matlab菜鸡学习日志--------使用matlab解析NMEA-0183 协议获取经纬度以及航向角

先上代码！

clc
clear all
filename = 'zuixin.txt';
%result = cell(224, 5);
fid = fopen(filename, 'r');
data = textscan(fid, '%s', 'Delimiter', '\n');
data = data{1};
a = size(data)
b=1;

for i=1:a(1,1)
% 从语句中提取纬度信息

RMC = strfind(data(i),'GNRMC');
if RMC{1} == 2
    idx = strfind(data{i}, 'N,');
    lat_str = data{i}(idx-11:idx-2);
    lat_deg = str2double(lat_str(1:2));
    lat_min = str2double(lat_str(3:end));
    lat = lat_deg + lat_min/60;
    % 从语句中提取经度信息
    idb = strfind(data{i}, 'E,');
    lon_str = data{i}(idb-12:idb-2);
    lon_deg = str2double(lon_str(1:3));
    lon_min = str2double(lon_str(4:end));
    lon = lon_deg + lon_min/60;
    yaw = data{i}(idb+8:idb+12);
    yaw = str2double(yaw);
    result(b, 1) = lat;
    result(b, 2) = lon;
    result(b, 3) = yaw;
    b = b+1;
end

end
save result

此代码主要是查找协议中的RMC语句进行识别分离出经纬航向等数值。接收机采用正点原子的接收机。

$CFANT,0*42
$GNGGA,075250.000,3956.98497,N,11613.77122,E,1,05,2.2,73.3,M,-7.5,M,,0000*6D
$GNGLL,3956.98497,N,11613.77122,E,075250.000,A,A*45
$GPGSA,A,3,04,06,11,12,19,,,,,,,,3.5,2.2,2.7*38
$GPGSV,3,1,10,06,65,028,26,19,61,123,23,196,56,132,,11,51,292,25*48
$GPGSV,3,2,10,20,38,228,,17,37,129,,12,35,290,17,09,33,094,*7C
$GPGSV,3,3,10,04,22,059,35,194,17,172,*48
$BDGSV,3,1,10,238,77,290,,228,71,338,,233,63,129,,210,63,215,*62
$BDGSV,3,2,10,207,54,187,,213,52,254,,240,52,168,,203,44,189,*69
$BDGSV,3,3,10,243,40,104,,201,37,139,*61
$GNRMC,075250.000,A,3956.98497,N,11613.77122,E,000.0,091.9,090523,,,A*7E
$GNVTG,091.9,T,,M,000.0,N,000.0,K,A*12
$GNZDA,075250.000,09,05,2023,00,00*42
$CFANT,0*42
$GNGGA,075251.000,3956.98497,N,11613.77122,E,1,05,2.2,73.3,M,-7.5,M,,0000*6C
$GNGLL,3956.98497,N,11613.77122,E,075251.000,A,A*44
$GPGSA,A,3,04,06,11,12,19,,,,,,,,3.5,2.2,2.7*38
$GNRMC,075251.000,A,3956.98497,N,11613.77122,E,000.0,091.9,090523,,,A*7F
$GNVTG,091.9,T,,M,000.0,N,000.0,K,A*12
$GNZDA,075251.000,09,05,2023,00,00*43

上面是截取的两段接收机发送的数据，这个方法笨但是快，直接分离经纬和航向角寻找特征（就是自己数数离那个查找的字符差几位）。