Browse Source
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).pull/1/merge
Frank van Diggelen
9 years ago
commit
9607dfad52
49 changed files with 20958 additions and 0 deletions
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@ -0,0 +1,183 @@
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function [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) |
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%[allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) |
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%Get hourly ephemeris files, |
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% If a GPS ephemeris file is in dirName, with valid ephemeris for at |
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% least 24 svs, then read it; else download from NASA's archive of |
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% Space Geodesy Data |
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% |
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%Output allGpsEph structure of ephemerides in format defined in ReadRinexNav.m |
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% TBD: allGloEph, and any other supported by the NSA ftp site |
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% |
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%examples of how to call GetNasaHourlyEphemeris: |
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%1) with /demoFiles and utcTime where ephemeris has already been downloaded: |
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% replace '~/...' with actual path: |
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% dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles'; |
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% utcTime = [2016,8,22,22,50,00]; |
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% [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) |
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% |
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%2) with utcTime for which ephemeris has not been downloaded, |
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% this exercises the automatic ftp download. |
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% Replace '~' with actual path: |
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% dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles'; |
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% utcTime = [2016,5,ceil(rand(1,2).*[30,24]),0,0],%a random Hour and Day in May |
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% [allGpsEph,allGloEph] = GetNasaHourlyEphemeris(utcTime,dirName) |
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% |
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% More details: |
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% The Nasa ephemeris Unix-compressed. |
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% GetNasaHourlyEphemeris will automatically uncompress it, if you have the right |
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% uncompress function on you computer. If you need to install an unzip utility, |
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% see http://cddis.nasa.gov/ and http://www.gpzip.org |
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% Search for 'uncompress' in the GetNasaHourlyEphemeris function to find and |
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% edit the name of the unzip utility. |
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%Author: Frank van Diggelen |
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%Open Source code for processing Android GNSS Measurements |
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allGpsEph=[];allGloEph=[]; |
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if nargin<2 |
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dirName = []; |
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end |
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[bOk,dirName] = CheckInputs(utcTime,dirName); |
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if ~bOk, return, end |
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|
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%Description of file names, see: |
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%http://cddis.gsfc.nasa.gov/Data_and_Derived_Products/GNSS/... |
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% broadcast_ephemeris_data.html#GPShourly |
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yearNumber4Digit = utcTime(1); |
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yearNumber2Digit = rem(utcTime(1),100); |
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dayNumber = DayOfYear(utcTime); |
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hourlyZFile = sprintf('hour%03d0.%02dn.Z',dayNumber,yearNumber2Digit); |
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ephFilename = hourlyZFile(1:end-2); |
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fullEphFilename = [dirName,ephFilename]; %full name (with directory specified) |
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|
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%check if ephemeris file already exists (e.g. you downloaded it 'by hand') |
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%and if there are fresh ephemeris for lotsa sats within 2 hours of fctSeconds |
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bGotGpsEph = false; |
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if exist(fullEphFilename,'file')==2 |
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%% file exists locally, so read it |
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fprintf('Reading GPS ephemeris from ''%s'' file in local directory\n',... |
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ephFilename); |
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fprintf('%s\n',dirName); |
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allGpsEph = ReadRinexNav(fullEphFilename); |
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[~,fctSeconds] = Utc2Gps(utcTime); |
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ephAge = [allGpsEph.GPS_Week]*GpsConstants.WEEKSEC + [allGpsEph.Toe] - ... |
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fctSeconds; |
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%get index into fresh and healthy ephemeris (health bit set => unhealthy) |
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iFreshAndHealthy = abs(ephAge)<GpsConstants.EPHVALIDSECONDS & ... |
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~[allGpsEph.health]; |
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%TBD look at allEph.Fit_interval, and deal with values > 0 |
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goodEphSvs = unique([allGpsEph(iFreshAndHealthy).PRN]); |
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if length(goodEphSvs)>=GnssThresholds.MINNUMGPSEPH |
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bGotGpsEph = true; |
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end |
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end |
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|
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if ~bGotGpsEph |
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%% get ephemeris from Nasa site |
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ftpSiteName = 'cddis.gsfc.nasa.gov'; |
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hourlyDir=sprintf('/gnss/data/hourly/%4d/%03d/',yearNumber4Digit,dayNumber); |
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fprintf('\nGetting GPS ephemeris ''%s'' from NASA ftp site ...',hourlyZFile) |
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fprintf('\nftp://%s%s\n',ftpSiteName,hourlyDir); |
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|
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%check that the dirName has been properly specified |
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if strfind(dirName,'~') |
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fprintf('\nYou set: dirName = ''%s''\n',dirName) |
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fprintf('To download ephemeris from ftp,') |
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fprintf(' specify ''dirName'' with full path, and no tilde ''~''\n') |
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fprintf('Change ''dirName'' or download ephemeris file ''%s'' by hand\n',... |
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hourlyZFile); |
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fprintf('To unzip the *.Z file, see http://www.gzip.org/\n') |
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return |
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end |
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|
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try |
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nasaFtp=ftp(ftpSiteName); %connect to ftp server and create ftp object |
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cd(nasaFtp,hourlyDir); |
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zF = mget(nasaFtp,hourlyZFile,dirName); %get compressed (.Z) file |
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catch |
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%failed automatic ftp, ask user to do this by hand |
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fprintf('\nAutomatic ftp download failed.\n') |
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fprintf('Please go to this ftp, ftp://cddis.gsfc.nasa.gov/ \n') |
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fprintf('and get this file:%s%s \n',hourlyDir,hourlyZFile); |
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fprintf('Extract contents to the directory with your pseudorange log file:\n') |
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fprintf('%s\n',dirName) |
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fprintf('To unzip the *.Z file, see http://www.gzip.org/\n') |
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fprintf('Then run this function again, it will read from that directory\n') |
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return |
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end |
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|
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%Now we have the zipped file from nasa. Unzip it: |
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unzipCommand='uncompress';%edit if your platform uses something different |
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if any(strfind(computer,'PCWIN')) |
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unzipCommand='gunzip'; |
||||
end |
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s = sprintf('%s "%s"',unzipCommand,zF{1}); %string for system command |
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[sysFlag,result] = system(s); |
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if any(sysFlag) |
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fprintf('\nError in GetNasaHourlyEphemeris.m\n') |
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fprintf('%s',result); |
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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') |
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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 |
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
||||
|
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% Copyright 2016 Google Inc. |
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% |
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% Licensed under the Apache License, Version 2.0 (the "License"); |
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% you may not use this file except in compliance with the License. |
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% You may obtain a copy of the License at |
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% |
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% http://www.apache.org/licenses/LICENSE-2.0 |
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% |
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% Unless required by applicable law or agreed to in writing, software |
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% distributed under the License is distributed on an "AS IS" BASIS, |
||||
% 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. |
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|
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@ -0,0 +1,202 @@
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Apache License |
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Version 2.0, January 2004 |
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http://www.apache.org/licenses/ |
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TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION |
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@ -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. |
||||
|
||||
|
||||
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Reference in new issue