delete（instrfindall）;?%delete?all?the?serial?port?that?may?be?in?use
clear?all;
close?all;
clc;
s?=?serial（‘com6‘）;?%choose?the?serial?port
s.BaudRate?=?4800;?%for?m-215+?baudrate?must?be?set?as?4800
s.Terminator?=?‘CR‘;
s.InputBufferSize?=?1024;
s.OutputBufferSize?=?1024;
s.ReadAsyncMode?=?‘continuous‘;
fopen（s）;
buf?=?fread（s）;
buf?=?buf‘;
Vel_Int?=?[];
Vel_Dec?=?[];
Vel?=?[];
Col_Num?=?0;
index_line?=?[];
i_RMC?=?0;

%------------------Seperate?the?GPS?data?to?multi?lines-----------
a?=?find（buf?==?13）;b?=?find（buf?==?10）;
for?i?=?1:length（a）
????buf（i）?=?[];
end
for?i?=?1:length（b）
????buf（i）?=?[];
end

index_line?=?find（buf==‘$‘）;%find?the?‘$‘?as?the?mark?to?a?new?line
%?index_line?=?[1index_line];

for?i?=?1:length（index_line）-1??%determine?the?column?number?of?buf2
????a?=?index_line（i+1）-index_line（i）;
????if?Col_Num?????????Col_Num?=?a;
????end
end
Col_Num?=?Col_Num?+?1;
buf2?=?zeros（length（index_line）Col_Num）;%save?the?GPS?data?after?seperated


for?i?=?1:length（index_line）-1
????buf2（i1:index_line（i+1）-