receiverposition

Estimate GNSS receiver position and velocity

Syntax

recPos = receiverposition(p,satPos)

[recPos,recVel] = receiverposition(___,pdot,satVel)

[recPos,recVel,hdop,vdop] = receiverposition(___)

Description

recPos = receiverposition(p,satPos) returns the receiver position estimated from the pseudoranges and satellite positions.

[recPos,recVel] = receiverposition(___,pdot,satVel) also returns the receiver velocity estimated from the pseudorange rates pdot and satellite velocities satVel.

[recPos,recVel,hdop,vdop] = receiverposition(___) also returns the horizontal dilution of precision hdop and vertical dilution of precision vdop associated with the position estimate.

Examples

Estimate Receiver Position from Pseudoranges and Satellite Positions

Use the receiverposition function to estimate a GNSS receiver position. Get the satellte positiions and velocities using the gnssconstellation function. Generate pseudoranges from these positions using the pseudoranges function.

Specify a receiver position in geodetic coordinates (latitude, longitude, altitude) and a 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 GNSS receiver and the satellites.

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

Use the pseudoranges to estimate the receiver position and velocity. The values close to your original receiver position and velocity used to generate the satellite position and pseudoranges.

[lla,gnssVel] = receiverposition(p,gpsSatPos,pdot,gpsSatVel)

lla = 1×3

   42.0000  -71.0000   49.7917

gnssVel = 1×3

    1.0083    2.0006    3.0132

Input Arguments

p — Pseudoranges between satellites and receiver

n-element vector

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

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

pdot — Pseudorange rates between satellites and receiver

n-element vector

Pseudorange rates between the satellites and receiver, specified as an n-element vector in meters per second.

Data Types: single | double

satVel — Velocity readings in local navigation coordinate system (m/s)

N-by-3 matrix of scalar

Velocity readings of the GNSS receiver in the local navigation 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

Output Arguments

recPos — Receiver position

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

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

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, returned as a three-element vector of the form [vx vy vz].

Data Types: single | double

hdop — Horizontal dilution of precision

scalar

Horizontal dilution of precision, returned as a scalar.

Data Types: double

vdop — Vertical dilution of precision

scalar

Vertical dilution of precision, returned as a scalar.

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2021a