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function [colorsOut]= PlotAdr(gnssMeas,prFileName,colors) |
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% [colors] = PlotAdr(gnssMeas,[prFileName],[colors]) |
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% plot Valid Accumulated Delta Ranges obtained from ProcessAdr |
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% |
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%gnssMeas.FctSeconds = Nx1 vector. Rx time tag of measurements. |
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% .ClkDCount = Nx1 vector. Hw clock discontinuity count |
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% .Svid = 1xM vector of all svIds found in gnssRaw. |
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% ... |
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% .AdrM = NxM accumulated delta range (= -k*carrier phase) |
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% .DelPrMinusAdrM = NxM DelPrM - AdrM |
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% |
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% Optional inputs: prFileName = string with file name |
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% colors, Mx3 color matrix |
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% if colors is not Mx3, it will be ignored |
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% |
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%Output: colors, color matrix, so we match colors each time we plot the same sv |
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if ~any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) |
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%Nothing in AdrM but NaNs and zeros |
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fprintf(' No ADR to plot\n'), return |
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end |
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if nargin<2 |
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prFileName = ''; |
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end |
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M = length(gnssMeas.Svid); |
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N = length(gnssMeas.FctSeconds); |
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if nargin<3 || any(size(colors)~=[M,3]) |
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colors = zeros(M,3); %initialize color matrix for storing colors |
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bGotColors = false; |
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else |
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bGotColors = true; |
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end |
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gray = [.5 .5 .5]; |
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timeSeconds =gnssMeas.FctSeconds-gnssMeas.FctSeconds(1);%elapsed time in seconds |
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for j=1:M %loop over Svid |
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%% plot AdrM |
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h123(1) = subplot(5,1,1:2); grid on, hold on, |
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AdrM = gnssMeas.AdrM(:,j);%local variables for convenience |
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AdrState = gnssMeas.AdrState(:,j); |
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%From gps.h: |
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%/* However, it is expected that the data is only accurate when: |
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% * 'accumulated delta range state' == GPS_ADR_STATE_VALID. |
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%*/ |
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% #define GPS_ADR_STATE_UNKNOWN 0 |
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% #define GPS_ADR_STATE_VALID (1<<0) |
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% #define GPS_ADR_STATE_RESET (1<<1) |
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% #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) |
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iValid = bitand(AdrState,2^0); |
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iFi = find(isfinite(AdrM) & iValid); |
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if ~isempty(iFi) |
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ti = timeSeconds(iFi(end)); |
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h=plot(timeSeconds,AdrM); set(h,'Marker','.','MarkerSize',4) |
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if bGotColors |
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set(h,'Color',colors(j,:)); |
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else |
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colors(j,:) = get(h,'Color'); |
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end |
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text(ti,AdrM(iFi(end)),int2str(gnssMeas.Svid(j)),'Color',colors(j,:)); |
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h123(2) = subplot(5,1,3:4); grid on, |
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h=plot(timeSeconds,gnssMeas.DelPrMinusAdrM(:,j)); hold on |
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set(h,'Marker','.','MarkerSize',4) |
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set(h,'Color',colors(j,:)); |
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end |
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end |
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subplot(5,1,1:2); ax=axis; |
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title('Valid Accumulated Delta Range (= -k*carrier phase) vs time'), ylabel('(meters)') |
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subplot(5,1,3:4); set(gca,'XLim',ax(1:2)); |
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title('DelPrM - AdrM'),ylabel('(meters)') |
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bClockDis = [0;diff(gnssMeas.ClkDCount)~=0];%binary, 1 <=> clock discontinuity |
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%plot Clock discontinuity |
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h123(3) = subplot(5,1,5); |
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iCont = ~bClockDis;%index into where clock is continuous |
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plot(timeSeconds(iCont),bClockDis(iCont),'.b');%blue dots for continuous |
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hold on |
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plot(timeSeconds(~iCont),bClockDis(~iCont),'.r');%red dots for discontinuous |
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set(gca,'XLim',ax(1:2),'YLim',[-0.5 1.5]); grid on |
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set(gca,'YTick',[0 1],'YTickLabel',{'continuous ','discontinuous'}) |
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set(gca,'YTickLabelRotation',45) |
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title('HW Clock Discontinuity') |
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xs = sprintf('time (seconds)\n%s',prFileName); |
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xlabel(xs,'Interpreter','none') |
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linkaxes(h123,'x'); |
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if nargout>1 |
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colorsOut = colors; |
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end |
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end %end of function PlotAdr |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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% Copyright 2016 Google Inc. |
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% |
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% Licensed under the Apache License, Version 2.0 (the "License"); |
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% you may not use this file except in compliance with the License. |
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% You may obtain a copy of the License at |
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% |
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% http://www.apache.org/licenses/LICENSE-2.0 |
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% |
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% Unless required by applicable law or agreed to in writing, software |
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% distributed under the License is distributed on an "AS IS" BASIS, |
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% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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% See the License for the specific language governing permissions and |
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% limitations under the License.
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