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goGNSS.m
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goGNSS.m
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% OBJECT goGNSS
% =========================================================================
% DESCRIPTION
% Object to manage a useful functions / standard parameters of goGPS
% Under development no methods are used up to now...
% EXAMPLE
% go = goGNSS();
%
% FOR A LIST OF CONSTANTs and METHODS use doc goGNSS
%----------------------------------------------------------------------------------------------
% goGPS v0.4.3
%
% Copyright (C) 2009-2014 Mirko Reguzzoni, Eugenio Realini
%----------------------------------------------------------------------------------------------
%
% Code contributed by Stefano Caldera, Andrea Gatti, Lisa Pertusini
%
% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%---------------------------------------------------------------------------------------------
classdef goGNSS < handle
% Constant values
% => to discriminate them from function (in autocompletion) they are
% written in capital letters
properties (Constant)
% GENERIC CONSTANTS -----------------------------------------------
V_LIGHT = 299792458; % velocity of light in the void [m/s]
MAX_SAT = 32 % Maximum number of active satellites in a constellation
% CONSTELLATION REF -----------------------------------------------
% CRS parameters, according to each GNSS system CRS definition
% (ICD document in brackets):
%
% *_GPS --> WGS-84 (IS-GPS200E)
% *_GLO --> PZ-90 (GLONASS-ICD 5.1)
% *_GAL --> GTRF (Galileo-ICD 1.1)
% *_BDS --> CGCS2000 (BeiDou-ICD 1.0)
% *_QZS --> WGS-84 (IS-QZSS 1.5D)
ELL_A_GPS = 6378137; % GPS (WGS-84) Ellipsoid semi-major axis [m]
ELL_A_GLO = 6378136; % GLONASS (PZ-90) Ellipsoid semi-major axis [m]
ELL_A_GAL = 6378137; % Galileo (GTRF) Ellipsoid semi-major axis [m]
ELL_A_BDS = 6378136; % BeiDou (CGCS2000) Ellipsoid semi-major axis [m]
ELL_A_QZS = 6378137; % QZSS (WGS-84) Ellipsoid semi-major axis [m]
ELL_F_GPS = 1/298.257222101; % GPS (WGS-84) Ellipsoid flattening
ELL_F_GLO = 1/298.257222101; % GLONASS (PZ-90) Ellipsoid flattening
ELL_F_GAL = 1/298.257222101; % Galileo (GTRF) Ellipsoid flattening
ELL_F_BDS = 1/298.257222101; % BeiDou (CGCS2000) Ellipsoid flattening
ELL_F_QZS = 1/298.257222101; % QZSS (WGS-84) Ellipsoid flattening
ELL_E_GPS = sqrt(1-(1-goGNSS.ELL_F_GPS)^2); % GPS (WGS-84) Eccentricity
ELL_E_GLO = sqrt(1-(1-goGNSS.ELL_F_GLO)^2); % GLONASS (PZ-90) Eccentricity
ELL_E_GAL = sqrt(1-(1-goGNSS.ELL_F_GAL)^2); % Galileo (GTRF) Eccentricity
ELL_E_BDS = sqrt(1-(1-goGNSS.ELL_F_BDS)^2); % BeiDou (CGCS2000) Eccentricity
ELL_E_QZS = sqrt(1-(1-goGNSS.ELL_F_QZS)^2); % QZSS (WGS-84) Eccentricity
GM_GPS = 3.986005e14; % GPS Gravitational constant * (mass of Earth) [m^3/s^2]
GM_GLO = 3.9860044e14; % GLONASS Gravitational constant * (mass of Earth) [m^3/s^2]
GM_GAL = 3.986004418e14; % Galileo Gravitational constant * (mass of Earth) [m^3/s^2]
GM_BDS = 3.986004418e14; % BeiDou Gravitational constant * (mass of Earth) [m^3/s^2]
GM_QZS = 3.986005e14; % QZSS Gravitational constant * (mass of Earth) [m^3/s^2]
% (NOTE: these values are not actually called from goGNSS.m
% by ecc_anomaly.m for computation time reasons; if
% it's needed to change them, please update also
% the values in ecc_anomaly.m)
OMEGAE_DOT_GPS = 7.2921151467e-5; % GPS Angular velocity of the Earth rotation [rad/s]
OMEGAE_DOT_GLO = 7.292115e-5; % GLONASS Angular velocity of the Earth rotation [rad/s]
OMEGAE_DOT_GAL = 7.2921151467e-5; % Galileo Angular velocity of the Earth rotation [rad/s]
OMEGAE_DOT_BDS = 7.292115e-5; % BeiDou Angular velocity of the Earth rotation [rad/s]
OMEGAE_DOT_QZS = 7.2921151467e-5; % QZSS Angular velocity of the Earth rotation [rad/s]
J2_GLO = 1.0826257e-3; % GLONASS second zonal harmonic of the geopotential
PI_ORBIT = 3.1415926535898; % pi value used for orbit computation
CIRCLE_RAD = 2*goGNSS.PI_ORBIT; % 2 pi (NOTE: this value is not actually called from goGNSS.m
% for computation time reasons; if it's needed to
% change it, please update also ecc_anomaly.m and
% satellite_orbits.m)
% CONSTELLATION SPECIFIC ------------------------------------------
FL1 = 1575.420; % GPS [MHz]
FL2 = 1227.600; %
FL5 = 1176.450; %
FR1_base = 1602.000; % GLONASS [MHz]
FR2_base = 1246.000; %
FR1_delta = 0.5625; %
FR2_delta = 0.4375; %
FR_channels = 6:-1:-7;
FE1 = goGNSS.FL1; % Galileo [MHz]
FE5a = goGNSS.FL5; %
FE5b = 1207.140; %
FE5 = 1191.795; %
FE6 = 1278.750; %
FC1 = 1589.740; % BeiDou [MHz]
FC2 = 1561.098; %
FC5b = goGNSS.FE5b; %
FC6 = 1268.520; %
FJ1 = goGNSS.FL1; % QZSS [MHz]
FJ2 = goGNSS.FL2; %
FJ5 = goGNSS.FL5; %
FJ6 = goGNSS.FE6; %
FS1 = goGNSS.FL1; % SBAS [MHz]
FS5 = goGNSS.FL5; %
FG = [goGNSS.FL1 goGNSS.FL2 goGNSS.FL5]*1e6; % GPS carriers frequencies [Hz]
LAMBDAG = goGNSS.V_LIGHT ./ goGNSS.FG; % GPS carriers wavelengths [m]
FR_base = [goGNSS.FR1_base goGNSS.FR2_base]; % GLONASS carriers base frequencies [Hz]
FR_delta = [goGNSS.FR1_delta goGNSS.FR2_delta]; % GLONASS carriers delta frequencies [Hz/n]
FR1 = goGNSS.FR_channels' .* goGNSS.FR_delta(1) + goGNSS.FR_base(1);
FR2 = goGNSS.FR_channels' .* goGNSS.FR_delta(2) + goGNSS.FR_base(2);
FR = [goGNSS.FR1 goGNSS.FR2]*1e6; % GLONASS carriers frequencies [Hz]
LAMBDAR = goGNSS.V_LIGHT ./ goGNSS.FR; % GLONASS carriers wavelengths [m]
FE = [goGNSS.FE1 goGNSS.FE5a goGNSS.FE5b goGNSS.FE5 goGNSS.FE6]*1e6; % Galileo carriers frequencies [Hz]
LAMBDAE = goGNSS.V_LIGHT ./ goGNSS.FE; % Galileo carriers wavelengths [m]
FC = [goGNSS.FC1 goGNSS.FC2 goGNSS.FC5b goGNSS.FC6]*1e6; % BeiDou carriers frequencies [Hz]
LAMBDAC = goGNSS.V_LIGHT ./ goGNSS.FC; % BeiDou carriers wavelengths [m]
FJ = [goGNSS.FJ1 goGNSS.FJ2 goGNSS.FJ5 goGNSS.FJ6]*1e6; % QZSS carriers frequencies [Hz]
LAMBDAJ = goGNSS.V_LIGHT ./ goGNSS.FJ; % QZSS carriers wavelengths [m]
FS = [goGNSS.FS1 goGNSS.FS5]*1e6; % SBAS carriers frequencies [Hz]
LAMBDAS = goGNSS.V_LIGHT ./ goGNSS.FS; % SBAS carriers wavelengths [m]
% CONSTELLATIONS IDs ----------------------------------------------
ID_GPS = 1 % Id of GPS constellation for goGPS internal use
ID_GLONASS = 2 % Id of GLONASS constellation for goGPS internal use
ID_GALILEO = 3 % Id of Galileo constellation for goGPS internal use
ID_BEIDOU = 4 % Id of BeiDou constellation for goGPS internal use
ID_QZSS = 5 % Id of QZSS constellation for goGPS internal use
ID_SBAS = 6 % Id of SBAS constellation for goGPS internal use
% goGPS MODES -----------------------------------------------------
MODE_RT_NAV = 24; % Real Time Navigation (Kalman Filter on Code and Phase Double Differences (with/without a constraint)
MODE_RT_R_MON = 21; % Real Time Rover Monitor
MODE_RT_M_MON = 22; % Real Time Master Monitor
MODE_RT_RM_MON = 23; % Real Time Master + Rover Monitor
MODE_PP_LS_C_SA = 1; % Post Proc Least Squares on Code Stand Alone
MODE_PP_LS_CP_SA = 3; % Post Proc Least Squares on Code and Phase Stand Alone (BASE FOR FUTURE PPP IMPLEMENTATION)
MODE_PP_LS_CP_VEL = 3.1; % Post Proc Least Squares on Code and Phase for Velocity estimation
MODE_PP_LS_C_DD = 11; % Post Proc Least Squares on Code Double Differences
MODE_PP_LS_CP_DD_L = 13; % Post Proc Least Squares on Code and Phase Double Differences with LAMBDA
MODE_PP_LS_CP_DD_MR = 16; % Post Proc Least Squares on Code and Phase Double Differences, Multiple Receivers
MODE_PP_LS_C_SA_MR = 17; % Post Proc Least Squares on Code Stand Alone, Multiple Receivers
MODE_PP_KF_C_SA = 2; % Post Proc Kalman Filter on Code Stand Alone
MODE_PP_KF_C_DD = 12; % Post Proc Kalman Filter on Code Double Differencies
MODE_PP_KF_CP_SA = 4; % Post Proc Kalman Filter on Code and Phase Stand Alone
MODE_PP_KF_CP_DD = 14; % Post Proc Kalman Filter on Code and Phase Double Differences
MODE_PP_KF_CP_DD_MR = 15; % Post Proc Kalman Filter on Code and Phase Double Differences, Multiple Receivers
GMODE_PP = [ goGNSS.MODE_PP_LS_C_SA ... % Group of post processing modes
goGNSS.MODE_PP_LS_CP_SA ...
goGNSS.MODE_PP_LS_C_DD ...
goGNSS.MODE_PP_LS_CP_DD_L ...
goGNSS.MODE_PP_LS_CP_VEL ...
goGNSS.MODE_PP_KF_C_SA ...
goGNSS.MODE_PP_KF_C_DD ...
goGNSS.MODE_PP_KF_CP_SA ...
goGNSS.MODE_PP_KF_CP_DD ...
goGNSS.MODE_PP_LS_C_SA_MR ...
goGNSS.MODE_PP_LS_CP_DD_MR ...
goGNSS.MODE_PP_KF_CP_DD_MR];
GMODE_RT = [ goGNSS.MODE_RT_NAV ... % Group of real time modes
goGNSS.MODE_RT_R_MON ...
goGNSS.MODE_RT_M_MON ...
goGNSS.MODE_RT_RM_MON];
GMODE_SA = [ goGNSS.MODE_PP_LS_C_SA ... % Group of stand alone modes
goGNSS.MODE_PP_LS_CP_SA ...
goGNSS.MODE_PP_LS_CP_VEL ...
goGNSS.MODE_PP_KF_C_SA ...
goGNSS.MODE_PP_KF_CP_SA ...
goGNSS.MODE_PP_LS_C_SA_MR];
GMODE_DD = [ goGNSS.MODE_PP_LS_C_DD ... % Group of double differences modes
goGNSS.MODE_PP_LS_CP_DD_L ...
goGNSS.MODE_PP_KF_C_DD ...
goGNSS.MODE_PP_KF_CP_DD ...
goGNSS.MODE_PP_LS_CP_DD_MR ...
goGNSS.MODE_PP_KF_CP_DD_MR];
GMODE_MR = [ goGNSS.MODE_PP_LS_C_SA_MR ... % Group of multi-receiver modes
goGNSS.MODE_PP_LS_CP_DD_MR ...
goGNSS.MODE_PP_KF_CP_DD_MR];
GMODE_PH = [ goGNSS.MODE_RT_NAV ... % Group of modes using Phase
goGNSS.MODE_RT_R_MON ...
goGNSS.MODE_RT_M_MON ...
goGNSS.MODE_RT_RM_MON ...
goGNSS.MODE_PP_LS_CP_SA ...
goGNSS.MODE_PP_LS_CP_VEL ...
goGNSS.MODE_PP_LS_CP_DD_MR ...
goGNSS.MODE_PP_LS_CP_DD_L ...
goGNSS.MODE_PP_KF_CP_SA ...
goGNSS.MODE_PP_KF_CP_DD ...
goGNSS.MODE_PP_KF_CP_DD_MR];
GMODE_KM = [ goGNSS.MODE_PP_KF_C_SA ... % Group of modes using Kalman Filter
goGNSS.MODE_PP_KF_C_DD ...
goGNSS.MODE_PP_KF_CP_SA ...
goGNSS.MODE_PP_KF_CP_DD ...
goGNSS.MODE_PP_KF_CP_DD_MR];
end
% Creator (empty)
methods
% Object to manage a useful functions / standard parameters of goGPS
function obj = goGNSS()
end
end
% COMPATIBILITY FUNCTION (STATIC)
% -------------------------------------------------------------------------
% function to keep compatibility with the past
methods (Static, Access = 'public')
function f1 = F1()
% GPS carriers frequencies F1
f1 = goGNSS.FG(1);
end
function f1 = F2()
% GPS carriers frequencies F2
f1 = goGNSS.FG(2);
end
function lambda1 = LAMBDA1()
% GPS carriers frequency 1 [Hz]
lambda1 = goGNSS.LAMBDAG(1);
end
function lambda2 = LAMBDA2()
% GPS carriers frequency 2 [Hz]
lambda2 = goGNSS.LAMBDAG(2);
end
end
% MODE FUNCTION (STATIC)
% -------------------------------------------------------------------------
% function to detect a certain kind of processing
methods (Static, Access = 'public')
function isPostProcessing = isPP(mode)
% return whether or not the mode given in use is a Post Processing mode
isPostProcessing = sum(intersect(mode, goGNSS.GMODE_PP));
end
function isRealTime = isRT(mode)
% return whether or not the mode given in use is a Real Time mode
isRealTime = sum(intersect(mode, goGNSS.GMODE_RT));
end
function isDoubleDifferences = isDD(mode)
% return whether or not the mode given in use is a Double Difference mode
isDoubleDifferences = sum(intersect(mode, goGNSS.GMODE_DD));
end
function isStandAlone = isSA(mode)
% return whether or not the mode given in use is a Stand Alone mode
isStandAlone = sum(intersect(mode, goGNSS.GMODE_SA));
end
function isMultiReceiver = isMR(mode)
% return whether or not the mode given in use is a Stand Alone mode
isMultiReceiver = sum(intersect(mode, goGNSS.GMODE_MR));
end
function isUsingPhase = isPH(mode)
% return whether or not the mode given in use uses Phase
isUsingPhase = sum(intersect(mode, goGNSS.GMODE_PH));
end
function isKalman = isKM(mode)
% return whether or not the mode given in use uses Kalman Filter
isKalman = sum(intersect(mode, goGNSS.GMODE_KM));
end
end
% CONSTELLATION FUNCTION (STATIC)
% -------------------------------------------------------------------------
methods (Static, Access = 'public')
function [constellations] = initConstellation(GPS_flag, GLO_flag, GAL_flag, BDS_flag, QZS_flag, SBS_flag)
% SYNTAX:
% [constellations] = initConstellation(GPS_flag, GLO_flag, GAL_flag, BDS_flag, QZS_flag, SBS_flag);
%
% INPUT:
% GPS_flag = boolean flag for enabling/disabling GPS usage
% GLO_flag = boolean flag for enabling/disabling GLONASS usage
% GAL_flag = boolean flag for enabling/disabling Galileo usage
% BDS_flag = boolean flag for enabling/disabling BeiDou usage
% QZS_flag = boolean flag for enabling/disabling QZSS usage
% SBS_flag = boolean flag for enabling/disabling SBAS usage (for ranging)
%
% OUTPUT:
% constellations = struct with multi-constellation settings
%
% DESCRIPTION:
% Multi-constellation settings and initialization.
GPS_PRN = [1:32];
GLO_PRN = [1:24];
GAL_PRN = [1:30];
BDS_PRN = [1:37];
QZS_PRN = [193:196];
SBS_PRN = 0; %SBAS ranging not supported yet
constellations.GPS = struct('numSat', numel(GPS_PRN), 'enabled', GPS_flag, 'indexes', 0, 'PRN', GPS_PRN);
constellations.GLONASS = struct('numSat', numel(GLO_PRN), 'enabled', GLO_flag, 'indexes', 0, 'PRN', GLO_PRN);
constellations.Galileo = struct('numSat', numel(GAL_PRN), 'enabled', GAL_flag, 'indexes', 0, 'PRN', GAL_PRN);
constellations.BeiDou = struct('numSat', numel(BDS_PRN), 'enabled', BDS_flag, 'indexes', 0, 'PRN', BDS_PRN);
constellations.QZSS = struct('numSat', numel(QZS_PRN), 'enabled', QZS_flag, 'indexes', 0, 'PRN', QZS_PRN);
constellations.SBAS = struct('numSat', numel(SBS_PRN), 'enabled', 0, 'indexes', 0, 'PRN', SBS_PRN); %SBAS ranging not supported yet
nSatTot = 0; %total number of satellites used given the enabled constellations
q = 0; %counter for enabled constellations
systems = fieldnames(constellations);
constellations.indexes = [];
constellations.PRN = [];
for i = 1 : numel(systems)
if(constellations.(systems{i}).enabled)
nSatTot = nSatTot + constellations.(systems{i}).numSat;
q = q + 1;
if (q == 1)
indexes_tmp = [1 : constellations.(systems{i}).numSat];
else
indexes_tmp = [indexes_tmp(end) + 1 : indexes_tmp(end) + constellations.(systems{i}).numSat];
end
constellations.(systems{i}).indexes = indexes_tmp;
constellations.indexes = [constellations.indexes, indexes_tmp];
constellations.PRN = [constellations.PRN, constellations.(systems{i}).PRN];
end
end
constellations.nEnabledSat = nSatTot;
end
function [lambda] = getGNSSWavelengths(Eph, nSatTot)
lambda = zeros(nSatTot,2);
for s = 1 : nSatTot
pos = find(Eph(30,:) == s,1);
if (~isempty(pos))
switch char(Eph(31,pos))
case 'G'
lambda(s,1) = goGNSS.getWavelength(goGNSS.ID_GPS, 1);
lambda(s,2) = goGNSS.getWavelength(goGNSS.ID_GPS, 2);
case 'R'
lambda(s,1) = goGNSS.getWavelength(goGNSS.ID_GLONASS, 1, Eph(15,pos));
lambda(s,2) = goGNSS.getWavelength(goGNSS.ID_GLONASS, 2, Eph(15,pos));
case 'E'
lambda(s,1) = goGNSS.getWavelength(goGNSS.ID_GALILEO, 1);
lambda(s,2) = goGNSS.getWavelength(goGNSS.ID_GALILEO, 2);
case 'C'
lambda(s,1) = goGNSS.getWavelength(goGNSS.ID_BEIDOU, 2);
lambda(s,2) = goGNSS.getWavelength(goGNSS.ID_BEIDOU, 3);
case 'J'
lambda(s,1) = goGNSS.getWavelength(goGNSS.ID_QZSS, 1);
lambda(s,2) = goGNSS.getWavelength(goGNSS.ID_QZSS, 2);
otherwise
fprintf('Something went wrong in goGNSS.getGNSSWavelengths()\nUnrecongized Satellite system.\n');
end
end
end
end
function [lambda] = getWavelength(idCostellation, freq, GLOFreqNum)
switch idCostellation
case goGNSS.ID_GPS
lambda = goGNSS.LAMBDAG(freq);
case goGNSS.ID_GLONASS
pos = goGNSS.FR_channels == GLOFreqNum;
lambda = goGNSS.LAMBDAR(pos, freq);
case goGNSS.ID_GALILEO
lambda = goGNSS.LAMBDAE(freq);
case goGNSS.ID_BEIDOU
lambda = goGNSS.LAMBDAC(freq);
case goGNSS.ID_QZSS
lambda = goGNSS.LAMBDAJ(freq);
case goGNSS.ID_SBAS
lambda = goGNSS.LAMBDAS(freq);
end
end
function [GLOFreqNum] = getGLOFreqNum(satNum, Eph)
pos1 = find(Eph(30,:) == satNum,1);
pos2 = find(strcmp(char(Eph(31,:)),'R'));
pos = interesct(pos1, pos2);
GLOFreqNum = Eph(15,pos);
end
function [IonoFactor] = getInterFreqIonoFactor(lambda)
IonoFactor = (lambda(:,:)./goGNSS.LAMBDAG(1)).^2;
end
end
% USEFUL FUNCTION (STATIC)
% -------------------------------------------------------------------------
methods (Static, Access = 'public')
function [XR, dtR] = getBancroftPos(XS, dtS, prR)
% get a bancroft solution from one receiver
matB = [XS(:,:), prR(:) + goGNSS.V_LIGHT * dtS(:)]; % Bancroft matrix
b = goGNSS.bancroft(matB);
XR = b(1:3);
dtR = b(4)/goGNSS.V_LIGHT;
end
function RinReader(fileNameObs, constellations)
if (isempty(constellations)) %then use only GPS as default
[constellations] = goGNSS.initConstellation(1, 0, 0, 0, 0, 0);
end
tic;
%number of satellite slots for enabled constellations
nSatTot = constellations.nEnabledSat;
%open RINEX observation file (ROVER)
fid = fopen(fileNameObs,'r');
txtRin = textscan(fid,'%s','Delimiter','\n','whitespace','');
fclose(fid);
txtRin = txtRin{1};
%parse RINEX header
[version obsTypes knownPos flagFoundTypes interval sysId line] = goGNSS.RinParseHDR(txtRin);
[obsCols, nType] = obs_type_find(obsTypes, sysId);
end
function [pr1_R, pr1_M, ph1_R, ph1_M, pr2_R, pr2_M, ph2_R, ph2_M, ...
dop1_R, dop1_M, dop2_R, dop2_M, snr1_R, snr1_M, ...
snr2_R, snr2_M, time, time_R, time_M, week_R, week_M, ...
date_R, date_M, pos_R, pos_M, Eph, iono, interval] = ...
loadRINEX(filename_nav, filename_R_obs, filename_M_obs, constellations, flag_SP3, wait_dlg)
% Check the input arguments
if (nargin < 6)
wait_dlg_PresenceFlag = false;
else
wait_dlg_PresenceFlag = true;
end
if (isempty(filename_M_obs))
filename_M_obs_PresenceFlag = false;
else
filename_M_obs_PresenceFlag = true;
end
if (isempty(constellations)) %then use only GPS as default
[constellations] = goGNSS.initConstellation(1, 0, 0, 0, 0, 0);
end
tic;
%number of satellite slots for enabled constellations
nSatTot = constellations.nEnabledSat;
%fraction of INTERVAL (epoch-to-epoch timespan, as specified in the header)
%that is allowed as maximum difference between rover and master timings
%during synchronization
max_desync_frac = 0.1;
%read navigation files
if (~flag_SP3)
if (wait_dlg_PresenceFlag)
waitbar(0.5,wait_dlg,'Reading navigation files...')
end
Eph_G = []; iono_G = zeros(8,1);
Eph_R = []; iono_R = zeros(8,1);
Eph_E = []; iono_E = zeros(8,1);
Eph_C = []; iono_C = zeros(8,1);
Eph_J = []; iono_J = zeros(8,1);
if (strcmpi(filename_nav(end),'p'))
flag_mixed = 1;
else
flag_mixed = 0;
end
if (constellations.GPS.enabled || flag_mixed)
if (exist(filename_nav,'file'))
%parse RINEX navigation file (GPS) NOTE: filename expected to
%end with 'n' or 'N' (GPS) or with 'p' or 'P' (mixed GNSS)
[Eph_G, iono_G] = RINEX_get_nav(filename_nav, constellations);
else
fprintf('... WARNING: GPS navigation file not found. Disabling GPS positioning. \n');
constellations.GPS.enabled = 0;
end
end
if (constellations.GLONASS.enabled)
if (exist([filename_nav(1:end-1) 'g'],'file'))
%parse RINEX navigation file (GLONASS)
[Eph_R, iono_R] = RINEX_get_nav([filename_nav(1:end-1) 'g'], constellations);
elseif (~flag_mixed)
fprintf('... WARNING: GLONASS navigation file not found. Disabling GLONASS positioning. \n');
constellations.GLONASS.enabled = 0;
end
end
if (constellations.Galileo.enabled)
if (exist([filename_nav(1:end-1) 'l'],'file'))
%parse RINEX navigation file (Galileo)
[Eph_E, iono_E] = RINEX_get_nav([filename_nav(1:end-1) 'l'], constellations);
elseif (~flag_mixed)
fprintf('... WARNING: Galileo navigation file not found. Disabling Galileo positioning. \n');
constellations.Galileo.enabled = 0;
end
end
if (constellations.BeiDou.enabled)
if (exist([filename_nav(1:end-1) 'b'],'file'))
parse RINEX navigation file (BeiDou)
[Eph_C, iono_C] = RINEX_get_nav([filename_nav(1:end-1) 'b'], constellations);
elseif (~flag_mixed)
fprintf('... WARNING: BeiDou navigation file not found. Disabling BeiDou positioning. \n');
constellations.BeiDou.enabled = 0;
end
end
if (constellations.QZSS.enabled)
if (exist([filename_nav(1:end-1) 'q'],'file'))
%parse RINEX navigation file (QZSS)
[Eph_J, iono_J] = RINEX_get_nav([filename_nav(1:end-1) 'q'], constellations);
elseif (~flag_mixed)
fprintf('... WARNING: QZSS navigation file not found. Disabling QZSS positioning. \n');
constellations.QZSS.enabled = 0;
end
end
Eph = [Eph_G Eph_R Eph_E Eph_C Eph_J];
if (any(iono_G))
iono = iono_G;
elseif (any(iono_R))
iono = iono_R;
elseif (any(iono_E))
iono = iono_E;
elseif (any(iono_C))
iono = iono_C;
elseif (any(iono_J))
iono = iono_J;
else
iono = zeros(8,1);
fprintf('... WARNING: ionosphere parameters not found in navigation file(s).\n');
end
if (wait_dlg_PresenceFlag)
waitbar(1,wait_dlg)
end
else
Eph = zeros(33,nSatTot);
iono = zeros(8,1);
end
%-------------------------------------------------------------------------------
%open RINEX observation file (ROVER)
FR_oss = fopen(filename_R_obs,'r');
txtRin = textscan(FR_oss,'%s','Delimiter','\n','whitespace','');
txtRin = txtRin{1};
fclose(FR_oss);
if (filename_M_obs_PresenceFlag)
%open RINEX observation file (MASTER)
FM_oss = fopen(filename_M_obs,'r');
end
%-------------------------------------------------------------------------------
if (wait_dlg_PresenceFlag)
waitbar(0.5,wait_dlg,'Parsing RINEX headers...')
end
%parse RINEX header
[RINEX_version obs_typ_R, pos_R, info_base_R, interval_R, sysId, line] = goGNSS.RinParseHDR(txtRin);
%check RINEX version
if (isempty(sysId))
RINEX_version = 2;
else
RINEX_version = 3;
end
%check the availability of basic data to parse the RINEX file (ROVER)
if (info_base_R == 0)
error('Basic data is missing in the ROVER RINEX header')
end
%find observation type columns
[obs_col_R, nObsTypes_R] = goGNSS.obs_type_find(obs_typ_R, sysId);
%number of lines to be read for each epoch (only for RINEX v2.xx)
if (RINEX_version == 2)
nLinesToRead_R = ceil(nObsTypes_R/5); %maximum of 5 obs per line
end
if (filename_M_obs_PresenceFlag)
[obs_typ_M, pos_M, info_base_M, interval_M, sysId] = RINEX_parse_hdr(FM_oss);
%check the availability of basic data to parse the RINEX file (MASTER)
if (info_base_M == 0)
error('Basic data is missing in the ROVER RINEX header')
end
%find observation type columns
[obs_col_M, nObsTypes_M] = obs_type_find(obs_typ_M, sysId);
%number of lines to be read for each epoch (only for RINEX v2.xx)
if (~isstruct(nObsTypes_M))
nLinesToRead_M = ceil(nObsTypes_M/5); %maximum of 5 obs per line
end
else
pos_M = zeros(3,1);
interval_M = [];
end
if (wait_dlg_PresenceFlag)
waitbar(1,wait_dlg)
end
interval = min([interval_R, interval_M]);
%-------------------------------------------------------------------------------
nEpochs = 10800;
%variable initialization (GPS)
time_R = zeros(nEpochs,1);
time_M = zeros(nEpochs,1);
pr1_R = zeros(nSatTot,nEpochs);
pr2_R = zeros(nSatTot,nEpochs);
ph1_R = zeros(nSatTot,nEpochs);
ph2_R = zeros(nSatTot,nEpochs);
dop1_R = zeros(nSatTot,nEpochs);
dop2_R = zeros(nSatTot,nEpochs);
snr1_R = zeros(nSatTot,nEpochs);
snr2_R = zeros(nSatTot,nEpochs);
pr1_M = zeros(nSatTot,nEpochs);
pr2_M = zeros(nSatTot,nEpochs);
ph1_M = zeros(nSatTot,nEpochs);
ph2_M = zeros(nSatTot,nEpochs);
snr1_M = zeros(nSatTot,nEpochs);
snr2_M = zeros(nSatTot,nEpochs);
dop1_M = zeros(nSatTot,nEpochs);
dop2_M = zeros(nSatTot,nEpochs);
date_R = zeros(nEpochs,6);
date_M = zeros(nEpochs,6);
%read data for the first epoch (ROVER)
[time_R(1), epoch_R, num_sat_R, sat_R, sat_types_R, line] = goGNSS.RinGetEpoch(txtRin, line);
%-------------------------------------------------------------------------------
if (filename_M_obs_PresenceFlag)
%read data for the first epoch (MASTER)
[time_M(1), epoch_M, num_sat_M, sat_M, sat_types_M] = RINEX_get_epoch(FM_oss);
end
%-------------------------------------------------------------------------------
if (wait_dlg_PresenceFlag)
waitbar(0.5,wait_dlg,'Parsing RINEX headers...')
end
if (filename_M_obs_PresenceFlag)
while ((time_M(1) - time_R(1)) < 0 && abs(time_M(1) - time_R(1)) >= max_desync_frac*interval)
%number of lines to be skipped
if (RINEX_version == 2)
nSkipLines = num_sat_M*nLinesToRead_M;
else
nSkipLines = num_sat_M;
end
%skip observations
for s = 1 : nSkipLines
fgetl(FM_oss);
end
%read data for the current epoch (MASTER)
[time_M(1), epoch_M, num_sat_M, sat_M, sat_types_M] = RINEX_get_epoch(FM_oss);
end
while ((time_R(1) - time_M(1)) < 0 && abs(time_R(1) - time_M(1)) >= max_desync_frac*interval)
%number of lines to be skipped
if (RINEX_version == 2)
nSkipLines = num_sat_R*nLinesToRead_R;
else
nSkipLines = num_sat_R;
end
%skip observations
for s = 1 : nSkipLines
fgetl(FR_oss);
end
%read data for the current epoch (ROVER)
[time_R(1), epoch_R, num_sat_R, sat_R, sat_types_R] = RINEX_get_epoch(FR_oss);
end
end
%read first batch of observations
%ROVER
[obs_R, line] = goGNSS.RinGetObs(txtRin, line, num_sat_R, sat_R, sat_types_R, obs_col_R, nObsTypes_R, constellations);
%read ROVER observations
if (sum(obs_R.P1 ~= 0) == constellations.nEnabledSat)
pr1_R(:,1) = obs_R.P1;
else
pr1_R(:,1) = obs_R.C1;
end
pr2_R(:,1) = obs_R.P2;
ph1_R(:,1) = obs_R.L1;
ph2_R(:,1) = obs_R.L2;
dop1_R(:,1) = obs_R.D1;
dop2_R(:,1) = obs_R.D2;
snr1_R(:,1) = obs_R.S1;
snr2_R(:,1) = obs_R.S2;
if (filename_M_obs_PresenceFlag)
%MASTER
obs_M = RINEX_get_obs(FM_oss, num_sat_M, sat_M, sat_types_M, obs_col_M, nObsTypes_M, constellations);
%read MASTER observations
if (sum(obs_M.P1 ~= 0) == constellations.nEnabledSat)
pr1_M(:,1) = obs_M.P1;
else
pr1_M(:,1) = obs_M.C1;
end
pr2_M(:,1) = obs_M.P2;
ph1_M(:,1) = obs_M.L1;
ph2_M(:,1) = obs_M.L2;
dop1_M(:,1) = obs_M.D1;
dop2_M(:,1) = obs_M.D2;
snr1_M(:,1) = obs_M.S1;
snr2_M(:,1) = obs_M.S2;
end
if (wait_dlg_PresenceFlag)
waitbar(1,wait_dlg)
end
%-------------------------------------------------------------------------------
%define the reference time
time(1,1) = roundmod(time_R(1),interval);
date_R(1,:) = epoch_R(1,:);
if (filename_M_obs_PresenceFlag)
date_M(1,:) = epoch_M(1,:);
end
if (wait_dlg_PresenceFlag)
waitbar(0.5,wait_dlg,'Reading RINEX observations...')
end
k = 2;
while (line < length(txtRin))
if (abs((time_R(k-1) - time(k-1))) < max_desync_frac*interval)
%read data for the current epoch (ROVER)
[time_R(k), epoch_R, num_sat_R, sat_R, sat_types_R, line] = goGNSS.RinGetEpoch(txtRin, line);
else
time_R(k) = time_R(k-1);
if (time_R(k-1) ~= 0)
fprintf('Missing epoch %f (ROVER)\n', time(k-1));
end
time_R(k-1) = 0;
end
if (filename_M_obs_PresenceFlag)
if (abs((time_M(k-1) - time(k-1))) < max_desync_frac*interval)
%read data for the current epoch (MASTER)
[time_M(k), epoch_M, num_sat_M, sat_M, sat_types_M] = RINEX_get_epoch(FM_oss);
else
time_M(k) = time_M(k-1);
if (time_M(k-1) ~= 0)
fprintf('Missing epoch %f (MASTER)\n', time(k-1));
end
time_M(k-1) = 0;
end
end
if (k > nEpochs)
%variable initialization (GPS)
pr1_R(:,k) = zeros(nSatTot,1);
pr2_R(:,k) = zeros(nSatTot,1);
ph1_R(:,k) = zeros(nSatTot,1);
ph2_R(:,k) = zeros(nSatTot,1);
dop1_R(:,k) = zeros(nSatTot,1);
dop2_R(:,k) = zeros(nSatTot,1);
snr1_R(:,k) = zeros(nSatTot,1);
snr2_R(:,k) = zeros(nSatTot,1);
pr1_M(:,k) = zeros(nSatTot,1);
pr2_M(:,k) = zeros(nSatTot,1);
ph1_M(:,k) = zeros(nSatTot,1);
ph2_M(:,k) = zeros(nSatTot,1);
snr1_M(:,k) = zeros(nSatTot,1);
snr2_M(:,k) = zeros(nSatTot,1);
dop1_M(:,k) = zeros(nSatTot,1);
dop2_M(:,k) = zeros(nSatTot,1);
nEpochs = nEpochs + 1;
end
date_R(k,:) = epoch_R(1,:);
if (filename_M_obs_PresenceFlag)
date_M(k,:) = epoch_M(1,:);
end
time(k,1) = time(k-1,1) + interval;
if (abs(time_R(k)-time(k)) < max_desync_frac*interval)
%read ROVER observations
[obs_R kline] = goGNSS.RinGetObs(txtRin, line, num_sat_R, sat_R, sat_types_R, obs_col_R, nObsTypes_R, constellations);
%read ROVER observations
if (sum(obs_R.P1 ~= 0) == constellations.nEnabledSat)
pr1_R(:,k) = obs_R.P1;
else
pr1_R(:,k) = obs_R.C1;
end
pr2_R(:,k) = obs_R.P2;
ph1_R(:,k) = obs_R.L1;
ph2_R(:,k) = obs_R.L2;
dop1_R(:,k) = obs_R.D1;
dop2_R(:,k) = obs_R.D2;
snr1_R(:,k) = obs_R.S1;
snr2_R(:,k) = obs_R.S2;
% else
% %number of lines to be skipped
% if (RINEX_version == 2)
% nSkipLines = num_sat_R*nLinesToRead_R;
% else
% nSkipLines = num_sat_R;
% end
%
% %skip observations
% for s = 1 : nSkipLines
% fgetl(FR_oss);
% end
end
if (filename_M_obs_PresenceFlag)
if (abs(time_M(k) - time(k)) < max_desync_frac*interval)
%read MASTER observations
obs_M = RINEX_get_obs(FM_oss, num_sat_M, sat_M, sat_types_M, obs_col_M, nObsTypes_M, constellations);
%read MASTER observations
if (sum(obs_M.P1 ~= 0) == constellations.nEnabledSat)
pr1_M(:,k) = obs_M.P1;
else
pr1_M(:,k) = obs_M.C1;
end
pr2_M(:,k) = obs_M.P2;
ph1_M(:,k) = obs_M.L1;
ph2_M(:,k) = obs_M.L2;
dop1_M(:,k) = obs_M.D1;
dop2_M(:,k) = obs_M.D2;
snr1_M(:,k) = obs_M.S1;
snr2_M(:,k) = obs_M.S2;
% else
% %number of lines to be skipped
% if (RINEX_version == 2)
% nSkipLines = num_sat_M*nLinesToRead_M;
% else
% nSkipLines = num_sat_M;
% end
%
% %skip observations
% for s = 1 : nSkipLines
% fgetl(FM_oss);
% end
end
end
k = k + 1;
end
%remove empty slots
time_R(k:nEpochs) = [];
time_M(k:nEpochs) = [];
pr1_R(:,k:nEpochs) = [];
pr2_R(:,k:nEpochs) = [];
ph1_R(:,k:nEpochs) = [];
ph2_R(:,k:nEpochs) = [];
dop1_R(:,k:nEpochs) = [];
dop2_R(:,k:nEpochs) = [];
snr1_R(:,k:nEpochs) = [];
snr2_R(:,k:nEpochs) = [];
pr1_M(:,k:nEpochs) = [];
pr2_M(:,k:nEpochs) = [];
ph1_M(:,k:nEpochs) = [];
ph2_M(:,k:nEpochs) = [];
snr1_M(:,k:nEpochs) = [];
snr2_M(:,k:nEpochs) = [];
dop1_M(:,k:nEpochs) = [];
dop2_M(:,k:nEpochs) = [];
date_R(k:nEpochs,:) = [];
date_M(k:nEpochs,:) = [];
%remove rover tail
if (filename_M_obs_PresenceFlag)
flag_tail = 1;
while (flag_tail)
if (time_M(end) == 0)
date_R(end,:) = [];
date_M(end,:) = [];
time(end) = [];
time_R(end) = [];
time_M(end) = [];
pr1_R(:,end) = [];
pr2_R(:,end) = [];
ph1_R(:,end) = [];
ph2_R(:,end) = [];
dop1_R(:,end) = [];
dop2_R(:,end) = [];
snr1_R(:,end) = [];
snr2_R(:,end) = [];
pr1_M(:,end) = [];
pr2_M(:,end) = [];
ph1_M(:,end) = [];
ph2_M(:,end) = [];
snr1_M(:,end) = [];
snr2_M(:,end) = [];
dop1_M(:,end) = [];
dop2_M(:,end) = [];
else
flag_tail = 0;
end
end
end
if (wait_dlg_PresenceFlag)
waitbar(1,wait_dlg)
end
%-------------------------------------------------------------------------------
%close RINEX files
if (filename_M_obs_PresenceFlag)
fclose(FM_oss);
end
%GPS week number
week_R = date2gps(date_R);
week_M = date2gps(date_M);
fprintf('The RINEX file has been read!\n');
toc
end
end
methods (Static, Access = 'private')
% Bancroft algorithm for the computation of ground coordinates
% having at least 4 visible satellites.
function pos = bancroft(matB)
% SYNTAX:
% [pos] = bancroft(B_pass);
%
% INPUT:
% B_pass = Bancroft matrix
%
% OUTPUT:
% pos = approximated ground position (X,Y,Z coordinates)
%
% DESCRIPTION:
% Bancroft algorithm for the computation of ground coordinates
% having at least 4 visible satellites.
%
% Copyright (C) Kai Borre
% Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
%
% Adapted by Mirko Reguzzoni, Eugenio Realini, 2009
%----------------------------------------------------------------------------------------------
pos = zeros(4,1); % Init position of the receiver