diff --git a/GNSSLogger/app/app.iml b/GNSSLogger/app/app.iml index af54888..71d78db 100644 --- a/GNSSLogger/app/app.iml +++ b/GNSSLogger/app/app.iml @@ -8,12 +8,12 @@ - - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + @@ -84,13 +77,9 @@ + - - - - - @@ -104,11 +93,18 @@ + + + + + + + @@ -120,29 +116,18 @@ - - - - - - - - + - - + - - - - + \ No newline at end of file diff --git a/GNSSLogger/build.gradle b/GNSSLogger/build.gradle index a3330d4..74b2ab0 100644 --- a/GNSSLogger/build.gradle +++ b/GNSSLogger/build.gradle @@ -5,7 +5,7 @@ buildscript { jcenter() } dependencies { - classpath 'com.android.tools.build:gradle:2.2.0' + classpath 'com.android.tools.build:gradle:2.2.3' // NOTE: Do not place your application dependencies here; they belong // in the individual module build.gradle files diff --git a/GNSSLogger/local.properties b/GNSSLogger/local.properties index fd43cc3..ba2792a 100644 --- a/GNSSLogger/local.properties +++ b/GNSSLogger/local.properties @@ -1,10 +1,11 @@ ## This file is automatically generated by Android Studio. # Do not modify this file -- YOUR CHANGES WILL BE ERASED! # -# This file should *NOT* be checked into Version Control Systems, +# This file must *NOT* be checked into Version Control Systems, # as it contains information specific to your local configuration. # # Location of the SDK. This is only used by Gradle. # For customization when using a Version Control System, please read the # header note. -sdk.dir=/media/build/master/prebuilts/fullsdk/linux \ No newline at end of file +#Wed Mar 08 14:07:24 GMT 2017 +sdk.dir=C\:\\Utils\\Android\\sdk diff --git a/opensource/CheckDataFilter.m b/ProcessGNSSMeas/CheckDataFilter.m similarity index 100% rename from opensource/CheckDataFilter.m rename to ProcessGNSSMeas/CheckDataFilter.m diff --git a/opensource/CheckGpsEphInputs.m b/ProcessGNSSMeas/CheckGpsEphInputs.m similarity index 100% rename from opensource/CheckGpsEphInputs.m rename to ProcessGNSSMeas/CheckGpsEphInputs.m diff --git a/opensource/ClosestGpsEph.m b/ProcessGNSSMeas/ClosestGpsEph.m similarity index 100% rename from opensource/ClosestGpsEph.m rename to ProcessGNSSMeas/ClosestGpsEph.m diff --git a/opensource/CompareVersions.m b/ProcessGNSSMeas/CompareVersions.m similarity index 100% rename from opensource/CompareVersions.m rename to ProcessGNSSMeas/CompareVersions.m diff --git a/opensource/Contents.m b/ProcessGNSSMeas/Contents.m similarity index 100% rename from opensource/Contents.m rename to ProcessGNSSMeas/Contents.m diff --git a/opensource/DayOfYear.m b/ProcessGNSSMeas/DayOfYear.m similarity index 100% rename from opensource/DayOfYear.m rename to ProcessGNSSMeas/DayOfYear.m diff --git a/opensource/FlightTimeCorrection.m b/ProcessGNSSMeas/FlightTimeCorrection.m similarity index 100% rename from opensource/FlightTimeCorrection.m rename to ProcessGNSSMeas/FlightTimeCorrection.m diff --git a/opensource/GetNasaHourlyEphemeris.m b/ProcessGNSSMeas/GetNasaHourlyEphemeris.m similarity index 100% rename from opensource/GetNasaHourlyEphemeris.m rename to ProcessGNSSMeas/GetNasaHourlyEphemeris.m diff --git a/opensource/GnssThresholds.m b/ProcessGNSSMeas/GnssThresholds.m similarity index 100% rename from opensource/GnssThresholds.m rename to ProcessGNSSMeas/GnssThresholds.m diff --git a/opensource/Gps2Utc.m b/ProcessGNSSMeas/Gps2Utc.m similarity index 97% rename from opensource/Gps2Utc.m rename to ProcessGNSSMeas/Gps2Utc.m index e8cc6d7..703d6cd 100644 --- a/opensource/Gps2Utc.m +++ b/ProcessGNSSMeas/Gps2Utc.m @@ -1,155 +1,155 @@ -function [utcTime] = Gps2Utc(gpsTime,fctSeconds) -% [utcTime] = Gps2Utc(gpsTime,[fctSeconds]) -% Convert GPS time (week & seconds), or Full Cycle Time (seconds) to UTC -% -% Input: gpsTime, [mx2] matrix [gpsWeek, gpsSeconds], -% fctSeconds, [optional] Full Cycle Time (seconds) -% -% Outputs: utcTime, [mx6] matrix = [year,month,day,hours,minutes,seconds] -% -% If fctSeconds is provided, gpsTime is ignored -% -% Valid range of inputs: -% gps times corresponding to 1980/6/1 <= time < 2100/1/1 -% i.e. [0,0] <= gpsTime < [6260, 432000] -% 0 <= fctSeconds < 3786480000 -% -% 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 nargin<2 && size(gpsTime,2)~=2 - error('gpsTime must have two columns') -end -if nargin<2 - fctSeconds = gpsTime*[GpsConstants.WEEKSEC; 1]; -end - -%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. - +function [utcTime] = Gps2Utc(gpsTime,fctSeconds) +% [utcTime] = Gps2Utc(gpsTime,[fctSeconds]) +% Convert GPS time (week & seconds), or Full Cycle Time (seconds) to UTC +% +% Input: gpsTime, [mx2] matrix [gpsWeek, gpsSeconds], +% fctSeconds, [optional] Full Cycle Time (seconds) +% +% Outputs: utcTime, [mx6] matrix = [year,month,day,hours,minutes,seconds] +% +% If fctSeconds is provided, gpsTime is ignored +% +% Valid range of inputs: +% gps times corresponding to 1980/6/1 <= time < 2100/1/1 +% i.e. [0,0] <= gpsTime < [6260, 432000] +% 0 <= fctSeconds < 3786480000 +% +% 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 nargin<2 && size(gpsTime,2)~=2 + error('gpsTime must have two columns') +end +if nargin<2 + fctSeconds = gpsTime*[GpsConstants.WEEKSEC; 1]; +end + +%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/ProcessGNSSMeas/GpsAdrResiduals.m similarity index 100% rename from opensource/GpsAdrResiduals.m rename to ProcessGNSSMeas/GpsAdrResiduals.m diff --git a/opensource/GpsConstants.m b/ProcessGNSSMeas/GpsConstants.m similarity index 100% rename from opensource/GpsConstants.m rename to ProcessGNSSMeas/GpsConstants.m diff --git a/opensource/GpsEph2Dtsv.m b/ProcessGNSSMeas/GpsEph2Dtsv.m similarity index 97% rename from opensource/GpsEph2Dtsv.m rename to ProcessGNSSMeas/GpsEph2Dtsv.m index 379aa05..c990ffa 100644 --- a/opensource/GpsEph2Dtsv.m +++ b/ProcessGNSSMeas/GpsEph2Dtsv.m @@ -1,89 +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. - +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/ProcessGNSSMeas/GpsEph2Pvt.m similarity index 97% rename from opensource/GpsEph2Pvt.m rename to ProcessGNSSMeas/GpsEph2Pvt.m index 563684a..e977350 100644 --- a/opensource/GpsEph2Pvt.m +++ b/ProcessGNSSMeas/GpsEph2Pvt.m @@ -1,66 +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. - - +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/ProcessGNSSMeas/GpsEph2Xyz.m similarity index 97% rename from opensource/GpsEph2Xyz.m rename to ProcessGNSSMeas/GpsEph2Xyz.m index 31461d6..afedd87 100644 --- a/opensource/GpsEph2Xyz.m +++ b/ProcessGNSSMeas/GpsEph2Xyz.m @@ -1,152 +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. - - +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/ProcessGNSSMeas/GpsWlsPvt.m similarity index 100% rename from opensource/GpsWlsPvt.m rename to ProcessGNSSMeas/GpsWlsPvt.m diff --git a/opensource/JulianDay.m b/ProcessGNSSMeas/JulianDay.m similarity index 96% rename from opensource/JulianDay.m rename to ProcessGNSSMeas/JulianDay.m index 702a106..754c1a0 100644 --- a/opensource/JulianDay.m +++ b/ProcessGNSSMeas/JulianDay.m @@ -1,54 +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. - +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/ProcessGNSSMeas/Kepler.m similarity index 96% rename from opensource/Kepler.m rename to ProcessGNSSMeas/Kepler.m index e312ac5..4889d7a 100644 --- a/opensource/Kepler.m +++ b/ProcessGNSSMeas/Kepler.m @@ -1,59 +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. - +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/ProcessGNSSMeas/LICENSE.txt similarity index 100% rename from opensource/LICENSE.txt rename to ProcessGNSSMeas/LICENSE.txt diff --git a/opensource/LeapSeconds.m b/ProcessGNSSMeas/LeapSeconds.m similarity index 97% rename from opensource/LeapSeconds.m rename to ProcessGNSSMeas/LeapSeconds.m index ccbeaa9..3445429 100644 --- a/opensource/LeapSeconds.m +++ b/ProcessGNSSMeas/LeapSeconds.m @@ -1,94 +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. - +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/ProcessGNSSMeas/Lla2Ned.m similarity index 97% rename from opensource/Lla2Ned.m rename to ProcessGNSSMeas/Lla2Ned.m index 917643f..57095ab 100644 --- a/opensource/Lla2Ned.m +++ b/ProcessGNSSMeas/Lla2Ned.m @@ -1,62 +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(i,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. - +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(i,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/ProcessGNSSMeas/Lla2Xyz.m similarity index 97% rename from opensource/Lla2Xyz.m rename to ProcessGNSSMeas/Lla2Xyz.m index 0e0496e..899ee0d 100644 --- a/opensource/Lla2Xyz.m +++ b/ProcessGNSSMeas/Lla2Xyz.m @@ -1,54 +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. - +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/ProcessGNSSMeas/PlotAdr.m similarity index 100% rename from opensource/PlotAdr.m rename to ProcessGNSSMeas/PlotAdr.m diff --git a/opensource/PlotAdrResids.m b/ProcessGNSSMeas/PlotAdrResids.m similarity index 100% rename from opensource/PlotAdrResids.m rename to ProcessGNSSMeas/PlotAdrResids.m diff --git a/opensource/PlotCno.m b/ProcessGNSSMeas/PlotCno.m similarity index 100% rename from opensource/PlotCno.m rename to ProcessGNSSMeas/PlotCno.m diff --git a/opensource/PlotPseudorangeRates.m b/ProcessGNSSMeas/PlotPseudorangeRates.m similarity index 100% rename from opensource/PlotPseudorangeRates.m rename to ProcessGNSSMeas/PlotPseudorangeRates.m diff --git a/opensource/PlotPseudoranges.m b/ProcessGNSSMeas/PlotPseudoranges.m similarity index 100% rename from opensource/PlotPseudoranges.m rename to ProcessGNSSMeas/PlotPseudoranges.m diff --git a/opensource/PlotPvt.m b/ProcessGNSSMeas/PlotPvt.m similarity index 100% rename from opensource/PlotPvt.m rename to ProcessGNSSMeas/PlotPvt.m diff --git a/opensource/PlotPvtStates.m b/ProcessGNSSMeas/PlotPvtStates.m similarity index 100% rename from opensource/PlotPvtStates.m rename to ProcessGNSSMeas/PlotPvtStates.m diff --git a/opensource/ProcessAdr.m b/ProcessGNSSMeas/ProcessAdr.m similarity index 100% rename from opensource/ProcessAdr.m rename to ProcessGNSSMeas/ProcessAdr.m diff --git a/opensource/ProcessGnssMeas.m b/ProcessGNSSMeas/ProcessGnssMeas.m similarity index 100% rename from opensource/ProcessGnssMeas.m rename to ProcessGNSSMeas/ProcessGnssMeas.m diff --git a/opensource/ProcessGnssMeasScript.m b/ProcessGNSSMeas/ProcessGnssMeasScript.m similarity index 100% rename from opensource/ProcessGnssMeasScript.m rename to ProcessGNSSMeas/ProcessGnssMeasScript.m diff --git a/opensource/README.md b/ProcessGNSSMeas/README.md similarity index 100% rename from opensource/README.md rename to ProcessGNSSMeas/README.md diff --git a/opensource/ReadGnssLogger.m b/ProcessGNSSMeas/ReadGnssLogger.m similarity index 100% rename from opensource/ReadGnssLogger.m rename to ProcessGNSSMeas/ReadGnssLogger.m diff --git a/opensource/ReadRinexNav.m b/ProcessGNSSMeas/ReadRinexNav.m similarity index 97% rename from opensource/ReadRinexNav.m rename to ProcessGNSSMeas/ReadRinexNav.m index e6035e2..e7e714b 100644 --- a/opensource/ReadRinexNav.m +++ b/ProcessGNSSMeas/ReadRinexNav.m @@ -1,257 +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. +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/ProcessGNSSMeas/RotEcef2Ned.m similarity index 96% rename from opensource/RotEcef2Ned.m rename to ProcessGNSSMeas/RotEcef2Ned.m index 533b0f3..bc8525d 100644 --- a/opensource/RotEcef2Ned.m +++ b/ProcessGNSSMeas/RotEcef2Ned.m @@ -1,60 +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. - +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/ProcessGNSSMeas/SetDataFilter.m similarity index 100% rename from opensource/SetDataFilter.m rename to ProcessGNSSMeas/SetDataFilter.m diff --git a/opensource/Utc2Gps.m b/ProcessGNSSMeas/Utc2Gps.m similarity index 97% rename from opensource/Utc2Gps.m rename to ProcessGNSSMeas/Utc2Gps.m index 3bb2efa..8435bc6 100644 --- a/opensource/Utc2Gps.m +++ b/ProcessGNSSMeas/Utc2Gps.m @@ -1,111 +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. +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/ProcessGNSSMeas/WlsPvt.m similarity index 100% rename from opensource/WlsPvt.m rename to ProcessGNSSMeas/WlsPvt.m diff --git a/opensource/Xyz2Lla.m b/ProcessGNSSMeas/Xyz2Lla.m similarity index 96% rename from opensource/Xyz2Lla.m rename to ProcessGNSSMeas/Xyz2Lla.m index 8018245..48bbffe 100644 --- a/opensource/Xyz2Lla.m +++ b/ProcessGNSSMeas/Xyz2Lla.m @@ -1,82 +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. - +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/ProcessGNSSMeas/demoFiles/hour1820.16n b/ProcessGNSSMeas/demoFiles/hour1820.16n new file mode 100644 index 0000000..2fbd4dc --- /dev/null +++ b/ProcessGNSSMeas/demoFiles/hour1820.16n @@ -0,0 +1,3352 @@ + 2 NAVIGATION DATA RINEX VERSION / TYPE +CCRINEXN 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