%?function:?pesudorange?difference?positioning
clear
%?close?all
clc
tic
load?2018090301GPSCORS.mat
PositioningResultECEF?=?[];
PositioningResult?=?[];
PositioningResultCartesian?=?[];
centerLLH?=?[29.5356087972239;106.603976292981;407.150738388300];
centerXYZ?=?[-1587130.712661975322574.903550253125890.16305581];
ENU?=?[];
MAXITER?=?20;
realStamp?=?1;
corsRealRecord?=?[];
pesudorangeDiffRecord?=?[];
diffRealReceCORS?=?[];

for?timestamp?=?1?:?length（Receiver）
????%?get?current?observation?data
????currentReceiverData?=?cell2mat（Receiver（timestamp））;
????currentCORSData?=?cell2mat（CORS（timestamp））;
????ReceID?=?currentReceiverData（:?2）;
????GPSID?=?SatelliteData（:?3）;
????CORSID?=?currentCORSData（:?2）;
????currentTime?=?currentReceiverData（1?1）;
????x_hat?=?zeros（4?1）;
????
????resultFlag?=?1;
????
????for?iter?=?1:MAXITER
????????
????????actualLength?=?0;
????????dataLength?=?size（currentReceiverData?1）;
????????????????
????????b_data?=?zeros（dataLength?1）;
????????H_data?=?zeros（dataLength?4）;
????????cov_data?=?zeros（dataLength?1）;
????????
????????for?index?=?1:dataLength
????????????resultRece?=?currentReceiverData（index?2）;
????????????resultGPS?=?find（SatelliteData（:?3）?==?resultRece）;
????????????resultCORS?=?find（currentCORSData（:?2）?==?resultRece）;
????????????
????????????if?（isempty（resultGPS）?||?isempty（resultCORS））
????????????????continue;
????????????end
????????????
????????????actualLength?=?actualLength?+?1;
????????????%?calculate?initial?distance
????????????currentSatellitePosition?=?parseSatellitePosition（currentTime?SatelliteData（resultGPS?:））;
????????????distance?=?norm（currentSatellitePosition?-?x_hat（1:3）‘）;
????????????
????????????%??--------compute?H?design?matrix?--------
????????????H_data（actualLength?1）?=?-?（currentSatellitePosition（1）?-?x_hat（1））?/?distance;
????????????H_data（actualLength?2）?=?-?（currentSatellitePosition（2）?-?x_hat（2））?/?distance;
????????????H_data（actualLength?3）?=?-?（currentSatellitePosition（3）?-?x_hat（3））?/?distance;
????????????H_data（actualLength?4）?=?1.0;
????????????
????????????%?calcuate?pseudorange?fix?data?deltaP
????????????realDistance?=?norm（currentSatellitePosition?-?ReferenceStation）;
????????????deltaP?=?currentCORSData（resultCORS?3）?-?realDistance;
????????????
????????????
????????????%?compute?psudorange
????????????pseudorange?=?currentReceiverData（index?5）;
????????????std?=?currentReceiverData（index?8）;
????????????cov_data（actualLength?1）?=?std?*?std;
????????????b_data（actualLength?1）?=?pseudorange?-?deltaP?-??distance?-?x_hat（4）;
????????????
???????????if?resultRece?==?5
????????????????temp?=?[currentTime?resultRece?pseudorange?-?currentCORSData（resultCORS?3）];
????????????????pesudorangeDiff?=?temp;
????????????end
????????end
????????
????????if?（?actualLength????????????fprintf（‘observation?number?is?less?than?4\n‘）;
???????????resultFlag?=?0;
???????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件??????106550??2018-08-24?17:01??2018082401GPSCORS.mat
?????文件????????5798??2018-09-11?15:30??main.m
?????文件????????5366??2018-07-30?15:55??parseSatellitePosition.m
?????文件????????1379??2018-09-10?17:27??wgs84_ecef2llh.m