Browse Source

Disambiguated dataFilter by defining two columns.

One for the field to be filtered, one for the MATLAB expression.
Fixed week rollover bug.
Other small changes.
pull/1/merge
Frank van Diggelen 8 years ago
parent
commit
a2ecec1161
  1. 86
      opensource/CheckDataFilter.m
  2. 17
      opensource/Gps2Utc.m
  3. 2
      opensource/GpsAdrResiduals.m
  4. 10
      opensource/GpsWlsPvt.m
  5. 2
      opensource/Lla2Ned.m
  6. 21
      opensource/PlotAdr.m
  7. 2
      opensource/PlotAdrResids.m
  8. 7
      opensource/PlotPvt.m
  9. 2
      opensource/PlotPvtStates.m
  10. 23
      opensource/ProcessGnssMeas.m
  11. 14
      opensource/ProcessGnssMeasScript.m
  12. 122
      opensource/ReadGnssLogger.m
  13. 40
      opensource/SetDataFilter.m
  14. 1380
      opensource/demoFiles/prs.csv
  15. 5042
      opensource/demoFiles/raw.csv

86
opensource/CheckDataFilter.m

@ -0,0 +1,86 @@
function [bOk] = CheckDataFilter(dataFilter,header)
% [bOk] = CheckDataFilter(dataFilter,[header])
% Check that dataFilter is defined correctly
%
% Rule for setting dataFilter.
% dataFilter values must be defined in pairs:
% dataFilter{i,1} is a string with one of 'Raw' header values from the
% GnssLogger log file e.g. 'ConstellationType'
% dataFilter{i,2} is a string with a valid matlab expression, containing
% the header value, e.g. 'ConstellationType==1'
% Any comparison must be against a scalar value.
% The heading type may be repeated, for example,
% dataFilter{i,2} = 'ConstellationType==1 | ConstellationType==3';
% but you may not have different heading types in a single dataFilter cell
%
% header, [optional input], is an mx1 cell array of strings containing
% 'Raw' header values from GnssLogger log file
%
% CheckDataFilter checks the consistency of dataFilter.
% if header is provided, then dataFilter is checked against it.
%Author: Frank van Diggelen
%Open Source code for processing Android GNSS Measurements
bOk = true;
%% check the basic structure of dataFilter
if isempty(dataFilter)
return
end
[N,M] = size(dataFilter);
if M~=2 || ~iscell(dataFilter)
error('dataFilter must be an nx2 cell array\n')
end
for i=1:N
for j=1:2
if ~ischar(dataFilter{i,j})
error('dataFilter{%d,%d} is not a string\n',i,j);
end
end
end
%% Check that the value in dataFilter{i,1} occurs in dataFilter{i,2}
for i=1:N
if ~any(strfind(dataFilter{i,2},dataFilter{i,1}))
error('dataFilter{%d,1} string, ''%s'' not found in dataFilter{%d,2}\n',...
i,dataFilter{i,1},i);
end
end
if nargin<2 || isempty(header)
return
end
%% check that dataFilter has a matching value in the header,
for i=1:N
iMatch = strcmp(dataFilter{i,1},header); %iMatch is logical array
if ~any(iMatch) %no match found
error('dataFilter value ''%s'' has no matches in log file header',...
dataFilter{i,1});
end
end
%TBD check for occurrence of two different header types in dataFilter{i,2}
% this is little tricky, because if you use strfind you will find
% supersets of shorter header types: like FullBiasNanos and BiasNanos
% so you have to take care of that.
% Also, this is spoon feeding the user - if they follow the rules defined
% above, they won't do this. So, we leave it for now and add later when we
% have nothing else to do (ha ha).
end% of function CheckDataFilter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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.

17
opensource/Gps2Utc.m

@ -1,14 +1,18 @@
function [utcTime] = Gps2Utc(gpsTime)
% [utcTime] = Gps2Utc(gpsTime)
% Convert GPS time (week & seconds) to UTC
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
@ -32,10 +36,13 @@ function [utcTime] = Gps2Utc(gpsTime)
% 5) if ls1~=ls, convert (gpsTime-ls1) to UTC Time
%% Check inputs
if size(gpsTime,2)~=2
if nargin<2 && size(gpsTime,2)~=2
error('gpsTime must have two columns')
end
fctSeconds = gpsTime*[GpsConstants.WEEKSEC; 1];
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)

2
opensource/GpsAdrResiduals.m

@ -34,7 +34,7 @@ if ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0))
return
end
if nargin<3 || isempty(llaDegDegM)
fprintf('\nGpsAdrWlsPvt needs the true position: llaDegDegM')
fprintf('GpsAdrResiduals needs the true position: llaDegDegM\n')
return
end
xyz0M = Lla2Xyz(llaDegDegM);

10
opensource/GpsWlsPvt.m

@ -33,6 +33,16 @@ end
xo =zeros(8,1);%initial state: [center of the Earth, bc=0, velocities = 0]'
weekNum = floor(gnssMeas.FctSeconds/GpsConstants.WEEKSEC);
%TBD check for week rollover here (it is checked in ProcessGnssMeas, but
%this function should stand alone, so we should check again, and adjust
%tRxSeconds by +- a week if necessary)
%btw, Q. why not just carry around fct and not worry about the hassle of
%weeknumber, and the associated week rollover problems?
% A. because you cannot get better than 1000ns (1 microsecond) precsision
% when you put fct into a double. And that would cause errors of ~800m/s * 1us
% (satellite range rate * time error) ~ 1mm in the range residual computation
% So what? well, if you start processing with carrier phase, these errors
% could accumulate.
N = length(gnssMeas.FctSeconds);
gpsPvt.FctSeconds = gnssMeas.FctSeconds;

2
opensource/Lla2Ned.m

@ -34,7 +34,7 @@ refXyz = (xyz1M+xyz2M)/2;
northM = zeros(m1,1);
eastM = zeros(m1,1);
for i=1:m1
Ce2n = RotEcef2Ned(llaDegDegM(i,1),llaDegDegM(1,2));
Ce2n = RotEcef2Ned(llaDegDegM(i,1),llaDegDegM(i,2));
v = Ce2n*(xyz1M(i,:)-xyz2M(i,:))';
northM(i)=v(1);
eastM(i)=v(2);

21
opensource/PlotAdr.m

@ -1,6 +1,6 @@
function [colorsOut]= PlotAdr(gnssMeas,prFileName,colors)
% [colors] = PlotAdr(gnssMeas,[prFileName],[colors])
% plot the Accumulated Delta Ranges obtained from ProcessAdr
% plot Valid Accumulated Delta Ranges obtained from ProcessAdr
%
%gnssMeas.FctSeconds = Nx1 vector. Rx time tag of measurements.
% .ClkDCount = Nx1 vector. Hw clock discontinuity count
@ -38,8 +38,19 @@ timeSeconds =gnssMeas.FctSeconds-gnssMeas.FctSeconds(1);%elapsed time in seconds
for j=1:M %loop over Svid
%% plot AdrM
h123(1) = subplot(5,1,1:2); grid on, hold on,
AdrM = gnssMeas.AdrM(:,j);%local variable for convenience
iFi = find(isfinite(AdrM));
AdrM = gnssMeas.AdrM(:,j);%local variables for convenience
AdrState = gnssMeas.AdrState(:,j);
%From gps.h:
%/* However, it is expected that the data is only accurate when:
% * 'accumulated delta range state' == GPS_ADR_STATE_VALID.
%*/
% #define GPS_ADR_STATE_UNKNOWN 0
% #define GPS_ADR_STATE_VALID (1<<0)
% #define GPS_ADR_STATE_RESET (1<<1)
% #define GPS_ADR_STATE_CYCLE_SLIP (1<<2)
iValid = bitand(AdrState,2^0);
iFi = find(isfinite(AdrM) & iValid);
if ~isempty(iFi)
ti = timeSeconds(iFi(end));
h=plot(timeSeconds,AdrM); set(h,'Marker','.','MarkerSize',4)
@ -57,7 +68,7 @@ for j=1:M %loop over Svid
end
end
subplot(5,1,1:2); ax=axis;
title('Accumulated Delta Range (= -k*carrier phase) vs time'), ylabel('(meters)')
title('Valid Accumulated Delta Range (= -k*carrier phase) vs time'), ylabel('(meters)')
subplot(5,1,3:4); set(gca,'XLim',ax(1:2));
title('DelPrM - AdrM'),ylabel('(meters)')
@ -83,7 +94,7 @@ if nargout>1
colorsOut = colors;
end
end %end of function PlotPseudorangeRates
end %end of function PlotAdr
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Copyright 2016 Google Inc.

2
opensource/PlotAdrResids.m

@ -17,7 +17,7 @@ function PlotAdrResids(adrResid,gnssMeas,prFileName,colors)
%Open Source code for processing Android GNSS Measurements
K = 5; %number of satellites to plot
if ~any(any(isfinite(adrResid.ResidM))) %Nothing but NaNs
if isempty(adrResid) || ~any(any(isfinite(adrResid.ResidM))) %Nothing but NaNs
fprintf(' No adr residuals to plot\n'), return
end
if nargin<2

7
opensource/PlotPvt.m

@ -34,10 +34,13 @@ if bGotLlaTrue
llaRef = llaTrueDegDegM;
else
llaRef = llaMed;
%print median lla so user can use it as reference position if they want
fprintf('Median llaDegDegM = [%.7f %.7f %.2f]\n',llaMed)
end
%% plot ne errors vs llaTrueDegDegM --------------------------------------------
nedM = Lla2Ned(gpsPvt.allLlaDegDegM,llaRef);
nedM = Lla2Ned(gpsPvt.allLlaDegDegM,llaRef);%keep the NaNs in for the plot
%so we see a break in the lines where there was no position
h123=subplot(4,1,1:2);
h1 = plot(nedM(:,2),nedM(:,1));
set(h1,'LineStyle','-','LineWidth',0.1,'Color',ltgray)
@ -71,7 +74,7 @@ title(titleString);
axis equal, grid on
ylabel('North (m)'),xlabel('East (m)')
% compute error distribution and plot circle
distM = sqrt(sum(nedM(:,1:2).^2,2));
distM = sqrt(sum(nedM(iFi,1:2).^2,2));%use only finite values here
medM = median(distM);
%plot a circle using 'rectangle' (yes really :)
hr=rectangle('Position',[-1 -1 2 2]*medM,'Curvature',[1 1]);

2
opensource/PlotPvtStates.m

@ -51,7 +51,7 @@ set(h(iMin),'VerticalAlignment','top');
%plot common bias, in microseconds and meters ---------------------------------
h1234(2)=subplot(4,1,2);
iFi = isfinite(gnssPvt.allBcMeters);%index into finite results
iFi = find(isfinite(gnssPvt.allBcMeters));%index into finite results
if any(iFi)
plot(tSeconds,gnssPvt.allBcMeters - gnssPvt.allBcMeters(iFi(1)))
grid on

23
opensource/ProcessGnssMeas.m

@ -81,8 +81,9 @@ State = gnssRaw.State(1);
assert(bitand(State,2^0) & bitand(State,2^3),...
'gnssRaw.State(1) must have bits 0 and 3 true before calling ProcessGnssMeas')
%tRxNanos is now since the beginning of the week
assert(all(tRxNanos <= WEEKNANOS),'tRxNanos should be <= WEEKNANOS')
%tRxNanos now since beginning of the week, unless we had a week rollover
%assert(all(tRxNanos <= WEEKNANOS),'tRxNanos should be <= WEEKNANOS')
%TBD check week rollover code, and add assert tRxNanos <= WEEKNANOS after
assert(all(tRxNanos >= 0),'tRxNanos should be >= 0')
%subtract the fractional offsets TimeOffsetNanos and BiasNanos:
@ -90,8 +91,7 @@ tRxSeconds = (double(tRxNanos)-gnssRaw.TimeOffsetNanos-gnssRaw.BiasNanos)*1e-9;
tTxSeconds = double(gnssRaw.ReceivedSvTimeNanos)*1e-9;
%check for week rollover in tRxSeconds
prSeconds = tRxSeconds - tTxSeconds;
prSeconds = CheckGpsWeekRollover(prSeconds);
[prSeconds,tRxSeconds] = CheckGpsWeekRollover(tRxSeconds,tTxSeconds);
%we are ready to compute pseudorange in meters:
PrM = prSeconds*GpsConstants.LIGHTSPEED;
@ -203,22 +203,27 @@ gnssMeas.DelPrM = delPrM;
end %of function GetDelPr
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function prSeconds = CheckGpsWeekRollover(prSeconds)
function [prSeconds,tRxSeconds] = CheckGpsWeekRollover(tRxSeconds,tTxSeconds)
%utility function for ProcessGnssMeas
prSeconds = tRxSeconds - tTxSeconds;
iRollover = prSeconds > GpsConstants.WEEKSEC/2;
if any(iRollover)
fprintf('\nWARNING: week rollover detected in time tags. Adjusting ...')
fprintf('\nWARNING: week rollover detected in time tags. Adjusting ...\n')
prS = prSeconds(iRollover);
prS = prS - round(prS/GpsConstants.WEEKSEC)*GpsConstants.WEEKSEC;
delS = round(prS/GpsConstants.WEEKSEC)*GpsConstants.WEEKSEC;
prS = prS - delS;
%prS are in the range [-WEEKSEC/2 : WEEKSEC/2];
%check that common bias is not huge (like, bigger than 10s)
maxBiasSeconds = 10;
if any(prS>maxBiasSeconds)
error('Failed to correct week rollover')
error('Failed to correct week rollover\n')
else
prSeconds(iRollover) = prS; %put back into prSeconds vector
fprintf('\nCorrected week rollover')
%Now adjust tRxSeconds by the same amount:
tRxSeconds(iRollover) = tRxSeconds(iRollover) - delS;
fprintf('Corrected week rollover\n')
end
end
%TBD Unit test this

14
opensource/ProcessGnssMeasScript.m

@ -10,6 +10,7 @@ prFileName = 'pseudoranges_log_2016_06_30_21_26_07.txt'; %with duty cycling, no
% 2) change 'dirName = ...' to match the local directory you are using:
dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles';
% 3) run ProcessGnssMeasScript.m script file
param.llaTrueDegDegM = [];
%Author: Frank van Diggelen
%Open Source code for processing Android GNSS Measurements
@ -18,24 +19,23 @@ dirName = '~/Documents/MATLAB/gpstools/opensource/demoFiles';
%To add your own data:
% save data from GnssLogger App, and edit dirName and prFileName appropriately
%dirName = 'put the full path for your directory here';
%prFileName = 'put the pseudoranges log file name here';
%prFileName = 'put the pseuoranges log file name here';
%% parameters
param.llaTrueDegDegM = [];
%param.llaTrueDegDegM = [];
%enter true WGS84 lla, if you know it:
param.llaTrueDegDegM = [37.422578, -122.081678, -28];%Charleston Park Test Site
%% Set the data filter and Read log file
dataFilter = SetDataFilter;
[gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,prFileName,dataFilter,param);
if isempty(gnssRaw), return, end
%% Get online ephemeris from Nasa ftp, first compute UTC Time from gnssRaw:
fctSeconds = 1e-3*double(gnssRaw.allRxMillis(end));
gpsTime = [0,0];
gpsTime(1) = floor(fctSeconds./GpsConstants.WEEKSEC);
gpsTime(2) = fctSeconds - gpsTime(1)*GpsConstants.WEEKSEC;
utcTime = Gps2Utc(gpsTime);
utcTime = Gps2Utc([],fctSeconds);
allGpsEph = GetNasaHourlyEphemeris(utcTime,dirName);
if isempty(allGpsEph), return, end
%% process raw measurements, compute pseudoranges:
[gnssMeas] = ProcessGnssMeas(gnssRaw);
@ -75,7 +75,7 @@ end
% 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
% 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,

122
opensource/ReadGnssLogger.m

@ -1,4 +1,4 @@
function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,gnssAnalysis)
function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilter,gnssAnalysis)
%% [gnssRaw,gnssAnalysis]=ReadGnssLogger(dirName,fileName,dataFilter,gnssAnalysis);
% Read the log file created by Gnss Logger App in Android
% Compatible with Android release N
@ -7,8 +7,12 @@ function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,g
% dirName = string with directory of fileName,
% e.g. '~/Documents/MATLAB/Pseudoranges/2016-03-28'
% fileName = string with filename
% dataFilter = cell array, dataFilter.{i}=string with a valid matlab expression
% e.g. dataFilter{1} = 'ConstellationType==1'
% dataFilter = nx2 cell array of pairs of strings,
% dataFilter{i,1} is a string with one of 'Raw' header values from the
% GnssLogger log file e.g. 'ConstellationType'
% dataFilter{i,2} is a string with a valid matlab expression, containing
% the header value, e.g. 'ConstellationType==1'
% See SetDataFilter.m for full rules and examples of dataFilter.
%
% Output:
% gnssRaw, all GnssClock and GnssMeasurement fields from log file, including:
@ -44,7 +48,7 @@ function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,g
gnssAnalysis.GnssClockErrors = 'GnssClock Errors.';
gnssAnalysis.GnssMeasurementErrors = 'GnssMeasurement Errors.';
gnssAnalysis.ApiPassFail = '';
if nargin<3, dataFilterIn = []; end
if nargin<3, dataFilter = []; end
%% check we have the right kind of fileName
extension = fileName(end-3:end);
@ -57,7 +61,8 @@ rawCsvFile = MakeCsv(dirName,fileName);
[header,C] = ReadRawCsv(rawCsvFile);
%% apply dataFilter
[dataFilter] = CheckDataFilter(dataFilterIn,header);
[bOk] = CheckDataFilter(dataFilter,header);
if ~bOk, return, end
C = FilterData(C,dataFilter,header);
%% pack data into gnssRaw structure
@ -67,8 +72,6 @@ C = FilterData(C,dataFilter,header);
[gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis);
gnssAnalysis = ReportMissingFields(gnssAnalysis,missing);
%TBD on any early return, return gnssAnalysis.ApiPassFail = 'explanation'
% so that reporting tool reports why
end %end of function ReadGnssLogger
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -84,7 +87,7 @@ function csvFileName = MakeCsv(dirName,fileName)
if dirName(end)~='/'
dirName = [dirName,'/']; %add /
end
csvFileName = [dirName,'prs.csv'];
csvFileName = [dirName,'raw.csv'];
if strcmp(fileName(end-3:end),'.csv')
return %input file is a csv file, nothing more to do here
end
@ -146,6 +149,7 @@ end
% ' | sed -e ''s/true/1/'' -e ''s/false/0/'' -e ''s/# //'' ',...
% ' -e ''s/Raw,//'' ',... %replace "Raw," with nothing
% '-e ''s/(//g'' -e ''s/)//g'' > ',csvFileName]);
%
% On versions from v1.4.0.0 N:
% grep on "Raw," replace alpha characters amongst the numbers,
% remove parentheses in the header,
@ -172,7 +176,6 @@ if isempty(line) %line should be -1 at eof
error('\nError occurred while reading file %s\n',fileName)
end
end %end of function MakeCsv
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -227,73 +230,42 @@ for i=1:M
formatSpec = sprintf('%s %%f',formatSpec);
end
end
%for empty fields, enter 'NaN' into csv
C = textscan(fid,formatSpec,'Delimiter',',','EmptyValue',NaN);
fclose(fid);
end% of function ReadRawCsv
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [dataFilter] = CheckDataFilter(dataFilterIn,header)
%% check that dataFilter has matching values in the header,
% extract this header value and add it as a second column for datafilter
dataFilter = dataFilterIn(:); %make dataFilter a column array
if isempty(dataFilterIn)
return
end
N = length(dataFilter);
%check that each value of dataFilter is valid: i.e. it contains one of the
%header types from the GnssLogger file
L = length(header);
for i=1:N
foundInHeader = zeros(1,L);
for j=1:L
foundInHeader(j) = any(strfind(dataFilter{i,1},header{j}));
end
if ~any(foundInHeader) %no match found (too coold)
error('dataFilter value ''%s'' has no matches in log file header',...
dataFilter{i,1});
elseif sum(foundInHeader)>1 % too many matches found (tooo hot)
error('dataFilter value ''%s'' has >1 match in log file header',...
dataFilter{i,1});
else %one match found (juust right)
k = find(foundInHeader);%index into where we found the matching header
dataFilter{i,2} = header{k};%save in second column
end
end
%dataFilter now has two columns: second one contains the matching header type
end% of function CheckDataFilter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function C = FilterData(C,dataFilter,header)
%% filter C based on contents of dataFilter
iS = ones(size(C{1})); %initialize index into rows of C
for i=1:size(dataFilter,1)
j=find(strcmp(header,dataFilter{i,2}));%j = index into header
j=find(strcmp(header,dataFilter{i,1}));%j = index into header
%we should always be a value of j, because checkDataFilter checks for this:
assert(any(j),'dataFilter{i} = %s not found in header\n',dataFilter{i,1})
%now we must evaluate the expression in dataFilter{i}, for example:
%now we must evaluate the expression in dataFilter{i,2}, for example:
% 'BiasUncertaintyNanos < 1e7'
%assign the relevant cell of C to a variable with same name as the header
ts = sprintf('%s = C{%d};',header{j},j);
eval(ts);
%create an index vector from the expression in dataFilter{i}
ts = sprintf('iSi = %s;',dataFilter{i,1});
%create an index vector from the expression in dataFilter{i,2}
ts = sprintf('iSi = %s;',dataFilter{i,2});
eval(ts);
%AND the iS index values on each iteration of i
iS = iS & iSi;
end
%Check if filter removes all values,
% Check if filter removes all values
if ~any(iS) %if all zeros
fprintf('\nAll measurements removed. Specify dataFilter less strictly, ')
dataFilter(:,1)
fprintf('\nAll measurements removed. Specify dataFilter less strictly than this:, ')
dataFilter(:,2)
return
end
%Now remove all values of C indexed by iS
% Keep only those values of C indexed by iS
for i=1:length(C)
C{i} = C{i}(iS);
end
@ -355,6 +327,9 @@ for j = 1:length(header)
missing.MeasurementFields{end+1} = header{j};
end
end
%So, if a field is not reported, it will be all NaNs from makeCsv, and the above
%code will not load it into gnssRaw. So when we call 'CheckGnssClock' it can
%check for missing fields in gnssRaw.
%TBD look for all zeros that can not legitimately be all zero,
%e.g. AccumulatedDeltaRangeMeters, and report these as missing data
@ -362,42 +337,55 @@ end
end %end of function PackGnssRaw
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis)
function [gnssRaw,gnssAnalysis,bOk] = CheckGnssClock(gnssRaw,gnssAnalysis)
%% check clock values in gnssRaw
bOk = true;
sFail = ''; %initialize string to record failure messafes
N = length(gnssRaw.ReceivedSvTimeNanos);
%Insist on the presence of TimeNanos (time from hw clock)
if ~isfield(gnssRaw,'TimeNanos')
error('TimeNanos data missing from GnssLogger file\n');
s = ' TimeNanos missing from GnssLogger File.';
fprintf('WARNING: %s\n',s);
sFail = [sFail,s];
bOk = false;
end
if ~isfield(gnssRaw,'FullBiasNanos')
error('FullBiasNanos is missing or zero, we need it to get gnssRaw week\n')
%TBD change to fatal warning, so a report is still generated, with warning
s = 'FullBiasNanos missing from GnssLogger file.';
fprintf('WARNING: %s, we need it to get the week number\n',s);
sFail = [sFail,s];
bOk = false;
end
if ~isfield(gnssRaw,'BiasNanos')
gnssRaw.BiasNanos = zeros(N,1);
end
if ~isfield(gnssRaw,'HardwareClockDiscontinuityCount')
%possibly non fatal error, we assume there is no hardware clock discontinuity
%so we set to zero and move on, but we print a warning
gnssRaw.HardwareClockDiscontinuityCount = zeros(N,1);
fprintf('WARNING: Added HardwareClockDiscontinuityCount because it is missing from GNSS Logger file\n');
fprintf('WARNING: Added HardwareClockDiscontinuityCount=0 because it is missing from GNSS Logger file\n');
end
%auto-detect sign of FullBiasNanos, if it is positive, give warning and change
if ~all(gnssRaw.FullBiasNanos<=0)
%check FullBiasNanos, it should be negative values
bChangeSign = any(gnssRaw.FullBiasNanos<0) & any(gnssRaw.FullBiasNanos>0);
assert(~bChangeSign,...
'FullBiasNanos changes sign within log file, this should never happen');
%Now we know FullBiasNanos doesnt change sign,auto-detect sign of FullBiasNanos,
%if it is positive, give warning and change
if any(gnssRaw.FullBiasNanos>0)
gnssRaw.FullBiasNanos = -1*gnssRaw.FullBiasNanos;
fprintf('WARNING: FullBiasNanos wrong sign. Should be negative. Auto changing inside ReadGpsLogger\n');
gnssAnalysis.GnssClockErrors = [gnssAnalysis.GnssClockErrors,...
sprintf(' FullBiasNanos wrong sign.')];
end
%now all FullBiasNanos should be negative - if there are any are > 0 it means
%something is very wrong with the log file, because FullBiasNanos has changed
%sign from a large negative to large positive number, and we must assert
assert(all(gnssRaw.FullBiasNanos<=0),...
'FullBiasNanos changes sign within log file, this should never happen')
%compute full cycle time of measurement, in milliseonds
gnssRaw.allRxMillis = int64((gnssRaw.TimeNanos - gnssRaw.FullBiasNanos)*1e-6);
%allRxMillis is now accurate to one millisecond (because it's an integer)
if ~bOk
gnssAnalysis.ApiPassFail = ['FAIL ',sFail];
end
end %end of function CheckGnssClock
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -428,10 +416,12 @@ if ~isempty(missing.MeasurementFields)
end
%assign pass/fail
if isempty(missing.ClockFields) && isempty(missing.MeasurementFields)
gnssAnalysis.ApiPassFail = 'PASS';
else
gnssAnalysis.ApiPassFail = 'FAIL BECAUSE OF MISSING FIELDS';
if ~any(strfind(gnssAnalysis.ApiPassFail,'FAIL')) %didn't already fail
if isempty(missing.ClockFields) && isempty(missing.MeasurementFields)
gnssAnalysis.ApiPassFail = 'PASS';
else
gnssAnalysis.ApiPassFail = 'FAIL BECAUSE OF MISSING FIELDS';
end
end
end %end of function ReportMissingFields
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

40
opensource/SetDataFilter.m

@ -1,36 +1,38 @@
function dataFilter = SetDataFilter
% dataFilter = SetDataFilter
% dataFilter = SetDataFilter;
% Function to set data filter for use with ReadGnssLogger
% This function has no inputs. Edit it directly to change the data filter
%
% Rule for setting dataFilter:
% dataFilter{i} is a cell with a string with a valid matlab expression,
% containing one of the 'Raw' headings in the GnssLogger log file
% and where any comparison is against a scalar value
%
% the heading type may be repeated, for example,
% dataFilter{i} = 'ConstellationType==1 | ConstellationType==3';
% but you may not have more than one heading type in a single dataFilter{i} cell
% Rule for setting dataFilter: see CheckDataFilter.m
%Author: Frank van Diggelen
%Open Source code for processing Android GNSS Measurements
%filter for fine time measurements only <=> uncertainty < 10 ms = 1e7 ns
dataFilter{1} = 'BiasUncertaintyNanos < 1e7';
dataFilter{1,1} = 'BiasUncertaintyNanos';
dataFilter{1,2} = 'BiasUncertaintyNanos < 1e7';
%filter out FullBiasNanos == 0
dataFilter{end+1,1} = 'FullBiasNanos';
dataFilter{end,2} = 'FullBiasNanos ~= 0';
%you can create other filters in the same way ...
%for example, suppose you want to remove Svid 23:
% dataFilter{end+1} = 'Svid~=23';
% dataFilter{end+1,1} = 'Svid';
% dataFilter{end,2} = 'Svid ~= 23';
%
%or suppose you want to keep only Svid 2,5,10, & 17
% dataFilter{end+1} = 'Svid==2 | Svid==5 | Svid==10 | Svid==17';
% dataFilter{end,2} = 'Svid==2 | Svid==5 | Svid==10 | Svid==17';
% NOTE: you *cannot* use 'any(Svid)==[2,5,10,17]' because Svid refers to a
% vector variable and you must compare it to a scalar.
%keep only Svid 2
% dataFilter{end+1} = 'Svid==2';
% dataFilter{end+1,1} = 'Svid';
% dataFilter{end,2} = 'Svid==2';
%limit to GPS only:
dataFilter{end+1} = 'ConstellationType==1';
dataFilter{end+1,1} = 'ConstellationType';
dataFilter{end,2} = 'ConstellationType==1';
%ConstellationType values are defined in Android HAL Documentation, gps.h,
% typedef uint8_t GnssConstellationType;
% #define GNSS_CONSTELLATION_UNKNOWN 0
@ -42,8 +44,8 @@ dataFilter{end+1} = 'ConstellationType==1';
% #define GNSS_CONSTELLATION_GALILEO 6
%Example of how to select satellites from GPS and GLONASS:
% dataFilter{end+1} = 'ConstellationType==1 | ConstellationType==3';
%You may use the heading value (e.g. 'ConstellationType') more than once,
% dataFilter{end+1} = '(ConstellationType)==1 | (ConstellationType)==3';
%You may use the heading value e.g. '(ConstellationType)' more than once,
%so long as you dont use different heading types in one dataFilter{} entry
%bitwise data filters
@ -69,7 +71,8 @@ dataFilter{end+1} = 'ConstellationType==1';
%Example of how to use dataFilter for GnssMeasurementState 'State' bit fields:
%filter on GPS measurements with Code lock & TOW decoded:
dataFilter{end+1} = 'bitand(State,2^0) & bitand(State,2^3)';
dataFilter{end+1,1} = 'State';
dataFilter{end,2} = 'bitand(State,2^0) & bitand(State,2^3)';
% GNSS_MEASUREMENT_STATE_CODE_LOCK & GNSS_MEASUREMENT_STATE_TOW_DECODED
% GnssAccumulatedDeltaRangeState values are defined gps.h,
@ -81,7 +84,8 @@ dataFilter{end+1} = 'bitand(State,2^0) & bitand(State,2^3)';
%
%Example of how to use dataFilter for ADR State bit fields:
% get AccumulatedDeltaRangeState values that are valid
% dataFilter{end+1} = 'bitand(AccumulatedDeltaRangeState,1)';
% dataFilter{end+1,1} = 'AccumulatedDeltaRangeState';
% dataFilter{end,2} = 'bitand(AccumulatedDeltaRangeState,1)';
end %end of function SetDataFilter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

1380
opensource/demoFiles/prs.csv

File diff suppressed because it is too large Load Diff

5042
opensource/demoFiles/raw.csv

File diff suppressed because it is too large Load Diff
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