHours(fitIntervalHours == 0) = 2; +fitIntervalSeconds = fitIntervalHours*3600; + +%Extract variables from gpsEph, into column vectors +%orbit variable names follow RINEX 2.1 Table A4 +%clock variables af0, af1, af2 follow IS GPS 200 +TGD = [gpsEph.TGD]'; +Toc = [gpsEph.Toc]'; +af2 = [gpsEph.af2]'; +af1 = [gpsEph.af1]'; +af0 = [gpsEph.af0]'; +Crs = [gpsEph.Crs]'; +Delta_n = [gpsEph.Delta_n]'; +M0 = [gpsEph.M0]'; +Cuc = [gpsEph.Cuc]'; +e = [gpsEph.e]'; +Cus = [gpsEph.Cus]'; +Asqrt = [gpsEph.Asqrt]'; +Toe = [gpsEph.Toe]'; +Cic = [gpsEph.Cic]'; +OMEGA = [gpsEph.OMEGA]'; +Cis = [gpsEph.Cis]'; +i0 = [gpsEph.i0]'; +Crc = [gpsEph.Crc]'; +omega = [gpsEph.omega]'; +OMEGA_DOT=[gpsEph.OMEGA_DOT]'; +IDOT = [gpsEph.IDOT]'; +ephGpsWeek = [gpsEph.GPS_Week]'; + +%Calculate dependent variables ------------------------------------------------- + +%Time since time of applicability accounting for weeks and therefore rollovers +%subtract weeks first, to avoid precision errors: +tk =(gpsWeek-ephGpsWeek)*GpsConstants.WEEKSEC + (ttxSec-Toe); + +I = find(abs(tk)>fitIntervalSeconds); +if ~isempty(I) + numTimes = length(I); + fprintf(sprintf('WARNING in GpsEph2Xyz.m, %d times outside fit interval.',... + numTimes)); +end + +A = Asqrt.^2; %semi-major axis of orbit +n0=sqrt(GpsConstants.mu./(A.^3)); %Computed mean motion (rad/sec) +n=n0+Delta_n; %Corrected Mean Motion +h = sqrt(A.*(1-e.^2).*GpsConstants.mu); +Mk=M0+n.*tk; %Mean Anomaly +Ek=Kepler(Mk,e); %Solve Kepler's equation for eccentric anomaly + +%Calculate satellite clock bias (See ICD-GPS-200 20.3.3.3.3.1) +%subtract weeks first, to avoid precision errors: +dt =(gpsWeek-ephGpsWeek)*GpsConstants.WEEKSEC + (ttxSec-Toc); + +%Calculate satellite clock bias +sin_Ek=sin(Ek); +cos_Ek=cos(Ek); +dtsvS = af0 + af1.*dt + af2.*(dt.^2) + ... + GpsConstants.FREL.*e.*Asqrt.*sin_Ek -TGD; + +%true anomaly: +vk=atan2(sqrt(1-e.^2).*sin_Ek./(1-e.*cos_Ek),(cos_Ek-e)./(1-e.*cos_Ek)); +Phik=vk + omega; %Argument of latitude + +sin_2Phik=sin(2*Phik); +cos_2Phik=cos(2*Phik); +% The next three terms are the second harmonic perturbations +duk = Cus.*sin_2Phik + Cuc.*cos_2Phik; %Argument of latitude correction +drk = Crc.*cos_2Phik + Crs.*sin_2Phik; %Radius Correction +dik = Cic.*cos_2Phik + Cis.*sin_2Phik; %Correction to Inclination + +uk = Phik + duk; %Corrected argument of latitude +rk = A.*((1-e.^2)./(1+e.*cos(vk))) + drk; %Corrected radius +ik = i0 + IDOT.*tk + dik; %Corrected inclination + +sin_uk=sin(uk); +cos_uk=cos(uk); +xkp = rk.*cos_uk; % Position in orbital plane +ykp = rk.*sin_uk; % Position in orbital plane + +% Wk = corrected longitude of ascending node, +Wk = OMEGA + (OMEGA_DOT - GpsConstants.WE).*tk - GpsConstants.WE*[gpsEph.Toe]'; + +%for dtflight, see FlightTimeCorrection.m +sin_Wk = sin(Wk); +cos_Wk = cos(Wk); + +xyzM=zeros(p,3); +% The matrix xyzM contains the ECEF coordinates of position +sin_ik=sin(ik); +cos_ik=cos(ik); +xyzM(:,1)=xkp.*cos_Wk-ykp.*cos_ik.*sin_Wk; +xyzM(:,2)=xkp.*sin_Wk+ykp.*cos_ik.*cos_Wk; +xyzM(:,3)=ykp.*sin_ik; + +end %end of function GpsEph2Xyz +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + diff --git a/opensource/GpsWlsPvt.m b/opensource/GpsWlsPvt.m new file mode 100644 index 0000000..7f5a75b --- /dev/null +++ b/opensource/GpsWlsPvt.m @@ -0,0 +1,124 @@ +function gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph,bRaw) +%gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph,bRaw) +%compute PVT from gnssMeas +% Input: gnssMeas, structure of pseudoranges, etc. from ProcessGnssMeas +% allGpsEph, structure with all ephemeris +% [bRaw], default true, true => use raw pr, false => use smoothed +% +% Output: +% gpsPvt.FctSeconds Nx1 time vector, same as gnssMeas.FctSeconds +% .allLlaDegDegM Nx3 matrix, (i,:) = [lat (deg), lon (deg), alt (m)] +% .sigmaLlaM Nx3 standard deviation of [lat,lon,alt] (m) +% .allBcMeters Nx1 common bias computed with llaDegDegM +% .allVelMps Nx3 (i,:) = velocity in NED coords +% .sigmaVelMps Nx3 standard deviation of velocity (m/s) +% .allBcDotMps Nx1 common freq bias computed with velocity +% .numSvs Nx1 number of satellites used in corresponding llaDegDegM +% .hdop Nx1 hdop of corresponding fix +% +%Algorithm: Weighted Least Squares + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +if nargin<3 + bRaw = true; +else + %check that smoothed pr fields exists in input + if any(~isfield(gnssMeas,{'PrSmM','PrSmSigmaM'})) + error('If bRaw is false, gnssMeas must have fields gnssMeas.PrSmM and gnssMeas.PrSmSigmaM') + end +end + +xo =zeros(8,1);%initial state: [center of the Earth, bc=0, velocities = 0]' + +weekNum = floor(gnssMeas.FctSeconds/GpsConstants.WEEKSEC); + +N = length(gnssMeas.FctSeconds); +gpsPvt.FctSeconds = gnssMeas.FctSeconds; +gpsPvt.allLlaDegDegM = zeros(N,3)+NaN; +gpsPvt.sigmaLLaM = zeros(N,3)+NaN; +gpsPvt.allBcMeters = zeros(N,1)+NaN; +gpsPvt.allVelMps = zeros(N,3)+NaN; +gpsPvt.sigmaVelMps = zeros(N,3)+NaN; +gpsPvt.allBcDotMps = zeros(N,1)+NaN; +gpsPvt.numSvs = zeros(N,1); +gpsPvt.hdop = zeros(N,1)+inf; + +for i=1:N + iValid = find(isfinite(gnssMeas.PrM(i,:))); %index into valid svid + svid = gnssMeas.Svid(iValid)'; + + [gpsEph,iSv] = ClosestGpsEph(allGpsEph,svid,gnssMeas.FctSeconds(i)); + svid = svid(iSv); %svid for which we have ephemeris + numSvs = length(svid); %number of satellites this epoch + gpsPvt.numSvs(i) = numSvs; + if numSvs<4 + continue;%skip to next epoch + end + + %% WLS PVT ----------------------------------------------------------------- + %for those svIds with valid ephemeris, pack prs matrix for WlsNav + prM = gnssMeas.PrM(i,iValid(iSv))'; + prSigmaM= gnssMeas.PrSigmaM(i,iValid(iSv))'; + + prrMps = gnssMeas.PrrMps(i,iValid(iSv))'; + prrSigmaMps = gnssMeas.PrrSigmaMps(i,iValid(iSv))'; + + tRx = [ones(numSvs,1)*weekNum(i),gnssMeas.tRxSeconds(i,iValid(iSv))']; + + prs = [tRx, svid, prM, prSigmaM, prrMps, prrSigmaMps]; + + xo(5:7) = zeros(3,1); %initialize speed to zero + [xHat,~,~,H,Wpr,Wrr] = WlsPvt(prs,gpsEph,xo);%compute WLS solution + xo = xo + xHat; + + %extract position states + llaDegDegM = Xyz2Lla(xo(1:3)'); + gpsPvt.allLlaDegDegM(i,:) = llaDegDegM; + gpsPvt.allBcMeters(i) = xo(4); + + %extract velocity states + RE2N = RotEcef2Ned(llaDegDegM(1),llaDegDegM(2)); + %NOTE: in real-time code compute RE2N once until position changes + vNed = RE2N*xo(5:7); %velocity in NED + gpsPvt.allVelMps(i,:) = vNed; + gpsPvt.allBcDotMps(i) = xo(8); + + %compute HDOP + H = [H(:,1:3)*RE2N', ones(numSvs,1)]; %observation matrix in NED + P = inv(H'*H);%unweighted covariance + gpsPvt.hdop(i) = sqrt(P(1,1)+P(2,2)); + + %compute variance of llaDegDegM + %inside LsPvt the weights are used like this: + % z = Hx, premultiply by W: Wz = WHx, and solve for x: + % x = pinv(Wpr*H)*Wpr*zPr; + % the point of the weights is to make sigma(Wz) = 1 + % therefore, the variances of x come from diag(inv(H'Wpr'WprH)) + P = inv(H'*(Wpr'*Wpr)*H); %weighted covariance + gpsPvt.sigmaLLaM(i,:) = sqrt(diag(P(1:3,1:3))); + + %similarly, compute variance of velocity + P = inv(H'*(Wrr'*Wrr)*H); %weighted covariance + gpsPvt.sigmaVelMps(i,:) = sqrt(diag(P(1:3,1:3))); + %%end WLS PVT -------------------------------------------------------------- +end + +end %end of function GpsWlsPvt +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/JulianDay.m b/opensource/JulianDay.m new file mode 100644 index 0000000..702a106 --- /dev/null +++ b/opensource/JulianDay.m @@ -0,0 +1,54 @@ +function jDays = JulianDay(utcTime) +% jDays = JulianDay(utcTime); +% +% input: utcTime [mx6] matrix [year,month,day,hours,minutes,seconds] +% +% output: totalDays in Julian Days [mx1] vector (real number of days) +% +% Valid input range: 1900 < year < 2100 + +%Algorithm from Meeus, (1991) Astronomical Algorithms, +%see http://www.geoastro.de/elevaz/basics/meeus.htm for online summary +% valid range 1900/3/1 to 2100/2/28 +% but we limit inputs to 1901 through 2099, because it's simpler + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +% check inputs +if size(utcTime,2)~=6 + error('utcTime must have 6 columns') +end +y = utcTime(:,1); +m = utcTime(:,2); +d = utcTime(:,3); +h = utcTime(:,4) + utcTime(:,5)/60 + utcTime(:,5)/3600; + +%check that date is in valid range +if ( any(y<1901) || any (y>2099) ) + error('utcTime(:,1) not in allowed range: 1900 < year < 2100') +end + +i2 = m<=2; %index into months <=2 +m(i2) = m(i2)+12; +y(i2) = y(i2)-1; + +jDays = floor(365.25*y) + floor(30.6001*(m+1)) - 15 + 1720996.5 + d + h/24; + +end %end of function JulianDay +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/Kepler.m b/opensource/Kepler.m new file mode 100644 index 0000000..e312ac5 --- /dev/null +++ b/opensource/Kepler.m @@ -0,0 +1,59 @@ +function ek = Kepler(mk,e) + +% ek = Kepler(mk,e) +% Kepler - Solves Kepler's equation for ek through iteration. +% +% Inputs: mk: mean anomaly (rad) +% e: eccentricity +% Outputs: ek: eccentric anomaly +% +% NOTE: mk and e may be a vectors of the same dimensions, or one may be a scalar +% the output is a vector of the same dimensions as the input vector + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%Check inputs size +if min(size(mk))>1 + error('mk must be a vector or a scalar, not a matrix') +end +if min(size(e))>1 + error('e must be a vector or a scalar, not a matrix') +end +if length(mk)>1 && length(e)>1 && any(size(mk)~=size(e)) + %both are vectors, they must have the same dimensions + error('If mk and e are both vectors they must have the same dimensions') +end + +err = 1; + +ek=mk; +iterCount = 0; +maxIterCount = 20; +while any(abs(err) > 1e-8) && iterCount < maxIterCount + err = ek - mk - (e.*sin(ek)); + ek = ek - err; + iterCount = iterCount + 1; + + if iterCount == maxIterCount + fprintf('Failed convergence on Kepler''s equation.\n') + end +end + +end %end of function Kepler +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/LICENSE.txt b/opensource/LICENSE.txt new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/opensource/LICENSE.txt @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/opensource/LeapSeconds.m b/opensource/LeapSeconds.m new file mode 100644 index 0000000..ccbeaa9 --- /dev/null +++ b/opensource/LeapSeconds.m @@ -0,0 +1,94 @@ +function [leapSecs] = LeapSeconds(utcTime) +% leapSecs = LeapSeconds(utcTime) +% find the number of leap seconds since the GPS Epoch +% +% utcTime: [mx6] matrix +% utcTime(i,:) = [year,month,day,hours,minutes,seconds] +% year must be specified using four digits, e.g. 1994 +% year valid range: 1980 <= year <= 2099 +% +% Output: leapSecs, +% leapSecs(i) = number of leap seconds between the GPS Epoch and utcTime(i,:) +% +% The function looks up the number of leap seconds from a UTC time table +% +% LATEST LEAP SECOND IN THE TABLE = 31 Dec 2016. +% On 1 Jan 2017: GPS-UTC=18s +% See IERS Bulletin C, https://hpiers.obspm.fr/iers/bul/bulc/bulletinc.dat +% and http://tycho.usno.navy.mil/leapsec.html +% +% Aren't Leap Seconds a pain? Yes, and very costly. Ban the Leap Second: +% Leap seconds occur on average once every two years. +% What would happen if we had no leap seconds: +% 1) Thousand of engineers would NOT spend several weeks each two years fixing +% or planning for leap second bugs. +% 2) About seven thousand years from now, solar time would be 1 hour behind UTC +% and we would need a 1 hour adjustment - similar to daylight savings time. +% 3) GMT (which is solar time) will lose its significance. + + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +[m,n] = size(utcTime); +if n~=6 + error('utcTime input must have 6 columns'); +end + +% UTC table contains UTC times (in the form of [year,month,day,hours,mins,secs]) +% At each of these times a leap second had just occurred +utcTable = [1982 1 1 0 0 0; + 1982 7 1 0 0 0; + 1983 7 1 0 0 0; + 1985 7 1 0 0 0; + 1988 1 1 0 0 0; + 1990 1 1 0 0 0; + 1991 1 1 0 0 0; + 1992 7 1 0 0 0; + 1993 7 1 0 0 0; + 1994 7 1 0 0 0; + 1996 1 1 0 0 0; + 1997 7 1 0 0 0; + 1999 1 1 0 0 0; + 2006 1 1 0 0 0; + 2009 1 1 0 0 0; + 2012 7 1 0 0 0; + 2015 7 1 0 0 0; + 2017 1 1 0 0 0 + ]; +%when a new leap second is announced in IERS Bulletin C +%update the table with the UTC time right after the new leap second + +tableJDays = JulianDay(utcTable) - GpsConstants.GPSEPOCHJD; %days since GPS Epoch +%tableSeconds = tableJDays*GpsConstants.DAYSEC + utcTable(:,4:6)*[3600;60;1]; +%NOTE: JulianDay returns a realed value number, corresponding to days and +% fractions thereof, so we multiply it by DAYSEC to get the full time in seconds +tableSeconds = tableJDays*GpsConstants.DAYSEC; +jDays = JulianDay(utcTime)- GpsConstants.GPSEPOCHJD; %days since GPS Epoch +%timeSeconds = jDays*GpsConstants.DAYSEC + utcTime(:,4:6)*[3600;60;1]; +timeSeconds = jDays*GpsConstants.DAYSEC; +% tableSeconds and timeSeconds now contain number of seconds since the GPS epoch + +leapSecs=zeros(m,1); +for i=1:m + %add up the number of leap seconds that have occured by timeSeconds(i) + leapSecs(i) = sum(tableSeconds<=timeSeconds(i)); +end + +end %end of function LeapSeconds +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/Lla2Ned.m b/opensource/Lla2Ned.m new file mode 100644 index 0000000..d804c13 --- /dev/null +++ b/opensource/Lla2Ned.m @@ -0,0 +1,62 @@ +function [nedM] = Lla2Ned(lla1DegDegM,lla2DegDegM) + +% [nedM] = Lla2Ned(lla1DegDegM,lla2DegDegM) +% function to difference latitude, longitude and altitude +% and provide an answer in NED coordinates in meters. +% +% Inputs: lla1DegDegM: mx3 matrix, [latitude(deg),longitude(deg),altitude(m)] +% lla2DegDegM: mx3 or 1x3, [latitude(deg),longitude(deg),altitude(m)] +% Output: nedM = lla1DegDegM - lla2DegDegM in NED coords (meters), +% +% Useful rules of thumb for quick conversions: +% 1e-5 (5th decimal place) of a degree of latitude approx= 1.1 meters +% 1e-5 of a degree of longitude approx= cos(latitude) * 1.1 meters + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +if nargin<2, error('Two inputs arguments needed'),end +[m1,n1]=size(lla1DegDegM); +[m2,n2]=size(lla2DegDegM); +if m2==1 + lla2DegDegM=ones(m1,1)*lla2DegDegM; +else + if m1~=m2, + error('Second input must have one row or same number of rows as first input') + end +end +if n1~=3 || n2~=3, error('Both input matrices must have 3 columns'),end + +[xyz1M] = Lla2Xyz(lla1DegDegM); +[xyz2M] = Lla2Xyz(lla2DegDegM); +refXyz = (xyz1M+xyz2M)/2; +[llaDegDegM] = Xyz2Lla(refXyz); +northM = zeros(m1,1); +eastM = zeros(m1,1); +for i=1:m1 + Ce2n = RotEcef2Ned(llaDegDegM(i,1),llaDegDegM(1,2)); + v = Ce2n*(xyz1M(i,:)-xyz2M(i,:))'; + northM(i)=v(1); + eastM(i)=v(2); +end +downM = -lla1DegDegM(:,3)+lla2DegDegM(:,3); + +nedM = [northM,eastM,downM]; + +end %end of function Lla2Ned +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/Lla2Xyz.m b/opensource/Lla2Xyz.m new file mode 100644 index 0000000..0e0496e --- /dev/null +++ b/opensource/Lla2Xyz.m @@ -0,0 +1,54 @@ +function [xyzM] = Lla2Xyz(llaDegDegM) +% [xyzM] = Lla2Xyz(llaDegDegM) +% Transform latitude, longitude, altitude to ECEF coordinates. +% +% input: llaDegDegM = [mx3] matrix = [latDeg,lonDeg,altM] +% latitude, longitude are in degrees, altitude in meters +% output: xyzM = [mx3] matrix of ECEF coordinates in meters +% +% See also Xyz2Lla + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +% check inputs +if size(llaDegDegM,2)~=3 + error('Input llaDegDegM must have three columns'); +end + +latDeg = llaDegDegM(:,1); lonDeg = llaDegDegM(:,2); altM = llaDegDegM(:,3); +%No rotation of longitude, by definition of ECEF + +% Compute sines and cosines. +D2R = pi/180; +clat = cos(latDeg*D2R); +clon = cos(lonDeg*D2R); +slat = sin(latDeg*D2R); +slon = sin(lonDeg*D2R); + +% Compute position vector in ECEF coordinates. +r0 = GpsConstants.EARTHSEMIMAJOR * ... + (sqrt(1.0 - GpsConstants.EARTHECCEN2 .* slat .* slat)).^(-1); +xM = (altM + r0) .* clat .* clon; % x coordinate +yM = (altM + r0) .* clat .* slon; % y coordinate +zM = (altM + r0 .* (1.0 - GpsConstants.EARTHECCEN2)).* slat;% z coordinate + +[xyzM] = [xM,yM,zM]; + +end %end of function Lla2Xyz +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/PlotAdr.m b/opensource/PlotAdr.m new file mode 100644 index 0000000..9d4149b --- /dev/null +++ b/opensource/PlotAdr.m @@ -0,0 +1,101 @@ +function [colorsOut]= PlotAdr(gnssMeas,prFileName,colors) +% [colors] = PlotAdr(gnssMeas,[prFileName],[colors]) +% plot the Accumulated Delta Ranges obtained from ProcessAdr +% +%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. +% ... +% .AdrM = NxM accumulated delta range (= -k*carrier phase) +% .DelPrMinusAdrM = NxM DelPrM - AdrM +% +% 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 ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) + %Nothing in AdrM but NaNs and zeros + fprintf(' No ADR to plot\n'), return +end +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 + +for j=1:M %loop over Svid + %% plot AdrM + h123(1) = subplot(5,1,1:2); grid on, hold on, + AdrM = gnssMeas.AdrM(:,j);%local variable for convenience + iFi = find(isfinite(AdrM)); + if ~isempty(iFi) + ti = timeSeconds(iFi(end)); + h=plot(timeSeconds,AdrM); set(h,'Marker','.','MarkerSize',4) + if bGotColors + set(h,'Color',colors(j,:)); + else + colors(j,:) = get(h,'Color'); + end + text(ti,AdrM(iFi(end)),int2str(gnssMeas.Svid(j)),'Color',colors(j,:)); + + h123(2) = subplot(5,1,3:4); grid on, + h=plot(timeSeconds,gnssMeas.DelPrMinusAdrM(:,j)); hold on + set(h,'Marker','.','MarkerSize',4) + set(h,'Color',colors(j,:)); + end +end +subplot(5,1,1:2); ax=axis; +title('Accumulated Delta Range (= -k*carrier phase) vs time'), ylabel('(meters)') +subplot(5,1,3:4); set(gca,'XLim',ax(1:2)); +title('DelPrM - AdrM'),ylabel('(meters)') + +bClockDis = [0;diff(gnssMeas.ClkDCount)~=0];%binary, 1 <=> clock discontinuity + +%plot Clock discontinuity +h123(3) = 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(h123,'x'); + +if nargout>1 + 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. diff --git a/opensource/PlotAdrResids.m b/opensource/PlotAdrResids.m new file mode 100644 index 0000000..9d74834 --- /dev/null +++ b/opensource/PlotAdrResids.m @@ -0,0 +1,94 @@ +function PlotAdrResids(adrResid,gnssMeas,prFileName,colors) +% PlotAdrResids(adrResid,gnssMeas,[prFileName],[colors]) +% plot the Accumulated Delta Range residuals for the 5 sats with most valid adr +% +% adrResid.FctSeconds = Nx1 time vector, same as gnssMeas.FctSeconds +% .Svid0 = reference satellite for single differences +% .Svid = 1xM vector of all svid +% .ResidM = [NxM] adr residuals (adr = -k*carrier) +% +% gnssMeas, the measurements (from ProcessGnssMeas) used to get adrResids +% +% Optional inputs: prFileName = string with file name +% colors, Mx3 color matrix +% if colors is not Mx3, it will be ignored + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +K = 5; %number of satellites to plot +if ~any(any(isfinite(adrResid.ResidM))) %Nothing but NaNs + fprintf(' No adr residuals to plot\n'), return +end +if nargin<2 + prFileName = ''; +end + +M = length(adrResid.Svid); +N = length(adrResid.FctSeconds); +if nargin<3 || any(size(colors)~=[M,3]) + bGotColors = false; +else + bGotColors = true; +end + +timeSeconds =adrResid.FctSeconds-adrResid.FctSeconds(1);%elapsed time in seconds + +% find the K sats with most data +numValid = zeros(1,M); +for j=1:M + numValid(j) = sum(isfinite(adrResid.ResidM(:,j))); +end +[~,jSorted] = sort(numValid,'descend'); +hK=zeros(1,K); %initialize plot handle +for k=1:K + hK(k) = subplot(K,1,k); + jSv = jSorted(k); %index into correct adrResid.Svid, and columns of .ResidM + svid = adrResid.Svid(jSv); + h = plot(timeSeconds,adrResid.ResidM(:,jSv)); grid on, hold on + j = find(gnssMeas.Svid == svid); %index into gnssMeas columns + if bGotColors + set(h,'Color',colors(j,:)); + end + %get cycle slip flags + %From gps.h: + % #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) + iCs = find(bitand(gnssMeas.AdrState(:,j),2^2)); + numCs = length(iCs); + if numCs + h=plot(timeSeconds(iCs),zeros(numCs,1),'xk'); + set(h,'MarkerSize',5) + end + ts=sprintf('Svids %d - %d',svid,adrResid.Svid0); + title(ts) + ylabel('(meters)'); +end +xs = sprintf('time (seconds)\n%s',prFileName); +xlabel(xs,'Interpreter','none') +linkaxes(hK,'x'); + +subplot(K,1,1) +svid = adrResid.Svid(jSorted(1)); +ts=sprintf('ADR single difference residuals. No iono or tropo correction. Svids %d - %d',... + svid,adrResid.Svid0); +title(ts) +ax=axis; +ht=text(ax(1),ax(3),' ''x'' = declared cycle slip'); +set(ht,'VerticalAlignment','bottom','FontSize',8); + +end %end of function PlotAdrResids +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/PlotCno.m b/opensource/PlotCno.m new file mode 100644 index 0000000..bcc6965 --- /dev/null +++ b/opensource/PlotCno.m @@ -0,0 +1,76 @@ +function [colorsOut] = PlotCno(gnssMeas,prFileName,colors) +%[colors] = PlotCno(gnssMeas,[prFileName],[colors]) +% Plot the C/No from gnssMeas +% +%gnssMeas.FctSeconds = Nx1 vector. Rx time tag of measurements. +% .Svid = 1xM vector of all svIds found in gpsRaw. +% ... +% .Cn0DbHz = NxM +% +% Optional inputs: prFileName = string with file name +% colors, Mx3 color matrix +% +%Output: colors, color matrix, so we match colors each time we plot the same sv + +M = length(gnssMeas.Svid); +N = length(gnssMeas.FctSeconds); + +if nargin<2 + prFileName = ''; +end + +if nargin<3 || any(size(colors)~=[M,3]) + colors = zeros(M,3); %initialize color matrix for storing colors + bGotColors = false; +else + bGotColors = true; +end + +timeSeconds = gnssMeas.FctSeconds-gnssMeas.FctSeconds(1);%elapsed time in seconds +%Plot C/No +for i=1:M + Cn0iDbHz = gnssMeas.Cn0DbHz(:,i); + iF = find(isfinite(Cn0iDbHz)); + if ~isempty(iF) + ti = timeSeconds(iF(end)); + h = plot(timeSeconds,Cn0iDbHz); + hold on + if bGotColors + set(h,'Color',colors(i,:)); + else + colors(i,:) = get(h,'Color'); + end + ts = int2str(gnssMeas.Svid(i)); + if isfinite(gnssMeas.AzDeg(i)) + ts = sprintf('%s, %03.0f^o, %02.0f^o',ts,... + gnssMeas.AzDeg(i),gnssMeas.ElDeg(i)); + end + text(ti,Cn0iDbHz(iF(end)),ts,'Color',colors(i,:)); + end +end +title('C/No in dB.Hz'),ylabel('(dB.Hz)') +xs = sprintf('time (seconds)\n%s',prFileName); +xlabel(xs,'Interpreter','none') +grid on + +if nargout + colorsOut = colors; +end + +end %end of function PlotCno +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/PlotPseudorangeRates.m b/opensource/PlotPseudorangeRates.m new file mode 100644 index 0000000..c052868 --- /dev/null +++ b/opensource/PlotPseudorangeRates.m @@ -0,0 +1,122 @@ +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 + text(ti,y(iFi(end)-1),int2str(gnssMeas.Svid(i)),'Color',colors(i,:)); + meanDprM = mean(y(isfinite(y)));%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. diff --git a/opensource/PlotPseudoranges.m b/opensource/PlotPseudoranges.m new file mode 100644 index 0000000..728c946 --- /dev/null +++ b/opensource/PlotPseudoranges.m @@ -0,0 +1,99 @@ +function [colorsOut] = PlotPseudoranges(gnssMeas,prFileName,colors) +%[colors] = PlotPseudoranges(gnssMeas,[prFileName],[colors]) +% plot the Pseudoranges 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. +% ... +% .PrM = NxM matrix, row i corresponds to FctSeconds(i) +% ... +% .Cn0DbHz = NxM +% +% 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 + +timeSeconds =gnssMeas.FctSeconds-gnssMeas.FctSeconds(1);%elapsed time in seconds +for i=1:M + %plot pseudoranges in meters + h123(1) = subplot(5,1,1:2); hold on, + priM = gnssMeas.PrM(:,i); + iF = find(isfinite(priM)); + if ~isempty(iF) + ti = timeSeconds(iF(end)); + h=plot(timeSeconds,priM); set(h,'Marker','.','MarkerSize',4) + if bGotColors + set(h,'Color',colors(i,:)); + else + colors(i,:) = get(h,'Color'); + end + text(ti,priM(iF(end)),int2str(gnssMeas.Svid(i)),'Color',colors(i,:)); + + %plot change in pseudoranges since first epoch + h123(2) = subplot(5,1,3:4); hold on + y = priM-priM(iF(1)); + h=plot(timeSeconds,y);set(h,'Marker','.','MarkerSize',4) + set(h,'Color',colors(i,:)); + text(ti,y(iF(end)),int2str(gnssMeas.Svid(i)),'Color',colors(i,:)); + end +end +subplot(5,1,1:2); ax=axis; +title('Pseudoranges vs time'), ylabel('(meters)') +subplot(5,1,3:4); set(gca,'XLim',ax(1:2)); +title('Pseudoranges change from initial value'),ylabel('(meters)') + +bClockDis = [0;diff(gnssMeas.ClkDCount)~=0];%binary, 1 <=> clock discontinuity + +%plot Clock discontinuity +h123(3) = 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(h123,'x'); + +if nargout + colorsOut = colors; +end + +end %end of function PlotPseudoranges +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/PlotPvt.m b/opensource/PlotPvt.m new file mode 100644 index 0000000..770c251 --- /dev/null +++ b/opensource/PlotPvt.m @@ -0,0 +1,125 @@ +function PlotPvt(gpsPvt,prFileName,llaTrueDegDegM,titleString) +%PlotGpsPvt(gpsPvt,prFileName,[llaTrueDegDegM],[titleString]) +%Plot the results of GpsLsPvt: +% +% gpsPvt.FctSeconds Nx1 time vector, same as gpsMeas.FctSeconds +% .allLlaDegDegM Nx3 matrix, (i,:) = [lat (deg), lon (deg), alt (m)] +% .sigmaLlaM Nx3 standard deviation of [lat,lon,alt] (m) +% .allBcMeters Nx1 common bias computed with lla +% .allVelMps Nx3 (i,:) = velocity in NED coords +% .sigmaVelMps Nx3 standard deviation of velocity (m/s) +% .allBcDotMps Nx1 common freq bias computed with velocity +% .numSvs Nx1 number of satellites used in corresponding lla +% .hdop Nx1 hdop of corresponding fix +% +% Optional inputs: [llaTrueDegDegM] = reference position, [ts] = title srtring + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +gray = [.5 .5 .5]; +ltgray = [.8 .8 .8]; + +%set reference lla for plots +iFi = isfinite(gpsPvt.allLlaDegDegM(:,1));%index into finite results +if ~any(iFi) + return +end +llaMed = median(gpsPvt.allLlaDegDegM(iFi,:));%use median position as reference +if nargin < 3, llaTrueDegDegM = []; end +if nargin < 4. titleString = 'PVT solution'; end +bGotLlaTrue = ~isempty(llaTrueDegDegM) && any(llaTrueDegDegM); +%not empty and not all zeros +if bGotLlaTrue + llaRef = llaTrueDegDegM; +else + llaRef = llaMed; +end + +%% plot ne errors vs llaTrueDegDegM -------------------------------------------- +nedM = Lla2Ned(gpsPvt.allLlaDegDegM,llaRef); +h123=subplot(4,1,1:2); +h1 = plot(nedM(:,2),nedM(:,1)); +set(h1,'LineStyle','-','LineWidth',0.1,'Color',ltgray) +hold on, plot(nedM(:,2),nedM(:,1),'cx'); +lls = sprintf(' [%.6f^o, %.6f^o]',llaMed(1:2)); +nedMedM = Lla2Ned(llaMed,llaRef); +h=plot(nedMedM(2),nedMedM(1),'+k','MarkerSize',18); +ts = [' median ',lls]; +ht1 = text(nedMedM(2),nedMedM(1),ts,'color','k'); +lls = sprintf(' [%.6f^o, %.6f^o]',llaRef(1:2)); +if bGotLlaTrue + h=plot(0,0,'+r','MarkerSize',18); + ts = [' true pos ',lls]; + ht2 = text(0,0,ts,'color','r'); + %adjust VerticalAlignment to avoid overwriting previous text + if nedMedM(1)<0 + set(ht1,'VerticalAlignment','top');%moves the 'median' label down + set(ht2,'VerticalAlignment','bottom'); + else + set(ht1,'VerticalAlignment','bottom'); + set(ht2,'VerticalAlignment','top'); + end + %print median position error + ts = sprintf('|median - true pos| = %.1f m',norm(nedMedM(1:2))); + xm = min(0,nedMedM(2)); %align label with median x value, or zero + ym = min(nedM(:,1)); %align with smallest y + ht3 = text(xm,ym,ts); + set(ht3,'Color','k','VerticalAlignment','bottom'); +end +title(titleString); +axis equal, grid on +ylabel('North (m)'),xlabel('East (m)') +% compute error distribution and plot circle +distM = sqrt(sum(nedM(:,1:2).^2,2)); +medM = median(distM); +%plot a circle using 'rectangle' (yes really :) +hr=rectangle('Position',[-1 -1 2 2]*medM,'Curvature',[1 1]); +set(hr,'EdgeColor',gray) +ts = sprintf('50%% distribution = %.1f m',medM); +text(0,medM,ts,'VerticalAlignment','bottom','Color',gray) +%% end of plot ne errors vs llaTrueDegDegM ------------------------------------- + +%time variable for plots +tSeconds = gpsPvt.FctSeconds-gpsPvt.FctSeconds(1); + +%% plot speed +h123(2)=subplot(4,1,3); +N = length(gpsPvt.FctSeconds); +iGood = isfinite(gpsPvt.allVelMps(:,1)); +speedMps = zeros(1,N)+NaN; +speedMps(iGood) = sqrt(sum(gpsPvt.allVelMps(iGood,1:2)'.^2)); %horizontal speed +plot(tSeconds,speedMps);grid on +ylabel('Horiz. speed (m/s)') + +%% plot hdop & # sats +h123(3)=subplot(4,1,4); +[hyy,h1]=plotyy(tSeconds,gpsPvt.hdop,tSeconds,gpsPvt.numSvs,'plot','stairs'); +grid on +set(h1,'LineWidth',1) +ylabel(hyy(1),'HDOP'); ylabel(hyy(2),'# sats'); +xs = sprintf('time(seconds)\n%s',prFileName); +xlabel(xs,'Interpreter','none') + +set(hyy,'Box','off') + +linkaxes(h123(2:3),'x'); +linkaxes(hyy,'x') + + +end %end of function PlotPvt +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/PlotPvtStates.m b/opensource/PlotPvtStates.m new file mode 100644 index 0000000..242f18f --- /dev/null +++ b/opensource/PlotPvtStates.m @@ -0,0 +1,150 @@ +function PlotPvtStates(gnssPvt,prFileName) +%PlotPvtStates(gnssPvt,prFileName); +%Plot the Position, Velocity and Time/clock states in gnssPvt +% +% gnssPvt.FctSeconds Nx1 time vector, same as gpsMeas.FctSeconds +% .allLlaDegDegM Nx3 matrix, (i,:) = [lat (deg), lon (deg), alt (m)] +% .sigmaLlaM Nx3 standard deviation of [lat,lon,alt] (m) +% .allBcMeters Nx1 common bias computed with lla +% .allVelMps Nx3 (i,:) = velocity in NED coords +% .sigmaVelMps Nx3 standard deviation of velocity (m/s) +% .allBcDotMps Nx1 common freq bias computed with velocity + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%find median values +iFi = isfinite(gnssPvt.allLlaDegDegM(:,1));%index into finite results +if ~any(iFi) + return +end +llaMed = median(gnssPvt.allLlaDegDegM(iFi,:));%use medians as reference + +%time variable for plots +tSeconds = gnssPvt.FctSeconds-gnssPvt.FctSeconds(1); + +h1234 = zeros(1,4); %handles for subplots +%plot ned errors vs medians ---------------------------------------------------- +ned = Lla2Ned(gnssPvt.allLlaDegDegM,llaMed); +h1234(1)=subplot(4,1,1); +plot(tSeconds,ned(:,1),'r');hold on +plot(tSeconds,ned(:,2),'g'); +plot(tSeconds,ned(:,3),'b'); +title('WLS: Position states offset from medians [Lat,Lon,Alt]'); +grid on, ylabel('(meters)'), + +%label Latitude, Longitude and Altitude +iFi = isfinite(ned(:,1));%index into finite results +h=zeros(1,3); %handles for Lat, Lon, Alt +h(1)=text(tSeconds(end),ned(iFi(end),1),'Lat'); +set(h(1),'Color','r') +h(2)=text(tSeconds(end),ned(iFi(end),2),'Lon'); +set(h(2),'Color','g') +h(3)=text(tSeconds(end),ned(iFi(end),3),'Alt'); +set(h(3),'Color','b') +%shift the highest a little higher, so it doesnt overwrite the others +[~,iMax] = max(ned(iFi(end),:)); +set(h(iMax),'VerticalAlignment','bottom'); +%shift the lowest a little lower +[~,iMin] = min(ned(iFi(end),:)); +set(h(iMin),'VerticalAlignment','top'); + +%plot common bias, in microseconds and meters --------------------------------- +h1234(2)=subplot(4,1,2); +iFi = isfinite(gnssPvt.allBcMeters);%index into finite results +if any(iFi) + plot(tSeconds,gnssPvt.allBcMeters - gnssPvt.allBcMeters(iFi(1))) + grid on + bc0Microseconds = gnssPvt.allBcMeters(iFi(1))/GpsConstants.LIGHTSPEED*1e6; + bc0Text = sprintf('%.1f',bc0Microseconds); + title(['Common bias ''clock'' offset from initial value of ',... + bc0Text,' {\mu}s']) + ylabel(('meters')) +end + +%add microseconds label on right +ax=axis; +axMeters = ax(3:4); +set(gca,'YLim',axMeters); %fix this, else rescaling fig breaks axis proportion +axMicroseconds = axMeters/GpsConstants.LIGHTSPEED*1e6; +set(gca,'Box','off'); %# Turn off the box surrounding the whole axes +axesPosition = get(gca,'Position'); %# Get the current axes position +hNewAxes = axes('Position',axesPosition,... %# Place a new axes on top... + 'Color','none',... %# ... with no background color + 'YLim',axMicroseconds,... %# ... and a different scale + 'YAxisLocation','right',... %# ... located on the right + 'XTick',[],... %# ... with no x tick marks + 'Box','off'); %# ... and no surrounding box +ylabel(hNewAxes,'(microseconds)'); %# Add label to right +%you must link the axes, else proportion will change when you scale figure: +linkaxes([hNewAxes, h1234(2)],'x'); + +%plot three components of speed ------------------------------------------------ +h1234(3)=subplot(4,1,3); +vel = gnssPvt.allVelMps; +plot(tSeconds,vel(:,1),'r');hold on +plot(tSeconds,vel(:,2),'g'); +plot(tSeconds,vel(:,3),'b'); +title('Velocity states [North,East,Down]'); +grid on, ylabel('(m/s)'), + +%label North, East, Down +iFi = isfinite(vel(:,1));%index into finite results +h=zeros(1,3); %handles for Lat, Lon, Alt +h(1)=text(tSeconds(end),vel(iFi(end),1),'North'); +set(h(1),'Color','r') +h(2)=text(tSeconds(end),vel(iFi(end),2),'East'); +set(h(2),'Color','g') +h(3)=text(tSeconds(end),vel(iFi(end),3),'Down'); +set(h(3),'Color','b') +%shift the highest a little higher, so it doesnt overwrite the others +[~,iMax] = max(vel(iFi(end),:)); +set(h(iMax),'VerticalAlignment','bottom'); +%shift the lowest a little lower +[~,iMin] = min(vel(iFi(end),:)); +set(h(iMin),'VerticalAlignment','top'); + +%plot common frequency offset ------------------------------------------------- +h1234(4)=subplot(4,1,4); +plot(tSeconds,gnssPvt.allBcDotMps) +grid on +title('Common frequency offset'); ylabel(('m/s')) + +%add microseconds label on right +ax=axis; +axMps = ax(3:4); +set(gca,'YLim',axMps);%fix this, else rescaling fig breaks axis proportion +PPMPERMPS = 1/GpsConstants.LIGHTSPEED*1E6; %true for any frequency +axPpm = axMps*PPMPERMPS; +set(gca,'Box','off'); %# Turn off the box surrounding the whole axes +axesPosition = get(gca,'Position'); %# Get the current axes position +hNewAxes = axes('Position',axesPosition,... %# Place a new axes on top... + 'Color','none',... %# ... with no background color + 'YLim',axPpm,... %# ... and a different scale + 'YAxisLocation','right',... %# ... located on the right + 'XTick',[],... %# ... with no x tick marks + 'Box','off'); %# ... and no surrounding box +ylabel(hNewAxes,'(ppm)'); %# Add label to right +linkaxes([hNewAxes, h1234(4)],'x') + +xs = sprintf('\ntime(seconds)\n%s',prFileName); +xlabel(xs,'Interpreter','none') + +linkaxes(h1234,'x'); %link all x axes + +end %end of function PlotPvtStates +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/ProcessAdr.m b/opensource/ProcessAdr.m new file mode 100644 index 0000000..23e54c0 --- /dev/null +++ b/opensource/ProcessAdr.m @@ -0,0 +1,81 @@ +function [gnssMeas]= ProcessAdr(gnssMeas) +% [gnssMeas]= ProcessAdr(gnssMeas) +% process the Accumulated Delta Ranges 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. +% ... +% .PrM = NxM pseudoranges, row i corresponds to FctSeconds(i) +% .DelPrM = NxM change in pr while clock continuous +% .AdrM = NxM accumulated delta range (= -k*carrier phase) +% ... +% +% output: +% gnssMeas.DelPrMinusAdrM = NxM DelPrM - AdrM, re-initialized to zero at each +% discontinuity or reset of DelPrM or AdrM + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +if ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) + %Nothing in AdrM but NaNs and zeros + fprintf(' No ADR recorded\n'), return +end + +M = length(gnssMeas.Svid); +N = length(gnssMeas.FctSeconds); +DelPrMinusAdrM = zeros(N,M)+NaN; +for j=1:M %loop over Svid + AdrM = gnssMeas.AdrM(:,j); %make local variables for readability + DelPrM = gnssMeas.DelPrM(:,j); + AdrState = gnssMeas.AdrState(:,j); + %From gps.h: + %/* However, it is expected that the data is only accurate when: + % * 'accumulated delta range state' == GPS_ADR_STATE_VALID. + %*/ + % #define GPS_ADR_STATE_UNKNOWN 0 + % #define GPS_ADR_STATE_VALID (1<<0) + % #define GPS_ADR_STATE_RESET (1<<1) + % #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) + + %keep valid values of AdrM only + iValid = bitand(AdrState,2^0); + iReset = bitand(AdrState,2^1); + AdrM(~iValid) = NaN; + + %% work out DelPrM - AdrM since last discontinuity, plot DelPrM-AdrM + + DelPrM0 = NaN; %to store initial offset from AdrM + for i=1:N %loop over time + if isfinite(AdrM(i)) && (AdrM(i)~=0) && isfinite(DelPrM(i)) && ... + ~iReset(i) + %reinitialize after NaNs or AdrM zero or AdrState reset + if isnan(DelPrM0) + DelPrM0 = DelPrM(i) - AdrM(i); + end + else %reset at NaNs or AdrM zero + DelPrM0 = NaN; + end + DelPrMinusAdrM(i,j) = DelPrM(i) - DelPrM0 - AdrM(i); + end +end + +gnssMeas.DelPrMinusAdrM = DelPrMinusAdrM; + +end %end of function ProcessAdr +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/ProcessGnssMeas.m b/opensource/ProcessGnssMeas.m new file mode 100644 index 0000000..696629f --- /dev/null +++ b/opensource/ProcessGnssMeas.m @@ -0,0 +1,244 @@ +function gnssMeas = ProcessGnssMeas(gnssRaw) +% gnssMeas = ProcessGnssMeas(gnssRaw) +% Process raw measurements read from ReadGnssLogger +% Using technique explained in "Raw GNSS Measurements from Android" tutorial +% +% Input: gnssRaw, output from ReadGnssLogger +% Output: gnssMeas structure formatted conveniently for batch processing: +%gnssMeas.FctSeconds = Nx1 Full cycle time tag of M batched measurements. +% .ClkDCount = Nx1 Hw clock discontinuity count +% .HwDscDelS = Nx1 Hw clock change during each discontiuity (seconds) +% .Svid = 1xM all svIds found in gnssRaw. +% .AzDeg = 1xM azimuth in degrees at last valid epoch +% .ElDeg = 1xM elevation, ditto +% .tRxSeconds = NxM time of reception, seconds of gps week +% .tTxSeconds = NxM time of transmission, seconds of gps week +% .PrM = NxM pseudoranges, row i corresponds to FctSeconds(i) +% .PrSigmaM = NxM pseudorange error estimate (1-sigma) +% .DelPrM = NxM change in pr while clock continuous +% .PrrMps = NxM pseudorange rate +% .PrrSigmaMps= NxM +% .AdrM = NxM accumulated delta range (= -k * carrier phase) +% .AdrSigmaM = NxM +% .AdrState = NxM +% .Cn0DbHz = NxM +% +% all gnssMeas values are doubles +% +% Az and El are returned NaN. Compute Az,El using ephemeris and lla, +% or read from NMEA or GnssStatus + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +% Filter valid values first, so that rollover checks, etc, are on valid data +gnssRaw = FilterValid(gnssRaw); + +%anything within 1ms is considered same epoch: +allRxMilliseconds = double(gnssRaw.allRxMillis); +gnssMeas.FctSeconds = (unique(allRxMilliseconds))*1e-3; +N = length(gnssMeas.FctSeconds); +gnssMeas.ClkDCount = zeros(N,1); +gnssMeas.HwDscDelS = zeros(N,1); +gnssMeas.Svid = unique(gnssRaw.Svid)'; %all the sv ids found in gnssRaw +M = length(gnssMeas.Svid); +gnssMeas.AzDeg = zeros(1,M)+NaN; +gnssMeas.ElDeg = zeros(1,M)+NaN; +gnssMeas.tRxSeconds = zeros(N,M)+NaN; %time of reception, seconds of gps week +gnssMeas.tTxSeconds = zeros(N,M)+NaN; %time of transmission, seconds of gps week +gnssMeas.PrM = zeros(N,M)+NaN; +gnssMeas.PrSigmaM = zeros(N,M)+NaN; +gnssMeas.DelPrM = zeros(N,M)+NaN; +gnssMeas.PrrMps = zeros(N,M)+NaN; +gnssMeas.PrrSigmaMps= zeros(N,M)+NaN; +gnssMeas.AdrM = zeros(N,M)+NaN; +gnssMeas.AdrSigmaM = zeros(N,M)+NaN; +gnssMeas.AdrState = zeros(N,M); +gnssMeas.Cn0DbHz = zeros(N,M)+NaN; + +%GPS Week number: +weekNumber = floor(-double(gnssRaw.FullBiasNanos)*1e-9/GpsConstants.WEEKSEC); + +%check for fields that are commonly all zero and may be missing from gnssRaw +if ~isfield(gnssRaw,'BiasNanos') + gnssRaw.BiasNanos = 0; +end +if ~isfield(gnssRaw,'TimeOffsetNanos') + gnssRaw.TimeOffsetNanos = 0; +end + +%compute time of measurement relative to start of week +%subtract big longs (i.e. time from 1980) before casting time of week as double +WEEKNANOS = int64(GpsConstants.WEEKSEC*1e9); +weekNumberNanos = int64(weekNumber)*int64(GpsConstants.WEEKSEC*1e9); + +%compute tRxNanos using gnssRaw.FullBiasNanos(1), so that +% tRxNanos includes rx clock drift since the first epoch: +tRxNanos = gnssRaw.TimeNanos -gnssRaw.FullBiasNanos(1) - weekNumberNanos; + +%Assert if Tow state ~=1, because then gnssRaw.FullBiasNanos(1) might be wrong +State = gnssRaw.State(1); +assert(bitand(State,2^0) & bitand(State,2^3),... + 'gnssRaw.State(1) must have bits 0 and 3 true before calling ProcessGnssMeas') + +%tRxNanos is now since the beginning of the week +assert(all(tRxNanos <= WEEKNANOS),'tRxNanos should be <= WEEKNANOS') +assert(all(tRxNanos >= 0),'tRxNanos should be >= 0') + +%subtract the fractional offsets TimeOffsetNanos and BiasNanos: +tRxSeconds = (double(tRxNanos)-gnssRaw.TimeOffsetNanos-gnssRaw.BiasNanos)*1e-9; +tTxSeconds = double(gnssRaw.ReceivedSvTimeNanos)*1e-9; + +%check for week rollover in tRxSeconds +prSeconds = tRxSeconds - tTxSeconds; +prSeconds = CheckGpsWeekRollover(prSeconds); +%we are ready to compute pseudorange in meters: +PrM = prSeconds*GpsConstants.LIGHTSPEED; + +PrSigmaM = double(gnssRaw.ReceivedSvTimeUncertaintyNanos)*1e-9*... + GpsConstants.LIGHTSPEED; +PrrMps = gnssRaw.PseudorangeRateMetersPerSecond; +PrrSigmaMps = gnssRaw.PseudorangeRateUncertaintyMetersPerSecond; +AdrM = gnssRaw.AccumulatedDeltaRangeMeters; +AdrSigmaM = gnssRaw.AccumulatedDeltaRangeUncertaintyMeters; +AdrState = gnssRaw.AccumulatedDeltaRangeState; +Cn0DbHz = gnssRaw.Cn0DbHz; + +%Now pack these vectors into the NxM matrices +for i=1:N %i is index into gnssMeas.FctSeconds and matrix rows + %get index of measurements within 1ms of this time tag + J = find(abs(gnssMeas.FctSeconds(i)*1e3 - allRxMilliseconds)<1); + for j=1:length(J) %J(j) is index into gnssRaw.* + k = find(gnssMeas.Svid==gnssRaw.Svid(J(j))); + %k is the index into gnssMeas.Svid and matrix columns + gnssMeas.tRxSeconds(i,k) = tRxSeconds(J(j)); + gnssMeas.tTxSeconds(i,k) = tTxSeconds(J(j)); + gnssMeas.PrM(i,k) = PrM(J(j)); + gnssMeas.PrSigmaM(i,k) = PrSigmaM(J(j)); + gnssMeas.PrrMps(i,k) = PrrMps(J(j)); + gnssMeas.PrrSigmaMps(i,k)= PrrSigmaMps(J(j)); + gnssMeas.AdrM(i,k) = AdrM(J(j)); + gnssMeas.AdrSigmaM(i,k) = AdrSigmaM(J(j)); + gnssMeas.AdrState(i,k) = AdrState(J(j)); + gnssMeas.Cn0DbHz(i,k) = Cn0DbHz(J(j)); + end + %save the hw clock discontinuity count for this epoch: + gnssMeas.ClkDCount(i) = gnssRaw.HardwareClockDiscontinuityCount(J(1)); + + if gnssRaw.HardwareClockDiscontinuityCount(J(1)) ~= ... + gnssRaw.HardwareClockDiscontinuityCount(J(end)) + error('HardwareClockDiscontinuityCount changed within the same epoch'); + end +end + +gnssMeas = GetDelPr(gnssMeas); + +end %of function ProcessGnssMeas +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function gnssRaw = FilterValid(gnssRaw) +%utility function for ProcessGnssMeas, +%remove fields corresponding to measurements that are invalid +%NOTE: this makes it simpler to process data. But it removes data, +% so if you want to investigate *why* fields are invalid, then do so +% before calling this function + +%check ReceivedSvTimeUncertaintyNanos, PseudorangeRateUncertaintyMetersPerSecond +%for now keep only Svid with towUnc<0.5 microseconds and prrUnc < 10 mps +iTowUnc = gnssRaw.ReceivedSvTimeUncertaintyNanos > GnssThresholds.MAXTOWUNCNS; +iPrrUnc = gnssRaw.PseudorangeRateUncertaintyMetersPerSecond > ... + GnssThresholds.MAXPRRUNCMPS; +iBad = iTowUnc | iPrrUnc; + +if any(iBad) + numBad = sum(iBad); + %assert if we're about to remove everything: + assert(numBadFilterValid because:\n',... + sum(iBad)) + if any(iTowUnc) + fprintf('towUnc > %.0f ns\n',GnssThresholds.MAXTOWUNCNS) + end + if any(iPrrUnc) + fprintf('prrUnc > %.0f m/s\n',GnssThresholds.MAXPRRUNCMPS) + end +end + +end %end of function FilterValid +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function gnssMeas = GetDelPr(gnssMeas) +% utility function for ProcessGnssMeas, compute DelPr +% gnssMeas.DelPrM = NxM, change in pr while clock is continuous + +N = length(gnssMeas.FctSeconds); +M = length(gnssMeas.Svid); + +bClockDis = [0;diff(gnssMeas.ClkDCount)~=0];%binary, 1 <=> clock discontinuity + +%initialize first epoch to zero (by definition), rest to NaN +delPrM = zeros(N,M); delPrM(2:end,:) = NaN; + +for j=1:M + i0=1; %i0 = index from where we compute DelPr + for i=2:N + if bClockDis(i) || isnan(gnssMeas.PrM(i0,j)) + i0 = i; %reset to i if clock discont or a break in tracking + end + if bClockDis(i) + delPrM(i,j) = NaN; + else + delPrM(i,j) = gnssMeas.PrM(i,j) - gnssMeas.PrM(i0,j); + end + end +end +gnssMeas.DelPrM = delPrM; +end %of function GetDelPr +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function prSeconds = CheckGpsWeekRollover(prSeconds) +%utility function for ProcessGnssMeas + +iRollover = prSeconds > GpsConstants.WEEKSEC/2; +if any(iRollover) + fprintf('\nWARNING: week rollover detected in time tags. Adjusting ...') + prS = prSeconds(iRollover); + prS = prS - round(prS/GpsConstants.WEEKSEC)*GpsConstants.WEEKSEC; + %prS are in the range [-WEEKSEC/2 : WEEKSEC/2]; + %check that common bias is not huge (like, bigger than 10s) + maxBiasSeconds = 10; + if any(prS>maxBiasSeconds) + error('Failed to correct week rollover') + else + prSeconds(iRollover) = prS; %put back into prSeconds vector + fprintf('\nCorrected week rollover') + end +end +%TBD Unit test this + +end %end of function CheckGpsWeekRollover +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +% 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. + + diff --git a/opensource/ProcessGnssMeasScript.m b/opensource/ProcessGnssMeasScript.m new file mode 100644 index 0000000..214c920 --- /dev/null +++ b/opensource/ProcessGnssMeasScript.m @@ -0,0 +1,84 @@ +%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 +% as follows +% 1) copy everything from GitHub google/gps-measurement-tools/ to +% a local directory on your machine +% 2) change 'dirName = ...' to match the local directory you are using: +dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles'; +% 3) run ProcessGnssMeasScript.m script file + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%% data +%To add your own data: +% save data from GnssLogger App, and edit dirName and prFileName appropriately +%dirName = 'put the full path for your directory here'; +%prFileName = 'put the pseudoranges log file name here'; + +%% parameters +param.llaTrueDegDegM = []; +%enter true WGS84 lla, if you know it: +param.llaTrueDegDegM = [37.422578, -122.081678, -28];%Charleston Park Test Site + +%% Set the data filter and Read log file +dataFilter = SetDataFilter; +[gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,prFileName,dataFilter,param); + +%% Get online ephemeris from Nasa ftp, first compute UTC Time from gnssRaw: +fctSeconds = 1e-3*double(gnssRaw.allRxMillis(end)); +gpsTime = [0,0]; +gpsTime(1) = floor(fctSeconds./GpsConstants.WEEKSEC); +gpsTime(2) = fctSeconds - gpsTime(1)*GpsConstants.WEEKSEC; +utcTime = Gps2Utc(gpsTime); +allGpsEph = GetNasaHourlyEphemeris(utcTime,dirName); + +%% process raw measurements, compute pseudoranges: +[gnssMeas] = ProcessGnssMeas(gnssRaw); + +%% plot pseudoranges and pseudorange rates +h1 = figure; +[colors] = PlotPseudoranges(gnssMeas,prFileName); +h2 = figure; +PlotPseudorangeRates(gnssMeas,prFileName,colors); +h3 = figure; +PlotCno(gnssMeas,prFileName,colors); + +%% compute WLS position and velocity +gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph); + +%% plot Pvt results +h4 = figure; +ts = 'Raw Pseudoranges, Weighted Least Squares solution'; +PlotPvt(gpsPvt,prFileName,param.llaTrueDegDegM,ts); drawnow; +h5 = figure; +PlotPvtStates(gpsPvt,prFileName); + +%% Plot Accumulated Delta Range +if any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) + [gnssMeas]= ProcessAdr(gnssMeas); + h6 = figure; + PlotAdr(gnssMeas,prFileName,colors); + [adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,param.llaTrueDegDegM);drawnow + h7 = figure; + PlotAdrResids(adrResid,gnssMeas,prFileName,colors); +end +%% end of ProcessGnssMeasScript +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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. diff --git a/opensource/README.md b/opensource/README.md new file mode 100644 index 0000000..1b5d556 --- /dev/null +++ b/opensource/README.md @@ -0,0 +1,94 @@ +# GPS Measurement Tools + +The GNSS Measurement Tools code is provided for you to: + +* read data from GnssLogger App, +* compute and visualize pseudoranges, +* compute weighted least squares position and velocity, +* view and analyze carrier phase (if it is present in the log file). + +# Origin + +This code is maintained on GitHub at the following link: + +https://github.com/google/gps-measurement-tools + +# Initial setup: + +1. Extract the contents of the zip file to a directory, for example: + + ~/gpstools/* + + and include the directory '~/gpstools/opensource' in your matlab path: + + addpath('~/gpstools/opensource'); + + (Note: the tilde '~' is a place holder, don't actually use it, fill in + the actual complete path) + +2. Edit ProcessGnssMeasScript.m to add the demoFiles directory, as follows: + + dirName = '~/gpstools/opensource/demoFiles' + + (again, replace tilde '~' with actual complete path) + +3. Run ProcessGnssMeasScript.m, it will run with pre-recorded log files. + +## To process a log file you collected from GnssLogger: + +1. save the log file in a directory +2. edit ProcessGpsMeasScript.m, specify the file name and directory path +3. run ProcessGpsMeasScript.m + +The code includes a function (GetNasaHourlyEphemeris.m) to read ephemeris +files from the NASA's archive of Space Geodesy Data, ftp://cddis.gsfc.nasa.gov +It will automatically go to the ftp when you have a new log file. +On some systems you need to use passive mode FTP; if this is required, see +The Mathworks site for how to do it. +Or (simpler): get the appropriate ephemeris file 'by hand' from the Nasa ftp +site (GetNasaHourlyEphemeris.m will tell you the correct url and filename), +copy the file to the directory where your log file is, +and GetNasaHourlyEphemeris.m will read it from there. + +## For a summary of the open source GNSS Measurements Tools + +See ~/gpstools/opensource/Contents.m or type 'help opensource' in matlab +command window. + +# Platform specific notes: + +For Windows: use '\' (backslash), instead of '/' for directories. + +For Mac: when installing MATLAB. +System Preferences --> Security & Privacy --> +Allow Apps to be downloaded from: Mac App Store and identified developers + +Uncompress/Unzip utility called from GetNasaHourlyEphemeris.m: +The ephemeris on the Nasa ftp is Unix-compressed. GetNasaHourlyEphemeris will +automatically uncompress it, if you have the right uncompress function on your +computer. If you need to install an unzip utility, see http://www.gpzip.org +Then search for 'uncompress' in the GetNasaHourlyEphemeris function to find and +edit the name of the unzip utility: + + unzipCommand='uncompress';%edit if your platform uses something different + +If you uncompress the file 'by hand' and rerun GetNasaHourlyEphemeris.m, it will +read the uncompressed file. + +# Copyright Notice + +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. + + diff --git a/opensource/README.txt b/opensource/README.txt new file mode 100644 index 0000000..adbcdef --- /dev/null +++ b/opensource/README.txt @@ -0,0 +1,73 @@ +The GNSS Measurement Tools code is provided for you to: + read data from GnssLogger App, + compute and visualize pseudoranges, + compute weighted least squares position and velocity, + view and analyze carrier phase (if it is present in the log file). + +Initial setup: +1) Extract the contents of the zip file to a directory, for example: + ~/gpstools/* + and include the directory '~/gpstools/opensource' in your matlab path: + addpath('~/gpstools/opensource'); + (Note: the tilde '~' is a place holder, don't actually use it, + fill in the actual complete path) +2) Edit ProcessGnssMeasScript.m to add the demoFiles directory, as follows: + dirName = '~/gpstools/opensource/demoFiles' + (again, replace tilde '~' with actual complete path) +3) Run ProcessGnssMeasScript.m, it will run with pre-recorded log files. + +To process a log file you collected from GnssLogger: +1) save the log file in a directory +2) edit ProcessGpsMeasScript.m, specify the file name and directory path +3) run ProcessGpsMeasScript.m + +The code includes a function (GetNasaHourlyEphemeris.m) to read ephemeris +files from the NASA's archive of Space Geodesy Data, ftp://cddis.gsfc.nasa.gov +It will automatically go to the ftp when you have a new log file. +On some systems you need to use passive mode FTP; if this is required, see +The Mathworks site for how to do it. +Or (simpler): get the appropriate ephemeris file 'by hand' from the Nasa ftp +site (GetNasaHourlyEphemeris.m will tell you the correct url and filename), +copy the file to the directory where your log file is, +and GetNasaHourlyEphemeris.m will read it from there. + +For a summary of the open source GNSS Measurements Tools, +see ~/gpstools/opensource/Contents.m +or type 'help opensource' in matlab command window + +-------------------------------------------------------------------------------- +Platform specific notes: + +For Windows: use '\' (backslash), instead of '/' for directories. + +For Mac: when installing MATLAB. +System Preferences --> Security & Privacy --> +Allow Apps to be downloaded from: Mac App Store and identified developers + +Uncompress/Unzip utility called from GetNasaHourlyEphemeris.m: +The ephemeris on the Nasa ftp is Unix-compressed. GetNasaHourlyEphemeris will +automatically uncompress it, if you have the right uncompress function on your +computer. If you need to install an unzip utility, see http://www.gpzip.org +Then search for 'uncompress' in the GetNasaHourlyEphemeris function to find and +edit the name of the unzip utility: + unzipCommand='uncompress';%edit if your platform uses something different +If you uncompress the file 'by hand' and rerun GetNasaHourlyEphemeris.m, it will +read the uncompressed file. + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + + diff --git a/opensource/ReadGnssLogger.m b/opensource/ReadGnssLogger.m new file mode 100644 index 0000000..b89baa7 --- /dev/null +++ b/opensource/ReadGnssLogger.m @@ -0,0 +1,451 @@ +function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,gnssAnalysis) +%% [gnssRaw,gnssAnalysis]=ReadGnssLogger(dirName,fileName,dataFilter,gnssAnalysis); +% Read the log file created by Gnss Logger App in Android +% Compatible with Android release N +% +% Input: +% dirName = string with directory of fileName, +% e.g. '~/Documents/MATLAB/Pseudoranges/2016-03-28' +% fileName = string with filename +% dataFilter = cell array, dataFilter.{i}=string with a valid matlab expression +% e.g. dataFilter{1} = 'ConstellationType==1' +% +% Output: +% gnssRaw, all GnssClock and GnssMeasurement fields from log file, including: +% .TimeNanos (int64) +% .FullBiasNanos (int64) +% ... +% .Svid +% .ReceivedSvTimeNanos (int64) +% .PseudorangeRateMetersPerSecond +% ... +% and data fields created by this function: +% .allRxMillis (int64), full cycle time of measurement (milliseconds) +% accurate to one millisecond, it is convenient for matching up time +% tags. For computing accurate location, etc, you must still use +% TimeNanos and gnssMeas.tRxSeconds +% +% gnssAnalysis, structure containing analysis, including list of missing fields +% +% see also: SetDataFilter, ProcessGnssMeas + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%factored into a few main sub-functions: +% MakeCsv() +% ReadRawCsv() +% FilterData() +% PackGnssRaw() +% CheckGnssClock() +% ReportMissingFields() + +%% Initialize outputs and inputs +gnssAnalysis.GnssClockErrors = 'GnssClock Errors.'; +gnssAnalysis.GnssMeasurementErrors = 'GnssMeasurement Errors.'; +gnssAnalysis.ApiPassFail = ''; +if nargin<3, dataFilterIn = []; end + +%% check we have the right kind of fileName +extension = fileName(end-3:end); +if ~any(strcmp(extension,{'.txt','.csv'})) + error('Expecting file name of the form "*.txt", or "*.csv"'); +end + +%% read log file into a numeric matrix 'S', and a cell array 'header' +rawCsvFile = MakeCsv(dirName,fileName); +[header,C] = ReadRawCsv(rawCsvFile); + +%% apply dataFilter +[dataFilter] = CheckDataFilter(dataFilterIn,header); +C = FilterData(C,dataFilter,header); + +%% pack data into gnssRaw structure +[gnssRaw,missing] = PackGnssRaw(C,header); + +%% check clock and measurements +[gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis); +gnssAnalysis = ReportMissingFields(gnssAnalysis,missing); + +%TBD on any early return, return gnssAnalysis.ApiPassFail = 'explanation' +% so that reporting tool reports why + +end %end of function ReadGnssLogger +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function csvFileName = MakeCsv(dirName,fileName) +%% make csv file, if necessary. +%And return extended csv file name (i.e. with full path in the name) + +%TBD, maybe, do this entirely with Matlab read/write functions, make independent +%from grep and sed + +%make extended file name +if dirName(end)~='/' + dirName = [dirName,'/']; %add / +end +csvFileName = [dirName,'prs.csv']; +if strcmp(fileName(end-3:end),'.csv') + return %input file is a csv file, nothing more to do here +end + +extendedFileName = [dirName,fileName]; +fprintf('\nReading file %s\n',extendedFileName) + +%% read version +txtfileID = fopen(extendedFileName,'r'); +if txtfileID<0 + error('file ''%s'' not found',extendedFileName); +end +line=''; +while isempty(strfind(lower(line),'version')) + line = fgetl(txtfileID); + if ~ischar(line) %eof or error occurred + if isempty(line) + error('\nError occurred while reading file %s\n',fileName) + end + break + end +end +if line==-1 + fprintf('\nCould not find "Version" in input file %s\n',fileName) + return +end +%look for the beginning of the version number, e.g. 1.4.0.0 +iDigits = regexp(line,'\d'); %index into the first number found in line +v = sscanf(line(iDigits(1):end),'%d.%d.%d.%d',4); +if length(v)<4 + v(end+1:4,1)=0; %make v into a length 4 column vector +end +%Now extract the platform +k = strfind(line,'Platform:'); +if any(k) + sPlatform = line(k+9:end); +else + sPlatform = '';%set empty if 'Platform:' not found +end +if isempty(strfind(sPlatform,'N')) + %add || strfind(platform,'O') and so on for future platforms + fprintf('\nThis version of ReadGnssLogger supports Android N\n') + error('Found "%s" in log file, expected "Platform: N"',line) +end + +v1 = [1;4;0;0]; +sCompare = CompareVersions(v,v1); +%Note, we need to check both the logger version (e.g. v1.0.0.0) and the +%Platform version "e.g. Platform: N" for any logic based on version +if strcmp(sCompare,'before') + fprintf('\nThis version of ReadGnssLogger supports v1.4.0.0 onwards\n') + error('Found "%s" in log file',line) +end + +%% write csv file with header and numbers +%We could use grep and sed to make a csv file +%fclose(txtfileID); +% system(['grep -e ''Raw,'' ',extendedFileName,... +% ' | sed -e ''s/true/1/'' -e ''s/false/0/'' -e ''s/# //'' ',... +% ' -e ''s/Raw,//'' ',... %replace "Raw," with nothing +% '-e ''s/(//g'' -e ''s/)//g'' > ',csvFileName]); +% On versions from v1.4.0.0 N: +% grep on "Raw," replace alpha characters amongst the numbers, +% remove parentheses in the header, +% note use of /g for "global" so sed acts on every occurrence in each line +% csv file "prs.csv" now contains a header row followed by numerical data +% +%But we'll do the same thing using Matlab, so people don't need grep/sed: +csvfileID = fopen(csvFileName,'w'); +while ischar(line) + line = fgetl(txtfileID); + if isempty(strfind(line,'Raw,')) + continue %skip to next line + end + %Now 'line' contains the raw measurements header or data + line = strrep(line,'Raw,',''); + line = strrep(line,'#',''); line = strrep(line,' ','');%remove '#' and spaces + %from versions v1.4.0.0 N we actually dont need to look for '(',')','true' + %or 'false' anymore. So we are done with replacing. That was easy. + fprintf(csvfileID,'%s\n',line); +end +fclose(txtfileID); +fclose(csvfileID); +if isempty(line) %line should be -1 at eof + error('\nError occurred while reading file %s\n',fileName) +end + + +end %end of function MakeCsv +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [header,C] = ReadRawCsv(rawCsvFile) +%% read data from csv file into a numerical matrix 'S' and cell array 'header' +S = csvread(rawCsvFile,1,0);%read numerical data from second row onwards +%Note csvread fills ,, with zero, so we will need a lower level read function to +%tell the difference between empty fields and valid zeros +%T = readtable(csvFileName,'FileType','text'); %use this to debug + +%read header row: +fid = fopen(rawCsvFile); +if fid<0 + error('file ''%s'' not found',rawCsvFile); +end +headerString = fgetl(fid); +if isempty(strfind(headerString,'TimeNanos')) + error('\n"TimeNanos" string not found in file %s\n',fileName) +end + +header=textscan(headerString,'%s','Delimiter',','); +header = header{1}; %this makes header a numFieldsx1 cell array +numFields = size(header,1); + +%check that numFields == size(S,2) +[~,M] = size(S); %M = number of columns +assert(numFields==M,... + '# of header names is different from # of columns of numerical data') + +%read lines using formatSpec so we get TimeNanos and FullBiasNanos as +%int64, everything else as doubles, and empty values as NaN +formatSpec=''; +for i=1:M + %lotsa || here, because we are comparing a vector, 'header' + %to a specific string each time. Not sure how to do this another way + %and still be able to easily read and debug. Better safe than too clever. + + %longs + if i == find(strcmp(header,'TimeNanos')) || ... + i == find(strcmp(header,'FullBiasNanos')) || ... + i == find(strcmp(header,'ReceivedSvTimeNanos')) || ... + i == find(strcmp(header,'ReceivedSvTimeUncertaintyNanos')) || ... + i == find(strcmp(header,'CarrierCycles')) + formatSpec = sprintf('%s %%d64',formatSpec); + elseif 0 + %ints + % TBD maybe %d32 for ints: AccumulatedDeltaRangeState, ... + % ConstellationType, MultipathIndicator, State, Svid + formatSpec = sprintf('%s %%d32',formatSpec); + else + %everything else doubles + formatSpec = sprintf('%s %%f',formatSpec); + end +end +C = textscan(fid,formatSpec,'Delimiter',',','EmptyValue',NaN); +fclose(fid); + +end% of function ReadRawCsv +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +function [dataFilter] = CheckDataFilter(dataFilterIn,header) +%% check that dataFilter has matching values in the header, +% extract this header value and add it as a second column for datafilter +dataFilter = dataFilterIn(:); %make dataFilter a column array +if isempty(dataFilterIn) + return +end +N = length(dataFilter); +%check that each value of dataFilter is valid: i.e. it contains one of the +%header types from the GnssLogger file +L = length(header); +for i=1:N + foundInHeader = zeros(1,L); + for j=1:L + foundInHeader(j) = any(strfind(dataFilter{i,1},header{j})); + end + if ~any(foundInHeader) %no match found (too coold) + error('dataFilter value ''%s'' has no matches in log file header',... + dataFilter{i,1}); + elseif sum(foundInHeader)>1 % too many matches found (tooo hot) + error('dataFilter value ''%s'' has >1 match in log file header',... + dataFilter{i,1}); + else %one match found (juust right) + k = find(foundInHeader);%index into where we found the matching header + dataFilter{i,2} = header{k};%save in second column + end +end +%dataFilter now has two columns: second one contains the matching header type +end% of function CheckDataFilter +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function C = FilterData(C,dataFilter,header) +%% filter C based on contents of dataFilter + +iS = ones(size(C{1})); %initialize index into rows of C +for i=1:size(dataFilter,1) + j=find(strcmp(header,dataFilter{i,2}));%j = index into header + %we should always be a value of j, because checkDataFilter checks for this: + assert(any(j),'dataFilter{i} = %s not found in header\n',dataFilter{i,1}) + + %now we must evaluate the expression in dataFilter{i}, for example: + % 'BiasUncertaintyNanos < 1e7' + %assign the relevant cell of C to a variable with same name as the header + ts = sprintf('%s = C{%d};',header{j},j); + eval(ts); + %create an index vector from the expression in dataFilter{i} + ts = sprintf('iSi = %s;',dataFilter{i,1}); + eval(ts); + + %AND the iS index values on each iteration of i + iS = iS & iSi; +end +%Check if filter removes all values, +if ~any(iS) %if all zeros + fprintf('\nAll measurements removed. Specify dataFilter less strictly, ') + dataFilter(:,1) + return +end + +%Now remove all values of C indexed by iS +for i=1:length(C) + C{i} = C{i}(iS); +end + +end %end of function FilterDataS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +function [gnssRaw,missing] = PackGnssRaw(C,header) +%% pack data into gnssRaw, and report missing fields +assert(length(C)==length(header),... + 'length(C) ~= length(header). This should have been checked before here') + +gnssRaw = []; +%report clock fields present/missing, based on: +gnssClockFields = {... + 'TimeNanos' + 'TimeUncertaintyNanos' + 'LeapSecond' + 'FullBiasNanos' + 'BiasUncertaintyNanos' + 'DriftNanosPerSecond' + 'DriftUncertaintyNanosPerSecond' + 'HardwareClockDiscontinuityCount' + 'BiasNanos' + }; +missing.ClockFields = {}; + +%report measurements fields present/missing, based on: +gnssMeasurementFields = {... + 'Cn0DbHz' + 'ConstellationType' + 'MultipathIndicator' + 'PseudorangeRateMetersPerSecond' + 'PseudorangeRateUncertaintyMetersPerSecond' + 'ReceivedSvTimeNanos' + 'ReceivedSvTimeUncertaintyNanos' + 'State' + 'Svid' + 'AccumulatedDeltaRangeMeters' + 'AccumulatedDeltaRangeUncertaintyMeters' + }; +%leave these out for now, 'cause we dont care (for now), or they're deprecated, +% or they could legitimately be left out (because they are not computed in +% a particular GNSS implementation) +% SnrInDb, TimeOffsetNanos, CarrierFrequencyHz, CarrierCycles, CarrierPhase, +% CarrierPhaseUncertainty +missing.MeasurementFields = {}; + +%pack data into vector variables, if the fields are not NaNs +for j = 1:length(header) + if any(isfinite(C{j})) %not all NaNs + %TBD what if there are some NaNs, but not all. i.e. some missing + %data in the log file - TBD deal with this + eval(['gnssRaw.',header{j}, '=C{j};']); + elseif any(strcmp(header{j},gnssClockFields)) + missing.ClockFields{end+1} = header{j}; + elseif any(strcmp(header{j},gnssMeasurementFields)) + missing.MeasurementFields{end+1} = header{j}; + end +end + +%TBD look for all zeros that can not legitimately be all zero, +%e.g. AccumulatedDeltaRangeMeters, and report these as missing data + +end %end of function PackGnssRaw +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis) +%% check clock values in gnssRaw + +N = length(gnssRaw.ReceivedSvTimeNanos); +%Insist on the presence of TimeNanos (time from hw clock) +if ~isfield(gnssRaw,'TimeNanos') + error('TimeNanos data missing from GnssLogger file\n'); +end +if ~isfield(gnssRaw,'FullBiasNanos') + error('FullBiasNanos is missing or zero, we need it to get gnssRaw week\n') + %TBD change to fatal warning, so a report is still generated, with warning +end +if ~isfield(gnssRaw,'BiasNanos') + gnssRaw.BiasNanos = zeros(N,1); +end +if ~isfield(gnssRaw,'HardwareClockDiscontinuityCount') + gnssRaw.HardwareClockDiscontinuityCount = zeros(N,1); + fprintf('WARNING: Added HardwareClockDiscontinuityCount because it is missing from GNSS Logger file\n'); +end +%auto-detect sign of FullBiasNanos, if it is positive, give warning and change +if ~all(gnssRaw.FullBiasNanos<=0) + gnssRaw.FullBiasNanos = -1*gnssRaw.FullBiasNanos; + fprintf('WARNING: FullBiasNanos wrong sign. Should be negative. Auto changing inside ReadGpsLogger\n'); + gnssAnalysis.GnssClockErrors = [gnssAnalysis.GnssClockErrors,... + sprintf(' FullBiasNanos wrong sign.')]; +end +%now all FullBiasNanos should be negative - if there are any are > 0 it means +%something is very wrong with the log file, because FullBiasNanos has changed +%sign from a large negative to large positive number, and we must assert +assert(all(gnssRaw.FullBiasNanos<=0),... + 'FullBiasNanos changes sign within log file, this should never happen') + +%compute full cycle time of measurement, in milliseonds +gnssRaw.allRxMillis = int64((gnssRaw.TimeNanos - gnssRaw.FullBiasNanos)*1e-6); +%allRxMillis is now accurate to one millisecond (because it's an integer) + +end %end of function CheckGnssClock +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function gnssAnalysis = ReportMissingFields(gnssAnalysis,missing) +%% report missing clock and measurement fields in gnssAnalysis + +%report missing clock fields +if ~isempty(missing.ClockFields) + gnssAnalysis.GnssClockErrors = sprintf(... + '%s Missing Fields:',gnssAnalysis.GnssClockErrors); + for i=1:length(missing.ClockFields) + gnssAnalysis.GnssClockErrors = sprintf(... + '%s %s,',gnssAnalysis.GnssClockErrors,missing.ClockFields{i}); + end + gnssAnalysis.GnssClockErrors(end) = '.';%replace final comma with period +end + +%report missing measurement fields +if ~isempty(missing.MeasurementFields) + gnssAnalysis.GnssMeasurementErrors = sprintf(... + '%s Missing Fields:',gnssAnalysis.GnssMeasurementErrors); + for i=1:length(missing.MeasurementFields) + gnssAnalysis.GnssMeasurementErrors = sprintf(... + '%s %s,',gnssAnalysis.GnssMeasurementErrors,... + missing.MeasurementFields{i}); + end + gnssAnalysis.GnssMeasurementErrors(end) = '.';%replace last comma with period +end + +%assign pass/fail +if isempty(missing.ClockFields) && isempty(missing.MeasurementFields) + gnssAnalysis.ApiPassFail = 'PASS'; +else + gnssAnalysis.ApiPassFail = 'FAIL BECAUSE OF MISSING FIELDS'; +end +end %end of function ReportMissingFields +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/ReadRinexNav.m b/opensource/ReadRinexNav.m new file mode 100644 index 0000000..e6035e2 --- /dev/null +++ b/opensource/ReadRinexNav.m @@ -0,0 +1,257 @@ +function [gpsEph,iono] = ReadRinexNav(fileName) +% [gpsEph,iono] = ReadRinexNav(fileName) +% +% Read GPS ephemeris and iono data from an ASCII formatted RINEX 2.10 Nav file. +% Input: +% fileName - string containing name of RINEX formatted navigation data file +% Output: +% gpsEph: vector of ephemeris data, each element is an ephemeris structure +% structure order and orbit variable names follow RINEX 2.1 Table A4 +% clock variable names af0, af1, af2 follow IS GPS 200 +% gpsEph(i).PRN % SV PRN number +% gpsEph(i).Toc % Time of clock (seconds) +% gpsEph(i).af0 % SV clock bias (seconds) +% gpsEph(i).af1 % SV clock drift (sec/sec) +% gpsEph(i).af2 % SV clock drift rate (sec/sec2) +% gpsEph(i).IODE % Issue of data, ephemeris +% gpsEph(i).Crs % Sine harmonic correction to orbit radius (meters) +% gpsEph(i).Delta_n % Mean motion difference from computed value (radians/sec) +% gpsEph(i).M0 % Mean anomaly at reference time (radians) +% gpsEph(i).Cuc % Cosine harmonic correction to argument of lat (radians) +% gpsEph(i).e % Eccentricity (dimensionless) +% gpsEph(i).Cus % Sine harmonic correction to argument of latitude (radians) +% gpsEph(i).Asqrt % Square root of semi-major axis (meters^1/2) +% gpsEph(i).Toe % Reference time of ephemeris (seconds) +% gpsEph(i).Cic % Sine harmonic correction to angle of inclination (radians) +% gpsEph(i).OMEGA % Longitude of ascending node at weekly epoch (radians) +% gpsEph(i).Cis % Sine harmonic correction to angle of inclination (radians) +% gpsEph(i).i0 % Inclination angle at reference time (radians) +% gpsEph(i).Crc % Cosine harmonic correction to the orbit radius (meters) +% gpsEph(i).omega % Argument of perigee (radians) +% gpsEph(i).OMEGA_DOT% Rate of right ascension (radians/sec) +% gpsEph(i).IDOT % Rate of inclination angle (radians/sec) +% gpsEph(i).codeL2 % codes on L2 channel +% gpsEph(i).GPS_Week % GPS week (to go with Toe), (NOT Mod 1024) +% gpsEph(i).L2Pdata % L2 P data flag +% gpsEph(i).accuracy % SV user range accuracy (meters) +% gpsEph(i).health % Satellite health +% gpsEph(i).TGD % Group delay (seconds) +% gpsEph(i).IODC % Issue of Data, Clock +% gpsEph(i).ttx % Transmission time of message (seconds) +% gpsEph(i).Fit_interval %fit interval (hours), zero if not known +% +% iono: ionospheric parameter structure +% iono.alpha = [alpha0, alpha1, alpha2, alpha3] +% iono.beta = [ beta0, beta1, beta2, beta3] +% if iono data is not present in the Rinex file, iono is returned empty. + +fidEph = fopen(fileName); +[numEph,numHdrLines] = countEph(fidEph); + +%Now read from the begining again, looking for iono parameters +frewind(fidEph); +iono = readIono(fidEph,numHdrLines); + +%initialize ephemeris structure array: +gpsEph = InitializeGpsEph; +gpsEph = repmat(gpsEph,1,numEph); + +%now read each ephemeris into gpsEph(j) +%RINEX defines the format in terms of numbers of characters, so that's how we +%read it, e.g. "gpsEph(j).PRN = str2num(line(1:2));" and so on +for j = 1:numEph + line = fgetl(fidEph); + gpsEph(j).PRN = str2num(line(1:2)); + %NOTE: we use str2num, not str2double, since str2num handles 'D' for exponent + + %% get Toc (Rinex gives this as UTC time yy,mm,dd,hh,mm,ss) + year = str2num(line(3:6)); + %convert year to a 4-digit year, this code is good to the year 2080. + %From 2080 RINEX 2.1 is ambiguous and shouldnt be used, because is has a + %2-digit year, and 100 years will have passed since the GPS Epoch. + if year < 80, + year = 2000+year; + else + year = 1900+year; + end + month = str2num(line(7:9)); + day = str2num(line(10:12)); + hour = str2num(line(13:15)); + minute = str2num(line(16:18)); + second = str2num(line(19:22)); + %convert Toc to gpsTime + gpsTime = Utc2Gps([year,month,day,hour,minute,second]); + gpsEph(j).Toc = gpsTime(2); + %% get all other parameters + gpsEph(j).af0 = str2num(line(23:41)); + gpsEph(j).af1 = str2num(line(42:60)); + gpsEph(j).af2 = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).IODE = str2num(line(4:22)); + gpsEph(j).Crs = str2num(line(23:41)); + gpsEph(j).Delta_n = str2num(line(42:60)); + gpsEph(j).M0 = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).Cuc = str2num(line(4:22)); + gpsEph(j).e = str2num(line(23:41)); + gpsEph(j).Cus = str2num(line(42:60)); + gpsEph(j).Asqrt = str2num(line(61:79)); + + line=fgetl(fidEph); + gpsEph(j).Toe = str2num(line(4:22)); + gpsEph(j).Cic = str2num(line(23:41)); + gpsEph(j).OMEGA = str2num(line(42:60)); + gpsEph(j).Cis = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).i0 = str2num(line(4:22)); + gpsEph(j).Crc = str2num(line(23:41)); + gpsEph(j).omega = str2num(line(42:60)); + gpsEph(j).OMEGA_DOT = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).IDOT = str2num(line(4:22)); + gpsEph(j).codeL2 = str2num(line(23:41)); + gpsEph(j).GPS_Week = str2num(line(42:60)); + gpsEph(j).L2Pdata = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).accuracy = str2num(line(4:22)); + gpsEph(j).health = str2num(line(23:41)); + gpsEph(j).TGD = str2num(line(42:60)); + gpsEph(j).IODC = str2num(line(61:79)); + + line = fgetl(fidEph); + gpsEph(j).ttx = str2num(line(4:22)); + gpsEph(j).Fit_interval = str2num(line(23:41)); +end +fclose(fidEph); + +end %end of function ReadRinexNav +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [numEph,numHdrLines] = countEph(fidEph,fileName) +%utility function for ReadRinexNav +%Read past the header, and then read to the end, counting ephemerides: +numHdrLines = 0; +bFoundHeader = false; +while ~bFoundHeader %Read past the header + numHdrLines = numHdrLines+1; + line = fgetl(fidEph); + if ~ischar(line), break, end + k = strfind(line,'END OF HEADER'); + if ~isempty(k), + bFoundHeader = true; + break + end +end +if ~bFoundHeader + error('Error reading file: %s\nExpected RINEX header not found',fileName); +end +%Now read to the end of the file +numEph = -1; +while 1 + numEph = numEph+1; + line = fgetl(fidEph); + if line == -1, + break; + elseif length(line)~=79 + %use this opportunity to check line is the right length + %because in the rest of ReadRinexNav we depend on line being this length + error('Incorrect line length encountered in RINEX file'); + end +end; +%check that we read the expected number of lines: +if rem(numEph,8)~=0 + error('Number of nav lines in %s should be divisible by 8',fileName); +end +numEph = numEph/8; %8 lines per ephemeris + +end %end of function countEph +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function iono = readIono(fidEph,numHdrLines) +%utility function to read thru the header lines, and find iono parameters + +iono = []; %return empty if iono not found +bIonoAlpha=false; bIonoBeta=false; + +for i = 1:numHdrLines, + line = fgetl(fidEph); + % Look for iono parameters, and read them in + if ~isempty(strfind(line,'ION ALPHA')) %line contains iono alpha parameters + ii = strfind(line,'ION ALPHA'); + iono.alpha=str2num(line(1:ii-1)); + %If we have 4 parameters then we have the complete iono alpha + bIonoAlpha = (length(iono.alpha)==4); + end + if ~isempty(strfind(line,'ION BETA'))%line contains the iono beta parameters + ii = strfind(line,'ION BETA'); + iono.beta=str2num(line(1:ii-1)); + %If we have 4 parameters then we have the complete iono beta + bIonoBeta = (length(iono.beta)==4); + end +end + +if ~(bIonoAlpha && bIonoBeta) + %if we didn't get both alpha and beta iono correctly, then return empty iono + iono=[]; +end + +end %end of function readIono +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +function gpsEph = InitializeGpsEph +%utility function to initialize the ephemeris structure +gpsEph.PRN = 0; +gpsEph.Toc = 0; +gpsEph.af0 = 0; +gpsEph.af1 = 0; +gpsEph.af2 = 0; +gpsEph.IODE = 0; +gpsEph.Crs = 0; +gpsEph.Delta_n = 0; +gpsEph.M0 = 0; +gpsEph.Cuc = 0; +gpsEph.e = 0; +gpsEph.Cus = 0; +gpsEph.Asqrt = 0; +gpsEph.Toe = 0; +gpsEph.Cic = 0; +gpsEph.OMEGA = 0; +gpsEph.Cis = 0; +gpsEph.i0 = 0; +gpsEph.Crc = 0; +gpsEph.omega = 0; +gpsEph.OMEGA_DOT = 0; +gpsEph.IDOT = 0; +gpsEph.codeL2 = 0; +gpsEph.GPS_Week = 0; +gpsEph.L2Pdata = 0; +gpsEph.accuracy = 0; +gpsEph.health = 0; +gpsEph.TGD = 0; +gpsEph.IODC = 0; +gpsEph.ttx = 0; +gpsEph.Fit_interval= 0; + +end %end of function InitializeEph +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +% 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. diff --git a/opensource/RotEcef2Ned.m b/opensource/RotEcef2Ned.m new file mode 100644 index 0000000..533b0f3 --- /dev/null +++ b/opensource/RotEcef2Ned.m @@ -0,0 +1,60 @@ +function Re2n = RotEcef2Ned(latDeg, lonDeg) +% Re2n = RotEcef2Ned(latDeg, lonDeg) +% Rotation matrix to convert an ECEF vector to +% North, East, Down coordinates, and vice-versa +% +% inputs: latDeg, lonDeg (degrees) +% output: Re2n, 3x3 unitary rotation matrix = +% [-sin(lat)*cos(lon), -sin(lat)*sin(lon), cos(lat); +% -sin(lon), cos(lon), 0 ; +% -cos(lat)*cos(lon), -cos(lat)*sin(lon),-sin(lat)] +% +% Example: vNed = Re2n*vEcef, +% Re2n'*vNed = vEcef + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%CHECK INPUTS +if any(size(latDeg)~=[1,1]) || any(size(lonDeg)~=[1,1]) + error('Inputs latDeg, lonDeg must be scalars') +end + +D2R = pi/180; %degrees to radians scale factor +latRad=D2R*latDeg(:); lonRad=D2R*lonDeg(:); + +clat = cos(latRad); +slat = sin(latRad); +clon = cos(lonRad); +slon = sin(lonRad); + +Re2n = zeros(3,3); +Re2n(1,1) = -slat.*clon; +Re2n(1,2) = -slat.*slon; +Re2n(1,3) = clat; + +Re2n(2,1) = -slon; +Re2n(2,2) = clon; +Re2n(2,3) = 0; + +Re2n(3,1) = -clat.*clon; +Re2n(3,2) = -clat.*slon; +Re2n(3,3) = -slat; + +end %end of function RotEcef2Ned +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/SetDataFilter.m b/opensource/SetDataFilter.m new file mode 100644 index 0000000..b3f4432 --- /dev/null +++ b/opensource/SetDataFilter.m @@ -0,0 +1,101 @@ +function dataFilter = SetDataFilter +% dataFilter = SetDataFilter +% Function to set data filter for use with ReadGnssLogger +% This function has no inputs. Edit it directly to change the data filter +% +% Rule for setting dataFilter: +% dataFilter{i} is a cell with a string with a valid matlab expression, +% containing one of the 'Raw' headings in the GnssLogger log file +% and where any comparison is against a scalar value +% +% the heading type may be repeated, for example, +% dataFilter{i} = 'ConstellationType==1 | ConstellationType==3'; +% but you may not have more than one heading type in a single dataFilter{i} cell + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +%filter for fine time measurements only <=> uncertainty < 10 ms = 1e7 ns +dataFilter{1} = 'BiasUncertaintyNanos < 1e7'; + +%you can create other filters in the same way ... +%for example, suppose you want to remove Svid 23: +% dataFilter{end+1} = 'Svid~=23'; +%or suppose you want to keep only Svid 2,5,10, & 17 +% dataFilter{end+1} = 'Svid==2 | Svid==5 | Svid==10 | Svid==17'; +% NOTE: you *cannot* use 'any(Svid)==[2,5,10,17]' because Svid refers to a +% vector variable and you must compare it to a scalar. + +%keep only Svid 2 +% dataFilter{end+1} = 'Svid==2'; + +%limit to GPS only: +dataFilter{end+1} = 'ConstellationType==1'; +%ConstellationType values are defined in Android HAL Documentation, gps.h, +% typedef uint8_t GnssConstellationType; +% #define GNSS_CONSTELLATION_UNKNOWN 0 +% #define GNSS_CONSTELLATION_GPS 1 +% #define GNSS_CONSTELLATION_SBAS 2 +% #define GNSS_CONSTELLATION_GLONASS 3 +% #define GNSS_CONSTELLATION_QZSS 4 +% #define GNSS_CONSTELLATION_BEIDOU 5 +% #define GNSS_CONSTELLATION_GALILEO 6 + +%Example of how to select satellites from GPS and GLONASS: +% dataFilter{end+1} = 'ConstellationType==1 | ConstellationType==3'; +%You may use the heading value (e.g. 'ConstellationType') more than once, +%so long as you dont use different heading types in one dataFilter{} entry + +%bitwise data filters +%some fields are defined bitwise, including: State, AccumulatedDeltaRangeState +% +% GnssMeasurementState values are defined in Android HAL Documentation, gps.h, +% typedef uint32_t GnssMeasurementState; +% #define GNSS_MEASUREMENT_STATE_UNKNOWN 0 +% #define GNSS_MEASUREMENT_STATE_CODE_LOCK (1<<0) +% #define GNSS_MEASUREMENT_STATE_BIT_SYNC (1<<1) +% #define GNSS_MEASUREMENT_STATE_SUBFRAME_SYNC (1<<2) +% #define GNSS_MEASUREMENT_STATE_TOW_DECODED (1<<3) +% #define GNSS_MEASUREMENT_STATE_MSEC_AMBIGUOUS (1<<4) +% #define GNSS_MEASUREMENT_STATE_SYMBOL_SYNC (1<<5) +% #define GNSS_MEASUREMENT_STATE_GLO_STRING_SYNC (1<<6) +% #define GNSS_MEASUREMENT_STATE_GLO_TOD_DECODED (1<<7) +% #define GNSS_MEASUREMENT_STATE_BDS_D2_BIT_SYNC (1<<8) +% #define GNSS_MEASUREMENT_STATE_BDS_D2_SUBFRAME_SYNC (1<<9) +% #define GNSS_MEASUREMENT_STATE_GAL_E1BC_CODE_LOCK (1<<10) +% #define GNSS_MEASUREMENT_STATE_GAL_E1C_2ND_CODE_LOCK (1<<11) +% #define GNSS_MEASUREMENT_STATE_GAL_E1B_PAGE_SYNC (1<<12) +% #define GNSS_MEASUREMENT_STATE_SBAS_SYNC (1<<13) + +%Example of how to use dataFilter for GnssMeasurementState 'State' bit fields: +%filter on GPS measurements with Code lock & TOW decoded: +dataFilter{end+1} = 'bitand(State,2^0) & bitand(State,2^3)'; +% GNSS_MEASUREMENT_STATE_CODE_LOCK & GNSS_MEASUREMENT_STATE_TOW_DECODED + +% GnssAccumulatedDeltaRangeState values are defined gps.h, +% typedef uint16_t GnssAccumulatedDeltaRangeState; +% #define GNSS_ADR_STATE_UNKNOWN 0 +% #define GNSS_ADR_STATE_VALID (1<<0) +% #define GNSS_ADR_STATE_RESET (1<<1) +% #define GNSS_ADR_STATE_CYCLE_SLIP (1<<2) +% +%Example of how to use dataFilter for ADR State bit fields: +% get AccumulatedDeltaRangeState values that are valid +% dataFilter{end+1} = 'bitand(AccumulatedDeltaRangeState,1)'; +end %end of function SetDataFilter +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/Utc2Gps.m b/opensource/Utc2Gps.m new file mode 100644 index 0000000..3bb2efa --- /dev/null +++ b/opensource/Utc2Gps.m @@ -0,0 +1,111 @@ +function [gpsTime,fctSeconds] = Utc2Gps(utcTime) +% [gpsTime,fctSeconds] = Utc2Gps(utcTime) +% Convert the UTC date and time to GPS week & seconds +% +% Inputs: +% utcTime: [mx6] matrix +% utcTime(i,:) = [year,month,day,hours,minutes,seconds] +% year must be specified using four digits, e.g. 1994 +% year valid range: 1980 <= year <= 2099 +% +% Outputs: +% gpsTime: [mx2] matrix [gpsWeek, gpsSeconds], +% gpsWeek = number of weeks since GPS epoch +% gpsSeconds = number of seconds into gpsWeek, +% fctSeconds: full cycle time = seconds since GPS epoch (1980/01/06 00:00 UTC) + +% Other functions needed: JulianDay.m, LeapSeconds.m + +%initialize outputs +gpsTime=[]; +fctSeconds=[]; + +[bOk]=CheckUtcTimeInputs(utcTime); +if ~bOk + return +end + +HOURSEC = 3600; MINSEC = 60; +daysSinceEpoch = floor(JulianDay(utcTime) - GpsConstants.GPSEPOCHJD); + +gpsWeek = fix(daysSinceEpoch/7); +dayofweek = rem(daysSinceEpoch,7); +% calculate the number of seconds since Sunday at midnight: +gpsSeconds = dayofweek*GpsConstants.DAYSEC + utcTime(:,4)*HOURSEC + ... + utcTime(:,5)*MINSEC + utcTime(:,6); +gpsWeek = gpsWeek + fix(gpsSeconds/GpsConstants.WEEKSEC); +gpsSeconds = rem(gpsSeconds,GpsConstants.WEEKSEC); + +% now add leapseconds +leapSecs = LeapSeconds(utcTime); +fctSeconds = gpsWeek(:)*GpsConstants.WEEKSEC + gpsSeconds(:) + leapSecs(:); +% when a leap second happens, utc time stands still for one second, +% so gps seconds get further ahead, so we add leapsecs in going to gps time + +gpsWeek = fix(fctSeconds/GpsConstants.WEEKSEC); +iZ = gpsWeek==0; +gpsSeconds(iZ) = fctSeconds(iZ); %set gpsSeconds directly, because rem(x,0)=NaN +gpsSeconds(~iZ) = rem(fctSeconds(~iZ),gpsWeek(~iZ)*GpsConstants.WEEKSEC); + +gpsTime=[gpsWeek,gpsSeconds]; +assert(all(fctSeconds==gpsWeek*GpsConstants.WEEKSEC+gpsSeconds),... + 'Error in computing gpsWeek, gpsSeconds'); + +end %end of function Utc2Gps +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [bOk] = CheckUtcTimeInputs(utcTime) +%utility function for Utc2Gps + +%check inputs +if size(utcTime,2)~=6 + error('utcTime must have 6 columns') +end + +%check that year, month & day are integers +x = utcTime(:,1:3); +if any(any( (x-fix(x)) ~= 0 )) + error('year,month & day must be integers') +end + +%check that year is in valid range +if ( any(utcTime(:,1)<1980) || any(utcTime(:,1)>2099) ) + error('year must have values in the range: [1980:2099]') +end + +%check validity of month, day and time +if (any(utcTime(:,2))<1 || any(utcTime(:,2))>12 ) + error('The month in utcTime must be a number in the set [1:12]') +end +if (any(utcTime(:,3)<1) || any(utcTime(:,3)>31)) + error('The day in utcTime must be a number in the set [1:31]') +end +if (any(utcTime(:,4)<0) || any(utcTime(:,4)>=24)) + error('The hour in utcTime must be in the range [0,24)') +end +if (any(utcTime(:,5)<0) || any(utcTime(:,5)>=60)) + error('The minutes in utcTime must be in the range [0,60)') +end +if (any(utcTime(:,6)<0) || any(utcTime(:,6)>60)) + %Note: seconds can equal 60 exactly, on the second a leap second is added + error('The seconds in utcTime must be in the range [0,60]') +end + +bOk = true; + +end %end of function CheckUtcTimeInputs +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. diff --git a/opensource/WlsPvt.m b/opensource/WlsPvt.m new file mode 100644 index 0000000..f722b04 --- /dev/null +++ b/opensource/WlsPvt.m @@ -0,0 +1,172 @@ +function [xHat,z,svPos,H,Wpr,Wrr] = WlsPvt(prs,gpsEph,xo) +% [xHat,z,svPos,H,Wpr,Wrr] = WlsPvt(prs,gpsEph,xo) +% calculate a weighted least squares PVT solution, xHat +% given pseudoranges, pr rates, and initial state +% +% Inputs: +% prs: matrix of raw pseudoranges, and pr rates, each row of the form: +% [trxWeek,trxSeconds,sv,prMeters,prSigmaMeters,prrMps,prrSigmaMps] +% trxWeek, trxSeconds: Rx time of measurement +% where trxSeconds = seconds in the current GPS week +% sv: satellite id number +% prMeters, prSigmaMeters: pseudorange and standard deviation (meters) +% prrMps, prrSigmaMps: pseudorange rate and standard deviation (m/s) +% gpsEph: matching vector of GPS ephemeris struct, defined in ReadRinexNav +% xo: initial (previous) state, [x,y,z,bc,xDot,yDot,xDot,bcDot]' +% in ECEF coordinates(meters and m/s) +% +% Outputs: xHat: estimate of state update +% z = [zPr; zPrr] a-posteriori residuals (measured-calculated) +% svPos: matrix of calculated sv positions and sv clock error: +% [sv prn, x,y,z (ecef m), dtsv (s),xDot,yDot,zDot, dtsvDot] +% H: H observation matrix corresponding to svs in svPos(:,1) +% Wpr,Wrr Weights used in WlsPvt = 1/diag(sigma measurements) +% use these matrices to compute variances of xHat +% +% The PVT solution = xo + xHat, in ECEF coordinates +% For unweighted solution, set all sigmas = 1 + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +jWk=1; jSec=2; jSv=3; jPr=4; jPrSig=5; jPrr=6; jPrrSig=7;%index of columns + +[bOk,numVal] = checkInputs(prs, gpsEph, xo); +if ~bOk + error('inputs not right size, or not properly aligned with each other') +end + +xHat=[]; z=[]; H=[]; svPos=[]; +xyz0 = xo(1:3); +bc = xo(4); + +if numVal<4 + return +end +ttxWeek = prs(:,jWk); %week of tx. Note - we could get a rollover, when ttx_sv +%goes negative, and it is handled in GpsEph2Pvt, where we work with fct +ttxSeconds = prs(:,jSec) - prs(:,jPr)/GpsConstants.LIGHTSPEED; %ttx by sv clock +% this is accurate satellite time of tx, because we use actual pseudo-ranges +% here, not corrected ranges +% write the equation for pseudorange to see the rx clock error exactly cancel +% to get precise GPS time: we subtract the satellite clock error from sv time, +% as done next: +dtsv = GpsEph2Dtsv(gpsEph,ttxSeconds); +dtsv = dtsv(:); %make into a column for compatibility with other time vectors +ttx = ttxSeconds - dtsv; %subtract dtsv from sv time to get true gps time + +%calculate satellite position at ttx +[svXyzTtx,dtsv,svXyzDot,dtsvDot]=GpsEph2Pvt(gpsEph,[ttxWeek,ttx]); +svXyzTrx = svXyzTtx; %initialize svXyz at time of reception + +%Compute weights --------------------------------------------------- +Wpr = diag(1./prs(:,jPrSig)); +Wrr = diag(1./prs(:,jPrrSig)); + +%iterate on this next part tilL change in pos & line of sight vectors converge +xHat=zeros(4,1); +dx=xHat+inf; +whileCount=0; maxWhileCount=100; +%we expect the while loop to converge in < 10 iterations, even with initial +%position on other side of the Earth (see Stanford course AA272C "Intro to GPS") +while norm(dx) > GnssThresholds.MAXDELPOSFORNAVM + whileCount=whileCount+1; + assert(whileCount < maxWhileCount,... + 'while loop did not converge after %d iterations',whileCount); + for i=1:length(gpsEph) + % calculate tflight from, bc and dtsv + dtflight = (prs(i,jPr)-bc)/GpsConstants.LIGHTSPEED + dtsv(i); + % Use of bc: bc>0 <=> pr too big <=> tflight too big. + % i.e. trx = trxu - bc/GpsConstants.LIGHTSPEED + % Use of dtsv: dtsv>0 <=> pr too small <=> tflight too small. + % i.e ttx = ttxsv - dtsv + svXyzTrx(i,:) = FlightTimeCorrection(svXyzTtx(i,:), dtflight); + end + + %calculate line of sight vectors and ranges from satellite to xo + v = xyz0(:)*ones(1,numVal,1) - svXyzTrx';%v(:,i) = vector from sv(i) to xyz0 + range = sqrt( sum(v.^2) ); + v = v./(ones(3,1)*range); % line of sight unit vectors from sv to xo + + svPos=[prs(:,3),svXyzTrx,dtsv(:)]; + + %calculate the a-priori range residual + prHat = range(:) + bc -GpsConstants.LIGHTSPEED*dtsv; + % Use of bc: bc>0 <=> pr too big <=> rangehat too big + % Use of dtsv: dtsv>0 <=> pr too small + + zPr = prs(:,jPr)-prHat; + H = [v', ones(numVal,1)]; % H matrix = [unit vector,1] + + %z = Hx, premultiply by W: Wz = WHx, and solve for x: + dx = pinv(Wpr*H)*Wpr*zPr; + + % update xo, xhat and bc + xHat=xHat+dx; + xyz0=xyz0(:)+dx(1:3); + bc=bc+dx(4); + + %Now calculate the a-posteriori range residual + zPr = zPr-H*dx; +end + +% Compute velocities --------------------------------------------------------- +rrMps = zeros(numVal,1); +for i=1:numVal + %range rate = [satellite velocity] dot product [los from xo to sv] + rrMps(i) = -svXyzDot(i,:)*v(:,i); +end +prrHat = rrMps + xo(8) - GpsConstants.LIGHTSPEED*dtsvDot; +zPrr = prs(:,jPrr)-prrHat; +%z = Hx, premultiply by W: Wz = WHx, and solve for x: +vHat = pinv(Wrr*H)*Wrr*zPrr; +xHat = [xHat;vHat]; + +z = [zPr;zPrr]; + +end %end of function WlsPvt +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +function [bOk,numVal] = checkInputs(prs, gpsEph, xo) +%utility function for WlsPvt +jWk=1; jSec=2; jSv=3; jPr=4; jPrSig=5; jPrr=6; jPrrSig=7;%index of columns + +bOk=false; +%check inputs +numVal=size(prs,1); +if (max(prs(:,jSec))-min(prs(:,jSec)))> eps + return +elseif length(gpsEph)~=numVal + return +elseif any(prs(:,jSv) ~= [gpsEph.PRN]') + return +elseif any(size(xo) ~= [8,1]) + return +elseif size(prs,2)~=7 + return +else + bOk = true; +end + +%We insist that gpsEph and prs are aligned first. +%ClosestGpsEph.m does this, and passes back indices for prs - this is the way to +%do it right, so we don't have nested searches for svId + +end %end of function checkInputs +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% 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. + diff --git a/opensource/Xyz2Lla.m b/opensource/Xyz2Lla.m new file mode 100644 index 0000000..8018245 --- /dev/null +++ b/opensource/Xyz2Lla.m @@ -0,0 +1,82 @@ +function [llaDegDegM] = Xyz2Lla(xyzM) +% [llaDegDegM] = Xyz2Lla(xyzM) +% +% Transform Earth-Centered-Earth-Fixed x,y,z, coordinates to lat,lon,alt. +% Input: xyzM = [mx3] matrix of ECEF coordinates in meters +% Output: llaDegDegM = [mx3] matrix = [latDeg,lonDeg,altM] +% latitude, longitude are returned in degrees and altitude in meters +% +% See also Lla2Xyz + +%Author: Frank van Diggelen +%Open Source code for processing Android GNSS Measurements + +% check inputs +if size(xyzM,2)~=3 + error('Input xyzM must have three columns'); +end +% algorithm: Hoffman-Wellenhof, Lichtenegger & Collins "GPS Theory & Practice" +R2D = 180/pi; + +%if x and y ecef positions are both zero then lla is undefined +iZero = ( xyzM(:,1)==0 & xyzM(:,2)==0); +xyzM(iZero,:) = NaN; %set to NaN, so lla will also be NaN + +xM = xyzM(:,1); yM = xyzM(:,2); zM = xyzM(:,3); +%following algorithm from Hoffman-Wellenhof, et al. "GPS Theory & Practice": +a = GpsConstants.EARTHSEMIMAJOR; +a2 = a^2; +b2 = a2*(1-GpsConstants.EARTHECCEN2); +b = sqrt(b2); +e2 = GpsConstants.EARTHECCEN2; +ep2 = (a2-b2)/b2; +p=sqrt(xM.^2 + yM.^2); + +% two sides and hypotenuse of right angle triangle with one angle = theta: +s1 = zM*a; +s2 = p*b; +h = sqrt(s1.^2 + s2.^2); +sin_theta = s1./h; +cos_theta = s2./h; +%theta = atan(s1./s2); + +% two sides and hypotenuse of right angle triangle with one angle = lat: +s1 = zM+ep2*b*(sin_theta.^3); +s2 = p-a*e2.*(cos_theta.^3); +h = sqrt(s1.^2 + s2.^2); +tan_lat = s1./s2; +sin_lat = s1./h; +cos_lat = s2./h; +latDeg = atan(tan_lat); +latDeg = latDeg*R2D; + +N = a2*((a2*(cos_lat.^2) + b2*(sin_lat.^2)).^(-0.5)); +altM = p./cos_lat - N; + +% rotate longitude to where it would be for a fixed point in ECI +%lonDeg = atan2(yM,xM) - GpsConstants.WE*deltaTime; +lonDeg = atan2(yM,xM); %since deltaTime = 0 for ECEF +lonDeg = rem(lonDeg,2*pi)*R2D; +if (lonDeg>180) + lonDeg = lonDeg-360; +end +llaDegDegM = [latDeg, lonDeg,altM]; + +end %end of function Xyz2Lla +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + +% 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. + diff --git a/opensource/demoFiles/hour1820.16n b/opensource/demoFiles/hour1820.16n new file mode 100644 index 0000000..2fbd4dc --- /dev/null +++ b/opensource/demoFiles/hour1820.16n @@ -0,0 +1,3352 @@ + 2 NAVIGATION DATA RINEX VERSION / TYPE +CCRINEXN V1.6.0 UX CDDIS 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1.4.0.0, Platform: N +# +# Raw,ElapsedRealtimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount, Svid,TimeOffsetNanos,State,ReceivedSvTimeNanos,ReceivedSvTimeUncertaintyNanos,Cn0DbHz,PseudorangeRateMetersPerSecond,PseudorangeRateUncertaintyMetersPerSecond,AccumulatedDeltaRangeState,AccumulatedDeltaRangeMeters,AccumulatedDeltaRangeUncertaintyMeters,CarrierFrequencyHz,CarrierCycles,CarrierPhase,CarrierPhaseUncertainty,MultipathIndicator,SnrInDb,ConstellationType +# +# Fix,Provider,Latitude,Longitude,Altitude,Speed,Accuracy,(UTC)TimeInMs +# +# Nav,Svid,Type,Status,MessageId,Sub-messageId,Data(Bytes) +# +Fix,gps,37.422541,-122.081659,-33.000000,0.000000,3.000000,1467321969000 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