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111 lines
4.3 KiB
111 lines
4.3 KiB
tic; |
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clc;clear all; close(findall(0,'Type','figure')); |
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%% |
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%ProcessGnssMeasScript.m, script to read GnssLogger output, compute and plot: |
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% pseudoranges, C/No, and weighted least squares PVT solution |
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% |
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% you can run the data in pseudoranges log files provided for you: |
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%prFileName = 'pseudoranges_log_2016_06_30_21_26_07.txt'; %with duty cycling, no carrier phase |
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% prFileName = 'pseudoranges_log_2016_08_22_14_45_50.txt'; %no duty cycling, with carrier phase |
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prFileName = 'workshop_trials01.txt'; |
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% as follows |
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% 1) copy everything from GitHub google/gps-measurement-tools/ to |
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% a local directory on your machine |
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% 2) softPath will read current working directory |
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softPath = pwd; |
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addpath(softPath); |
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%CHANGE this to your data folder |
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dirName = sprintf('%s%s',softPath,'\demoFiles'); |
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% 3) run ProcessGnssMeasScript.m script file |
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% 4) when asked select 'change folder' to get proper pwd |
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%Author: Frank van Diggelen |
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%edits: LKB |
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%Open Source code for processing Android GNSS Measurements |
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%% debug and profiling tools |
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% tools below are used to debug/follow code |
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% profile on; |
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% profile clear; |
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display('DEBUG MODE'); |
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dbclear all |
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dbstop if error %gives post-mortem |
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% dbstop if naninf |
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% dbstop in subRoutine at 17 if idx==7 |
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%dbstop in ProcessGnssMeas at 98 |
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%dbstop in ReadGnssLogger at 20 |
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%dbstop at 66 |
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dbstatus |
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% get display screen file |
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HW_ScrSize = get(0,'ScreenSize');%in pixels |
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%% parameters |
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%param.llaTrueDegDegM = []; |
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%enter true WGS84 lla, if you know it: |
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%param.llaTrueDegDegM = [37.422578, -122.081678, -28];%Charleston Park Test Site |
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param.llaTrueDegDegM = [45.5298979 -122.6619045 24.16] %workshop trial approx coords |
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%% Set the data filter and Read log file |
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dataFilter = SetDataFilter; |
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[gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,prFileName,dataFilter); |
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if isempty(gnssRaw), return, end |
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%% Get online ephemeris from Nasa ftp, first |
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fctSeconds = 1e-3*double(gnssRaw.allRxMillis(end)); |
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utcTime = Gps2Utc([],fctSeconds); %compute UTC Time from gnssRaw: |
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allGpsEph = GetNasaHourlyEphemeris(utcTime,dirName); %Get online ephemeris |
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if isempty(allGpsEph), return, end |
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%% process raw measurements, compute pseudoranges: |
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[gnssMeas] = ProcessGnssMeas(gnssRaw); |
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%% plot pseudoranges and pseudorange rates |
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h1 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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[colors] = PlotPseudoranges(gnssMeas,prFileName); |
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h2 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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PlotPseudorangeRates(gnssMeas,prFileName,colors); |
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h3 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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PlotCno(gnssMeas,prFileName,colors); |
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%% compute WLS position and velocity |
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gpsPvt = GpsWlsPvt(gnssMeas,allGpsEph); |
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%% plot Pvt results |
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h4 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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ts = 'Raw Pseudoranges, Weighted Least Squares solution'; |
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PlotPvt(gpsPvt,prFileName,param.llaTrueDegDegM,ts); drawnow; |
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h5 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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PlotPvtStates(gpsPvt,prFileName); |
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% if no results visible make sure that param.llaTrueDegDegM is correctly set |
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% if unknown, use Median llaDegDegM |
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%% Plot Accumulated Delta Range |
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if any(any(isfinite(gnssMeas.AdrM) & gnssMeas.AdrM~=0)) |
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[gnssMeas]= ProcessAdr(gnssMeas); |
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h6 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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PlotAdr(gnssMeas,prFileName,colors); |
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[adrResid]= GpsAdrResiduals(gnssMeas,allGpsEph,param.llaTrueDegDegM);drawnow |
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h7 = figure('Color','white','MenuBar','figure','Position',[0 0 HW_ScrSize(3) HW_ScrSize(4)]); |
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PlotAdrResids(adrResid,gnssMeas,prFileName,colors); |
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end |
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%% end of ProcessGnssMeasScript |
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rmpath(softPath) |
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toc |
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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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