GPS接收机设计（5）——定位解算

1.流程图

（待补充，没人看就不补充了。。。。。。）

 

2.代码解析

function [navSolutions, eph] = postNavigation(trackResults, settings)
%Function calculates navigation solutions for the receiver (pseudoranges,
%positions). At the end it converts coordinates from the WGS84 system to
%the UTM, geocentric or any additional coordinate system.
%
%[navSolutions, eph] = postNavigation(trackResults, settings)
%
%   Inputs:
%       trackResults    - results from the tracking function (structure
%                       array).
%       settings        - receiver settings.
%   Outputs:
%       navSolutions    - contains measured pseudoranges, receiver
%                       clock error, receiver coordinates in several
%                       coordinate systems (at least ECEF and UTM).
%       eph             - received ephemerides of all SV (structure array).

%--------------------------------------------------------------------------
%                           SoftGNSS v3.0

settings = initSettings();
if (settings.msToProcess < 36000) || (sum([trackResults.status] ~= '-') < 4)
    % Show the error message and exit
    disp('Record is to short or too few satellites tracked. Exiting!');
    navSolutions = [];
    eph          = [];
    return
end

%% 寻找帧起始位置==========================================

[subFrameStart, activeChnList] = findPreambles(trackResults, settings);

%%解码星历 =====================================================

for channelNr = activeChnList

    %===  将跟踪输出的结果转换为导航电文=======================

    %--- 从跟踪输出结果复制5个子帧数据---------------
    navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
                               subFrameStart(channelNr) + (1500 * 20) -1)';

    navBitsSamples = reshape(navBitsSamples, ...
                             20, (size(navBitsSamples, 1) / 20));%每20个值合成1列

    %--- Sum all samples in the bits to get the best estimate -------------
    navBits = sum(navBitsSamples);%对列求和

    navBits = (navBits > 0);%转换为逻辑值0/1

    navBitsBin = dec2bin(navBits);%以字符矢量形式返回navBits的二进制表示形式
    
    %=== 解调星历表和截短周内时计数（TOW） ================
    [eph(trackResults(channelNr).PRN), TOW] = ...
                            ephemeris(navBitsBin(2:1501)', navBitsBin(1));

    %--- 剔除缺少必要导航数据信息的卫星 -----
    if (isempty(eph(trackResults(channelNr).PRN).IODC) || ...
        isempty(eph(trackResults(channelNr).PRN).IODE_sf2) || ...
        isempty(eph(trackResults(channelNr).PRN).IODE_sf3))

        activeChnList = setdiff(activeChnList, channelNr);
    end    
end

%% 检查卫星数量是否超过3=====================
if (isempty(activeChnList) || (size(activeChnList, 2) < 4))
    % Show error message and exit
    disp('Too few satellites with ephemeris data for postion calculations. Exiting!');
    navSolutions = [];
    eph          = [];
    return
end

%% Initialization初始化 ===================================