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function PlotPvt(gpsPvt,prFileName,llaTrueDegDegM,titleString) |
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%PlotGpsPvt(gpsPvt,prFileName,[llaTrueDegDegM],[titleString]) |
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%Plot the results of GpsLsPvt: |
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% |
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% gpsPvt.FctSeconds Nx1 time vector, same as gpsMeas.FctSeconds |
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% .allLlaDegDegM Nx3 matrix, (i,:) = [lat (deg), lon (deg), alt (m)] |
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% .sigmaLlaM Nx3 standard deviation of [lat,lon,alt] (m) |
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% .allBcMeters Nx1 common bias computed with lla |
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% .allVelMps Nx3 (i,:) = velocity in NED coords |
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% .sigmaVelMps Nx3 standard deviation of velocity (m/s) |
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% .allBcDotMps Nx1 common freq bias computed with velocity |
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% .numSvs Nx1 number of satellites used in corresponding lla |
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% .hdop Nx1 hdop of corresponding fix |
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% |
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% Optional inputs: [llaTrueDegDegM] = reference position, [ts] = title srtring |
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%Author: Frank van Diggelen |
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%Open Source code for processing Android GNSS Measurements |
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gray = [.5 .5 .5]; |
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ltgray = [.8 .8 .8]; |
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%set reference lla for plots |
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iFi = isfinite(gpsPvt.allLlaDegDegM(:,1));%index into finite results |
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if ~any(iFi) |
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return |
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end |
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llaMed = median(gpsPvt.allLlaDegDegM(iFi,:));%median position |
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%print median lla so user can use it as reference position if they want: |
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fprintf('Median llaDegDegM = [%.7f %.7f %.2f]\n',llaMed) |
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if nargin < 3, llaTrueDegDegM = []; end |
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if nargin < 4, titleString = 'PVT solution'; end |
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bGotLlaTrue = ~isempty(llaTrueDegDegM) && any(llaTrueDegDegM); |
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%not empty and not all zeros |
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if bGotLlaTrue |
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llaRef = llaTrueDegDegM; |
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else |
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llaRef = llaMed; |
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end |
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%% plot ne errors vs llaTrueDegDegM -------------------------------------------- |
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nedM = Lla2Ned(gpsPvt.allLlaDegDegM,llaRef);%keep the NaNs in for the plot |
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%so we see a break in the lines where there was no position |
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h123=subplot(4,1,1:2); |
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h1 = plot(nedM(:,2),nedM(:,1)); |
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set(h1,'LineStyle','-','LineWidth',0.1,'Color',ltgray) |
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hold on, plot(nedM(:,2),nedM(:,1),'cx'); |
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lls = sprintf(' [%.6f^o, %.6f^o]',llaMed(1:2)); |
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nedMedM = Lla2Ned(llaMed,llaRef); |
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h=plot(nedMedM(2),nedMedM(1),'+k','MarkerSize',18); |
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ts = [' median ',lls]; |
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ht1 = text(nedMedM(2),nedMedM(1),ts,'color','k'); |
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lls = sprintf(' [%.6f^o, %.6f^o]',llaRef(1:2)); |
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if bGotLlaTrue |
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h=plot(0,0,'+r','MarkerSize',18); |
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ts = [' true pos ',lls]; |
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ht2 = text(0,0,ts,'color','r'); |
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%adjust VerticalAlignment to avoid overwriting previous text |
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if nedMedM(1)<0 |
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set(ht1,'VerticalAlignment','top');%moves the 'median' label down |
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set(ht2,'VerticalAlignment','bottom'); |
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else |
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set(ht1,'VerticalAlignment','bottom'); |
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set(ht2,'VerticalAlignment','top'); |
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end |
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%print median position error |
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ts = sprintf('|median - true pos| = %.1f m',norm(nedMedM(1:2))); |
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xm = min(0,nedMedM(2)); %align label with median x value, or zero |
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ym = min(nedM(:,1)); %align with smallest y |
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ht3 = text(xm,ym,ts); |
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set(ht3,'Color','k','VerticalAlignment','bottom'); |
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end |
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title(titleString); |
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axis equal, grid on |
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ylabel('North (m)'),xlabel('East (m)') |
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% compute error distribution and plot circle |
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distM = sqrt(sum(nedM(iFi,1:2).^2,2));%use only finite values here |
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medM = median(distM); |
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%plot a circle using 'rectangle' (yes really :) |
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hr=rectangle('Position',[-1 -1 2 2]*medM,'Curvature',[1 1]); |
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set(hr,'EdgeColor',gray) |
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ts = sprintf('50%% distribution = %.1f m',medM); |
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text(0,medM,ts,'VerticalAlignment','bottom','Color',gray) |
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%% end of plot ne errors vs llaTrueDegDegM ------------------------------------- |
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%time variable for plots |
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tSeconds = gpsPvt.FctSeconds-gpsPvt.FctSeconds(1); |
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%% plot speed |
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h123(2)=subplot(4,1,3); |
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N = length(gpsPvt.FctSeconds); |
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iGood = isfinite(gpsPvt.allVelMps(:,1)); |
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speedMps = zeros(1,N)+NaN; |
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speedMps(iGood) = sqrt(sum(gpsPvt.allVelMps(iGood,1:2)'.^2)); %horizontal speed |
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plot(tSeconds,speedMps);grid on |
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ylabel('Horiz. speed (m/s)') |
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%% plot hdop & # sats |
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h123(3)=subplot(4,1,4); |
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[hyy,h1]=plotyy(tSeconds,gpsPvt.hdop,tSeconds,gpsPvt.numSvs,'plot','stairs'); |
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grid on |
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set(h1,'LineWidth',1) |
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ylabel(hyy(1),'HDOP'); ylabel(hyy(2),'# sats'); |
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xs = sprintf('time(seconds)\n%s',prFileName); |
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xlabel(xs,'Interpreter','none') |
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set(hyy,'Box','off') |
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linkaxes(h123(2:3),'x'); |
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linkaxes(hyy,'x') |
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end %end of function PlotPvt |
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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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