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function [colorsOut]= PlotPseudorangeRates(gnssMeas,prFileName,colors) |
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% [colors] = PlotPseudorangeRates(gnssMeas,[prFileName],[colors]) |
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% plot the Pseudorange Rates obtained from ProcessGnssMeas |
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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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% .DelPrM = NxM change in pr while clock continuous |
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% .PrrMps = NxM pseudorange rate |
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% ... |
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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 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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%plot slope of pr and prr |
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delPr = gnssMeas.DelPrM; |
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ts = ('diff(raw pr)/diff(time) and reported prr'); |
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h12(1) = subplot(5,1,1:4); hold on |
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deltaMeanM = zeros(1,M)+NaN; %store mean diff(pr) - mean prr |
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for i=1:M |
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%plot prr |
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y = gnssMeas.PrrMps(:,i); |
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iFi = find(isfinite(y)); |
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if ~isempty(iFi) |
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h = plot(timeSeconds,y); set(h,'Color',gray); |
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ti = timeSeconds(iFi(1)); |
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ht=text(ti,y(iFi(1)),int2str(gnssMeas.Svid(i)),'Color',gray); |
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set(ht,'HorizontalAlignment','right') |
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meanPrrM = mean(y(iFi));%store for analysing delta prr dpr |
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%plot delta pr |
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y = delPr(:,i); |
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iFi = find(isfinite(y)); |
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if any(iFi) |
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ti = timeSeconds(iFi(end)); |
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y = diff(y)./diff(timeSeconds);%slope of pr (m/s) |
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h = plot(timeSeconds(2:end),y); set(h,'Marker','.','MarkerSize',4) |
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if bGotColors |
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set(h,'Color',colors(i,:)); |
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else |
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colors(i,:) = get(h,'Color'); |
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end |
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iFi = find(isfinite(y)); |
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if any(iFi) |
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text(ti,y(iFi(end)),int2str(gnssMeas.Svid(i)),'Color',colors(i,:)); |
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end |
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meanDprM = mean(y(iFi));%store for analysing delta prr dpr |
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deltaMeanM(i) = meanPrrM - meanDprM; |
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end |
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end |
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end |
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title(ts),ylabel('(m/s)') |
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ax = axis; %remember axis |
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yLimMps = [ax(3)-200, ax(4)];%make an extra 200 m/s on axis, to add text |
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set(gca,'YLim',yLimMps); |
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ts = ' For Svids ['; |
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ds = sprintf('%.0f, ',gnssMeas.Svid); |
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ht=text(ax(1),ax(3),[ts,ds(1:end-2),'],']); |
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set(ht,'VerticalAlignment','top','Color',gray) |
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ts = ' mean(prr) - mean (diff(pr)/diff(time)) = ['; |
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ds = sprintf('%.2f, ',deltaMeanM); |
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ht=text(ax(1),ax(3)-100,[ts,ds(1:end-2),'] (m/s)']); |
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set(ht,'VerticalAlignment','top','Color',gray) |
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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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h12(2) = 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(h12,'x') |
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if nargout |
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colorsOut = colors; |
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end |
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end %end of function PlotPseudorangeRates |
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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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