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function PlotPvtStates(gnssPvt,prFileName) |
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%PlotPvtStates(gnssPvt,prFileName); |
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%Plot the Position, Velocity and Time/clock states in gnssPvt |
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% |
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% gnssPvt.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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%Author: Frank van Diggelen |
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%Open Source code for processing Android GNSS Measurements |
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%find median values |
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iFi = isfinite(gnssPvt.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(gnssPvt.allLlaDegDegM(iFi,:));%use medians as reference |
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%time variable for plots |
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tSeconds = gnssPvt.FctSeconds-gnssPvt.FctSeconds(1); |
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h1234 = zeros(1,4); %handles for subplots |
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%plot ned errors vs medians ---------------------------------------------------- |
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ned = Lla2Ned(gnssPvt.allLlaDegDegM,llaMed); |
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h1234(1)=subplot(4,1,1); |
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plot(tSeconds,ned(:,1),'r');hold on |
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plot(tSeconds,ned(:,2),'g'); |
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plot(tSeconds,ned(:,3),'b'); |
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title('WLS: Position states offset from medians [Lat,Lon,Alt]'); |
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grid on, ylabel('(meters)'), |
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%label Latitude, Longitude and Altitude |
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iFi = isfinite(ned(:,1));%index into finite results |
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h=zeros(1,3); %handles for Lat, Lon, Alt |
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h(1)=text(tSeconds(end),ned(iFi(end),1),'Lat'); |
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set(h(1),'Color','r') |
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h(2)=text(tSeconds(end),ned(iFi(end),2),'Lon'); |
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set(h(2),'Color','g') |
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h(3)=text(tSeconds(end),ned(iFi(end),3),'Alt'); |
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set(h(3),'Color','b') |
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%shift the highest a little higher, so it doesnt overwrite the others |
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[~,iMax] = max(ned(iFi(end),:)); |
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set(h(iMax),'VerticalAlignment','bottom'); |
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%shift the lowest a little lower |
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[~,iMin] = min(ned(iFi(end),:)); |
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set(h(iMin),'VerticalAlignment','top'); |
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%plot common bias, in microseconds and meters --------------------------------- |
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h1234(2)=subplot(4,1,2); |
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iFi = find(isfinite(gnssPvt.allBcMeters));%index into finite results |
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if any(iFi) |
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plot(tSeconds,gnssPvt.allBcMeters - gnssPvt.allBcMeters(iFi(1))) |
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grid on |
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bc0Microseconds = gnssPvt.allBcMeters(iFi(1))/GpsConstants.LIGHTSPEED*1e6; |
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bc0Text = sprintf('%.1f',bc0Microseconds); |
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title(['Common bias ''clock'' offset from initial value of ',... |
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bc0Text,' {\mu}s']) |
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ylabel(('meters')) |
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end |
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%add microseconds label on right |
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ax=axis; |
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axMeters = ax(3:4); |
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set(gca,'YLim',axMeters); %fix this, else rescaling fig breaks axis proportion |
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axMicroseconds = axMeters/GpsConstants.LIGHTSPEED*1e6; |
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set(gca,'Box','off'); %# Turn off the box surrounding the whole axes |
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axesPosition = get(gca,'Position'); %# Get the current axes position |
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hNewAxes = axes('Position',axesPosition,... %# Place a new axes on top... |
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'Color','none',... %# ... with no background color |
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'YLim',axMicroseconds,... %# ... and a different scale |
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'YAxisLocation','right',... %# ... located on the right |
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'XTick',[],... %# ... with no x tick marks |
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'Box','off'); %# ... and no surrounding box |
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ylabel(hNewAxes,'(microseconds)'); %# Add label to right |
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%you must link the axes, else proportion will change when you scale figure: |
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linkaxes([hNewAxes, h1234(2)],'x'); |
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%plot three components of speed ------------------------------------------------ |
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h1234(3)=subplot(4,1,3); |
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vel = gnssPvt.allVelMps; |
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plot(tSeconds,vel(:,1),'r');hold on |
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plot(tSeconds,vel(:,2),'g'); |
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plot(tSeconds,vel(:,3),'b'); |
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title('Velocity states [North,East,Down]'); |
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grid on, ylabel('(m/s)'), |
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%label North, East, Down |
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iFi = isfinite(vel(:,1));%index into finite results |
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h=zeros(1,3); %handles for Lat, Lon, Alt |
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h(1)=text(tSeconds(end),vel(iFi(end),1),'North'); |
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set(h(1),'Color','r') |
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h(2)=text(tSeconds(end),vel(iFi(end),2),'East'); |
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set(h(2),'Color','g') |
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h(3)=text(tSeconds(end),vel(iFi(end),3),'Down'); |
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set(h(3),'Color','b') |
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%shift the highest a little higher, so it doesnt overwrite the others |
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[~,iMax] = max(vel(iFi(end),:)); |
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set(h(iMax),'VerticalAlignment','bottom'); |
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%shift the lowest a little lower |
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[~,iMin] = min(vel(iFi(end),:)); |
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set(h(iMin),'VerticalAlignment','top'); |
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%plot common frequency offset ------------------------------------------------- |
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h1234(4)=subplot(4,1,4); |
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plot(tSeconds,gnssPvt.allBcDotMps) |
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grid on |
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title('Common frequency offset'); ylabel(('m/s')) |
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%add microseconds label on right |
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ax=axis; |
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axMps = ax(3:4); |
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set(gca,'YLim',axMps);%fix this, else rescaling fig breaks axis proportion |
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PPMPERMPS = 1/GpsConstants.LIGHTSPEED*1E6; %true for any frequency |
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axPpm = axMps*PPMPERMPS; |
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set(gca,'Box','off'); %# Turn off the box surrounding the whole axes |
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axesPosition = get(gca,'Position'); %# Get the current axes position |
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hNewAxes = axes('Position',axesPosition,... %# Place a new axes on top... |
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'Color','none',... %# ... with no background color |
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'YLim',axPpm,... %# ... and a different scale |
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'YAxisLocation','right',... %# ... located on the right |
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'XTick',[],... %# ... with no x tick marks |
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'Box','off'); %# ... and no surrounding box |
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ylabel(hNewAxes,'(ppm)'); %# Add label to right |
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linkaxes([hNewAxes, h1234(4)],'x') |
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xs = sprintf('\ntime(seconds)\n%s',prFileName); |
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xlabel(xs,'Interpreter','none') |
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linkaxes(h1234,'x'); %link all x axes |
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end %end of function PlotPvtStates |
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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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