You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
115 lines
4.4 KiB
115 lines
4.4 KiB
tic; |
|
clc;clear all; close(findall(0,'Type','figure')); |
|
%% |
|
%ProcessGnssMeasScript.m, script to read GnssLogger output, compute and plot: |
|
% pseudoranges, C/No, and weighted least squares PVT solution |
|
% |
|
% you can run the data in pseudoranges log files provided for you: |
|
%prFileName = 'pseudoranges_log_2016_06_30_21_26_07.txt'; %with duty cycling, no carrier phase |
|
% prFileName = 'pseudoranges_log_2016_08_22_14_45_50.txt'; %no duty cycling, with carrier phase |
|
%prFileName = 'workshop_trials01.txt'; |
|
% SET UP FILE NAME: |
|
prFileName = 'pseudoranges_log_2017_05_01_13_50_52.txt'; %my Nexus9 |
|
|
|
%SET UP PATHS |
|
softPath = pwd; |
|
addpath(softPath); |
|
%CHANGE this to your data folder |
|
dirName = sprintf('%s%s',softPath,'\demoFiles'); |
|
|
|
% 3) run ProcessGnssMeasScript.m script file |
|
% 4) when asked select 'change folder' to get proper pwd |
|
|
|
%Author: Frank van Diggelen |
|
%edits: LKB |
|
%Open Source code for processing Android GNSS Measurements |
|
%% debug and profiling tools |
|
% tools below are used to debug/follow code |
|
% profile on; |
|
% profile clear; |
|
display('DEBUG MODE'); |
|
dbclear all |
|
dbstop if error %gives post-mortem |
|
% dbstop if naninf |
|
% dbstop in subRoutine at 17 if idx==7 |
|
%dbstop in ProcessGnssMeas at 98 |
|
%dbstop in ReadGnssLogger at 20 |
|
%dbstop at 66 |
|
dbstatus |
|
% get display screen file |
|
HW_ScrSize = get(0,'ScreenSize');%in pixels |
|
|
|
%% parameters |
|
%param.llaTrueDegDegM = []; |
|
%enter true WGS84 lla, if you know it: |
|
%param.llaTrueDegDegM = [37.422578, -122.081678, -28];%Charleston Park Test Site |
|
param.llaTrueDegDegM = [53.0710038591 -1.3896084336 173.339] %AD1 UoN FC site |
|
|
|
|
|
%% Set the data filter and Read log file |
|
dataFilter = SetDataFilter; |
|
[gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,prFileName,dataFilter); |
|
if isempty(gnssRaw), return, end |
|
|
|
%% Get online ephemeris from Nasa ftp, first |
|
fctSeconds = 1e-3*double(gnssRaw.allRxMillis(end)); |
|
utcTime = Gps2Utc([],fctSeconds); %compute UTC Time from gnssRaw: |
|
allGpsEph = GetNasaHourlyEphemeris(utcTime,dirName); %Get online ephemeris |
|
if isempty(allGpsEph), return, end %uable to process without EPH |
|
|
|
%% process raw measurements, compute pseudoranges: |
|
[gnssMeas] = ProcessGnssMeas(gnssRaw); |
|
|
|
%% plot pseudoranges and pseudorange rates |
|
h1 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
[colors] = PlotPseudoranges(gnssMeas,prFileName); |
|
% h2 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
% PlotPseudorangeRates(gnssMeas,prFileName,colors); |
|
% h3 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
% PlotCno(gnssMeas,prFileName,colors); |
|
|
|
%% compute WLS position and velocity |
|
gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph); |
|
|
|
%% plot Pvt results |
|
h4 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
ts = 'Raw Pseudoranges, Weighted Least Squares solution'; |
|
PlotPvt(gpsPvt,prFileName,param.llaTrueDegDegM,ts); drawnow; |
|
h5 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
PlotPvtStates(gpsPvt,prFileName); |
|
|
|
% if no results visible make sure that param.llaTrueDegDegM is correctly set |
|
% if unknown, use Median llaDegDegM |
|
|
|
%% Plot Accumulated Delta Range |
|
if any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) |
|
display('this phone has ICP data, check plots:'); |
|
[gnssMeas]= ProcessAdr(gnssMeas); |
|
h6 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
PlotAdr(gnssMeas,prFileName,colors); |
|
[adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,param.llaTrueDegDegM);drawnow |
|
h7 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
|
PlotAdrResids(adrResid,gnssMeas,prFileName,colors); |
|
else display('no ICP data on this phone!'); |
|
end |
|
|
|
%% end of ProcessGnssMeasScript |
|
rmpath(softPath) |
|
toc |
|
|
|
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
|
% 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.
|
|
|