Add comments in examples

taroz · Jul 9, 2024 · 8fc276e · 8fc276e
1 parent 0c54416
commit 8fc276e
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Showing 33 changed files with 170 additions and 36 deletions.
diff --git a/compile.m b/compile.m
@@ -1,3 +1,7 @@
+%% compile.m
+% Compile RTRKLIB wrappers
+% Author: Taro Suzuki
+
 clear;
 close all;
 clc;

diff --git a/examples/compute_double_difference.m b/examples/compute_double_difference.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% compute_double_difference.m
+% Compute double-differenced GNSS observation
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/compute_fixrate.m b/examples/compute_fixrate.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% compute_fixrate.m
+% Compute ambiguity fixed rate from RTK-GNSS solution
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 basepath = "./data/kinematic/";
 

diff --git a/examples/compute_float_ambiguity.m b/examples/compute_float_ambiguity.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% compute_float_ambiguity.m
+% Compute double-differenced float carrier phase ambiguity
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/compute_geoid.m b/examples/compute_geoid.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% compute_geoid.m
+% Compute Geoid and orthometric hight
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 
 %% Latitude, Longitude, Ellipsoidal height

diff --git a/examples/compute_mean_position.m b/examples/compute_mean_position.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% compute_mean_position.m
+% Compute mean position from solution file
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 
@@ -17,3 +21,6 @@
 
 % plot fixed position (mean position is center)
 gsol.plot(gt.C.SOLQ_FIX);
+
+% display mean position
+disp(gpos.meanLLH)
diff --git a/examples/compute_residuals_doppler.m b/examples/compute_residuals_doppler.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% compute_residuals_doppler.m
+% Compute Doppler residuals
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/compute_residuals_pseudorange.m b/examples/compute_residuals_pseudorange.m
@@ -1,9 +1,13 @@
-clear; clc; close all;
+%% compute_residuals_pseudorange.m
+% Compute pseudorange residuals
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 
 %% Read RINEX observation/navigation file
-obs = gt.Gobs(datapath+"base.obs");
+obs = gt.Gobs(datapath+"base.obs"); % static data
 nav = gt.Gnav(datapath+"base.nav");
 
 %% Compute residuals

diff --git a/examples/convert_coordinate.m b/examples/convert_coordinate.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% convert_coordinate.m
+% Convert LLH, ECEF and ENU position to each other
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 
 %% Latitude, Longitude, Ellipsoidal height

diff --git a/examples/convert_solution_to_kml.m b/examples/convert_solution_to_kml.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% convert_solution_to_kml.m
+% Convert positioning solution to Google Earth KML file
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/convert_time.m b/examples/convert_time.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% convert_time.m
+% Convert GPS time, calender time and UTC time to each other
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 
 %% Calendar time vector

diff --git a/examples/edit_rinex_observation1.m b/examples/edit_rinex_observation1.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% edit_rinex_observation1.m
+% Read and write RINEX observation
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/edit_rinex_observation2.m b/examples/edit_rinex_observation2.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% edit_rinex_observation2.m
+% Trim RINEX observation using time span
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/edit_rinex_observation3.m b/examples/edit_rinex_observation3.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% edit_rinex_observation3.m
+% Modify RINEX observation interval
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/edit_rinex_observation4.m b/examples/edit_rinex_observation4.m
@@ -1,5 +1,8 @@
-clear;
-clc; close all;
+%% edit_rinex_observation4.m
+% Exclude satellites from RINEX observation
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/edit_solution.m b/examples/edit_solution.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% edit_solution.m
+% Read position solution file and trim solution
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = './data/kinematic/';
 

diff --git a/examples/estimate_position_rtk.m b/examples/estimate_position_rtk.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% estimate_position_rtk.m
+% RTK-GNSS positioning using RTKLIB
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/estimate_position_rtk_step_by_step.m b/examples/estimate_position_rtk_step_by_step.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% estimate_position_rtk_step_by_step.m
+% Step by step example of RTK-GNSS positioning
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/"; % Static data
 

diff --git a/examples/estimate_position_spp.m b/examples/estimate_position_spp.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% estimate_position_spp.m
+% Single point positioning using RTKLIB
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/estimate_position_spp1_step_by_step.m b/examples/estimate_position_spp1_step_by_step.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% estimate_position_spp1_step_by_step.m
+% Step by step example of single point positioning
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/"; % Static data
 

diff --git a/examples/estimate_position_spp2_step_by_step.m b/examples/estimate_position_spp2_step_by_step.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% estimate_position_spp2_step_by_step.m
+% Step by step example of single point positioning
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/"; % Static data
 
@@ -9,7 +13,7 @@
 %% Position reference
 pos_ref = gt.Gpos(readmatrix(datapath+"rover_position.txt"),"llh");
 pos_ini = pos_ref.copy;
-pos_ini.addOffset([10 10 10],"xyz");
+pos_ini.addOffset([10 10 10],"xyz"); % Initial position is true position + 10 m offset
 
 %% Compute residuals
 sat = gt.Gsat(obs, nav); % Compute satellite position
@@ -28,7 +32,7 @@
 
 %% Initials
 nx = 3+length(unique(obs.sys)); % Position in ECEF and receiver clock [x,y,z,dtr]'
-x = [pos_ini.xyz zeros(1,nx-3)]'; % Initial position is center of the Earth
+x = [pos_ini.xyz zeros(1,nx-3)]'; % Initial position
 xlog = zeros(obs.n,nx); % For logging solution
 
 %% Point positioning

diff --git a/examples/estimate_velocity_doppler_step_by_step.m b/examples/estimate_velocity_doppler_step_by_step.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% estimate_velocity_doppler_step_by_step.m
+% Step by step example of velocity estimation by Doppler
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/estimate_velocity_tdcp_step_by_step.m b/examples/estimate_velocity_tdcp_step_by_step.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% estimate_velocity_tdcp_step_by_step.m
+% Step by step example of velocity estimation by TDCP
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/evaluate_position_error.m b/examples/evaluate_position_error.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% evaluate_position_error.m
+% Evaluate positioning accuracy and plot error
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/evaluate_velocity_error.m b/examples/evaluate_velocity_error.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% evaluate_velocity_error.m
+% Evaluate velocity accuracy and plot error
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/generate_configuration_file.m b/examples/generate_configuration_file.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% generate_configuration_file.m
+% Generate RTKLIB configuration file
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";
 

diff --git a/examples/generate_solution_file.m b/examples/generate_solution_file.m
@@ -1,4 +1,8 @@
-clc; clear; close all;
+%% generate_solution_file.m
+% Generate RTKLIB solution file
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = './data/kinematic/';
 

diff --git a/examples/plot_observation1.m b/examples/plot_observation1.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_observation1.m
+% Show observation status and number of satellite
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/plot_observation2.m b/examples/plot_observation2.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_observation2.m
+% Show raw GNSS measurements
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/plot_position.m b/examples/plot_position.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_position.m
+% Show position on map
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 
 %% Generate position

diff --git a/examples/plot_satellite_constellation1.m b/examples/plot_satellite_constellation1.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_satellite_constellation1.m
+% Show satellite constellation
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/static/";
 

diff --git a/examples/plot_satellite_constellation2.m b/examples/plot_satellite_constellation2.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_satellite_constellation2.m
+% Show satellite elevation and azimuth angles
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 basepath = "./data/static/";
 

diff --git a/examples/plot_solution.m b/examples/plot_solution.m
@@ -1,4 +1,8 @@
-clear; clc; close all;
+%% plot_solution.m
+% Show RTK position solutions
+% Author: Taro Suzuki
+
+clear; close all; clc;
 addpath ../
 datapath = "./data/kinematic/";