pseudoranges

Pseudoranges between GNSS receiver and satellites

Syntax

p = pseudoranges(recPos,satPos)

[p, pdot] = pseudoranges(___,recVel, satVel)

[p, pdot] = pseudoranges(___Name,Value)

Description

p = pseudoranges(recPos,satPos) returns the pseudoranges between the receiver at position recPos and the satellites at positions satPos.

[p, pdot] = pseudoranges(___,recVel, satVel) returns the pseudorange rates pdot between the receiver and satellites. Use this syntax with the input arguments in the previous syntax.

[p, pdot] = pseudoranges(___Name,Value) specifies the measurement noise for the ranges and range rates using name-value arguments. For example, [p pdot] = pseudoranges(__,'RangeAccuracy',2) sets the measurement noise in pseudoranges, specified as a scalar standard deviation in meters.

Examples

Get Satellite Pseudoranges for Receiver Position and Velocity

Use the pseudoranges function to get the pseudorange and pseudorange rate for given satellite and receiver positions and velocities. Get the satellte positions and velcoties using the gnssconstellation function.

Specify a receiver position in geodetic coordinates (latitude, longitude, altitude) and receiver velocity in the local navigation frame.

recPos = [42 -71 50];
recVel = [1 2 3];

Get the satellite positions for the current time.

t = datetime('now');
[gpsSatPos,gpsSatVel] = gnssconstellation(t);

Get the pseudoranges and pseudorange rates between the receiver and satellites.

[p,pdot] = pseudoranges(recPos,gpsSatPos,recVel,gpsSatVel);

Input Arguments

recPos — Receiver position

three-element vector of the form [lat lon alt]

Receiver position in geodetic coordinates, specified as a three-element vector of the form [latitude longitude altitude]

Data Types: single | double

satPos — Satellite positions

N-by-3 matrix of scalars

Satellite positions in the Earth-centered Earth-fixed (ECEF) coordinate system in meters, specified as an N-by-3 matrix of scalars. N is the number of satellites in the constellation.

Data Types: single | double

recVel — Receiver velocity

three-element vector of the form [vx vy vz]

Receiver velocity in the local navigation frame using north-east-down (NED) coordinates, specified as a three-element vector of the form [vx vy vz].

Data Types: single | double

satVel — Satellite velocities

N-by-3 matrix of scalars

Satellite velocities in the Earth-centered Earth-fixed (ECEF) coordinate system in meters per second, specified as an N-by-3 matrix of scalars. N is the number of satellites in the constellation.

Data Types: single | double

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: 'RangeAccuracy','0.5' sets the measurement noise of the pseudoranges to 0.5 meters.

RangeAccuracy — Measurement noise in pseudoranges

1 (default) | scalar

Measurement noise in pseudoranges, specified as a scalar standard deviation in meters.

Data Types: single | double

RangeRateAccuracy — Measurement noise in pseudorange rates

0.02 (default) | scalar

Measurement noise in pseudorange rates, specified as a scalar standard deviation in meters per second.

Data Types: single | double

Output Arguments

p — Pseudoranges between satellites and receiver

n-element vector

Pseudoranges between the satellites and receiver, returned as an n-element vector in meters.

Data Types: single | double

pdot — Pseudorange rates between satellites and receiver

zeros(n,1) (default) | n-element vector

Pseudorange rates between the satellites and receiver, returned as an n-element vector in meters per second. If you do not provide velocity inputs, this output is zero.

Data Types: single | double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021a