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GPS Toolbox List of modules
and programs
To go to one of the below section
click the desired link.
(1) GPS related
constants and conversion factors
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convcon |
most used conversion constants |
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gpscon |
most used GPS constants |
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pz90con |
most used PZ-90 constants |
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sgs85con |
most used SGS-85 constants |
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wgs72con |
most used WGS-72 constants |
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wgs84con |
most used WGS-84 constants |
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xcon |
main program displaying constants specified in macros convcon, gpscon,
pz90con, sgs85con, wgs72con, and wgs84con |
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(2) Angle transformations
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tadmsrad |
degrees/minutes/seconds to radians |
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taraddms |
radians to degrees/minutes/seconds |
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xatransf |
main program executing angle transformations from/to degrees/minutes/seconds
to/from radians (by selection) |
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(3) Coordinate transformations - Point
transformation
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tecefgd |
ECEF to geodetic coordinates (direct method) |
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tecefgd2 |
ECEF to geodetic coordinates (iterative method) |
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tgdecef |
geodetic to ECEF coordinates |
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xecef2gd_comp |
main program executing comparison between two ECEF to geodetic
transformation methods |
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xptransf |
main program executing transformations from/to ECEF/geodetic to/from
geodetic/ECEF coordinates |
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(4) Coordinate transformations - Matrix
transformation
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mbllw |
GPS body to LLW (Local Level Wander azimuth) |
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mecefeci |
ECEF (Earth Centered Earth Fixed) to ECI (Earth Centered Inertial) |
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mecefenu |
ECEF (Earth Centered Earth Fixed) to ENU (East, North, Up) |
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mecefins |
ECEF (Earth Centered Earth Fixed) to INS (Wander/ North, West, Up) |
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mecefllw |
ECEF (Earth Centered Earth Fixed) to (Local Level Wander azimuth) |
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meciecef |
ECI (Earth Centered Inertial) to ECEF (Earth Centered Earth Fixed) |
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menuecef |
ENU (East, North, Up) to ECEF (Earth Centered Earth Fixed) |
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menullw |
ENU (East, North, Up) to LLW (Local Level Wander azimuth) |
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minsecef |
INS (Wander / North, West, Up) to ECEF (Earth Centered Earth Fixed) |
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mllwb |
LLW (Local Level Wander azimuth) to GPS body |
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mllwecef |
LLW (Local Level Wander azimuth) to ECEF (Earth Centered Earth Fixed) |
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mllwenu |
LLW (Local Level Wander azimuth) to ENU (East North Up) |
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xmtransf |
main program generating matrix transformations specified in the above
mentioned list (by selection) |
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(5) Coordinate transformations
- Vector transformation
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vbllw |
GPS body to LLW (Local Level Wander Azimuth) |
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vecefeci |
ECEF (Earth Centered Earth Fixed) to ECI (Earth Centered Inertial) |
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vecefenu |
ECEF (Earth Centered Earth Fixed) to ENU (East, North, Up) |
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vecefgd |
ECEF (Earth Centered Earth Fixed) to Geodetic (latitude, longitude,
altitude) for a given position vector and a reference point |
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vecefins |
ECEF (Earth Centered Earth Fixed) to INS (Wander / North, West, Up) |
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vecefllw |
ECEF (Earth Centered Earth Fixed) to LLW (Local Level Wander azimuth) |
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vecefp90 |
ECEF (Earth Centered Earth Fixed) to PZ-90 (Parametri Zemli 1990) |
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vecefs85 |
ECEF (Earth Centered Earth Fixed) to SGS-85 (Soviet Geodetic System 1985) |
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veciecef |
ECI (Earth Centered Inertial) to ECEF (Earth Centered Earth Fixed) |
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venuecef |
ENU (East, North, Up) to ECEF (Earth Centered Earth Fixed) |
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venugd |
ENU (East, North, Up) to Geodetic (latitude, longitude, altitude) for a
given position vector and a reference point |
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venullw |
ENU (East, North, Up) to LLW (Local Level Wander azimuth) |
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vgdecef |
Geodetic (latitude, longitude, altitude) to ECEF (Earth Centered Earth
Fixed), for a given position vector specified by the external points in
geodetic coordinates |
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vgdenu |
Geodetic (latitude, longitude, altitude) to ENU (East, North, Up) for a
given position vector specified by the external points in geodetic
coordinates |
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vinsecef |
INS (Wander / North, West, Up) to ECEF (Earth Centered Earth Fixed) |
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vllwb |
LLW (Local Level Wander azimuth) to GPS body |
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vllwecef |
LLW (Local Level Wander azimuth) to ECEF (Earth Centered Earth Fixed) |
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vllwenu |
LLW (Local Level Wander azimuth) to ENU (East North Up) |
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vp90ecef |
PZ-90 (Parametri Zemli 1990) to ECEF (Earth Centered Earth Fixed) |
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vs85ecef |
SGS-85 (Soviet Geodetic System 1985) to ECEF (Earth Centered Earth Fixed) |
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xvtransf |
main program executing vector transformations specified in the above
mentioned list (by selection) |
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(6)
Specialized plotting programs
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xpbar |
bar graph for a selected column |
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xyp1 |
x-y graph for a selected column |
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xyp1s |
x-y graph for a selected column, with statistics |
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xyp2w |
x-y graph for two selected columns in two different windows/subplots, with
statistics |
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xyp3w |
x-y graph for three selected columns in three different windows/ subplots,
with statistics |
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xypc2 |
x-y graph of the difference between columns (from different files), with
statistics |
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xypc2rss |
x-y graph for RSS (root sum square) of the difference of three columns from
two files, with statistics |
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xypm |
x-y graph for the selected multiple columns |
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xyprss |
x-y graph for RSS (root sum square) of three selected columns, with
statistics |
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xyprss2w |
x-y graph for RSS (root sum square) of three selected columns corresponding
to position and velocity errors, in two windows/subplots, with statistics |
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xypvstd |
x-y graph for a selected column and the associated envelope (standard
deviation), with statistics |
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(7)
Specialized statistics related functions
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cep |
circular error probable (CEP) |
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rms |
root mean square (RMS) of a sample |
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rms2 |
modified root mean square (RMS) of a sample (mean of the sample is assumed
to be zero) |
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rss |
root sum square (RSS) of a three component vector sample |
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rssxy |
root sum square (RSS) of a two component vector sample |
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vep |
vertical error probable (VEP) |
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statup |
running mean, standard deviation and root mean square (rms) |
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xcepvep |
main program determining the CEP or VEP of a specified data set |
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xstat |
main program testing the macros: rms, rss, rssxy, and statup |
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xstatc |
main program determining the mean, standard deviation and rms of the
elements of a specified column |
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(8)
Specialized signal processing and Kalman filter functions
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dcmnorm |
normalization of the direction cosines matrix |
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genrn |
random numbers with normal (Gaussian) distribution, with mean and standard
deviation specified |
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gmp1 |
first order Gauss-Markov sequence |
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gmp2 |
second order Gauss-Markov sequence |
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kfcov |
Kalman filter covariance matrix by using conventional formulation |
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kfcova |
Kalman filter covariance matrix by using alternate conventional formulation |
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rwalk |
random walk process |
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xgenrn |
main program generating the random numbers with normal (Gaussian)
distribution and plotting the generated sequence, histogram, and the
normalized auto-correlation sequence |
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xgmp1 |
main program generating first order Gauss-Markov sequence and plotting the
generated sequence and the normalized auto-correlation sequence |
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xgmp2 |
main program generating second order Gauss-Markov sequence and plotting the
generated sequence and the normalized auto-correlation sequence |
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xkfcov |
main program performing the covariance analysis by using the conventional or
alternate conventional Kalman filter formulation |
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xrwalk |
main program generating the random walk process and plotting the generated
sequence and the normalized auto-correlation sequence |
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(9) GPS Time
Utilities and related functions
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cday |
determination of the civil day (year, month, day, hour and fraction) from a
specified modified Julian day (with fraction) |
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doy2ymd |
determination of civil date (year, month, day) from day of year and
specified year |
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gpslsec |
UTC leap seconds value for a specified year between 1980 and 2059 |
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leapyear |
determination of the leap year value |
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mjday |
determination of the modified Julian day from the civil day (year, month,
day, hour and fraction) |
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timetr |
determination of GPS time of transmission based on time of measurement
(reception) |
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ymd2doy |
determination of day of year for a specified civil date (year, month, day) |
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ymd2doy2 |
determination of day of year for a specified civil date (year, month, day)
- different algorithm |
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ymd2gps |
determination of (GPS week, GPS roll number, day of week) from (year, month,
day) |
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xgpslsec |
main program determining UTC leap seconds value for a specified year between
1980 and 2059 |
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xgpstime |
main program executing GPS time related transformations |
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(10)
GPS Almanac and other data processing functions
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elimcol |
elimination of a specified column of a two dimensional array |
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elimrow |
elimination of a specified row of a two dimensional array |
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msc2f |
symmetric matrix storage transformation from compact form (upper triangular
part, column-wise, one-dimensional array) to full form (all elements,
two-dimensional array) |
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msf2c |
symmetric matrix storage transformation from full form (all elements,
two-dimensional array) to compact form (upper triangular part, column-wise,
one-dimensional array) |
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selectd |
selection of the different elements from a specified array |
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xelimrc |
main program testing the elimination of a specified row/column (see macros
elimrow and elimcol) |
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xmisdat |
main program determining the missing data into a specified column of an
input data table |
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xread_sem |
main program reading SEM almanac data and creating two data files |
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xread_yuma |
main program reading Yuma almanac data and creating two data files |
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xsortrec |
main program sorting the records based on the elements of a specified column
(in ascending order) |
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(11) Trajectory and
related utilities
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gcnav |
great circle navigation position, velocity, acceleration |
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geodes |
geodetic data for a specified departure-destination pair |
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geoidh |
WGS-84 geoid height correction |
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gridwaas |
generation of longitude-latitude WAAS grid |
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hpe |
horizontal position error (range) when latitude and longitude of two points
are specified |
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trajs |
vehicle trajectory in straight segment with constant speed |
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xgcdr |
main program determining great circle dead reckoning trajectory |
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xgcnav |
main program determining great circle navigation position, velocity and
acceleration |
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xgeodes |
main program determining geodesic when the departure and destination points
are specified |
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xgeoidh |
main program determining WGS-84 geoid height correction, and executing a
contour map |
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xgridw |
main program plotting the longitude-latitude WAAS grid |
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xhpe |
main program determining the horizontal position error (range) |
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xppva |
main program determining acceleration from position/velocity data, and
plotting all relevant trajectory information |
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xppvaj |
main program determining acceleration and jerk from position and velocity
data, and plotting all relevant trajectory information |
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xtrajs |
main program determining the vehicle trajectory with straight segment and
constant speed |
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(12) Satellite position and velocity
computation
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svpalm |
ECEF satellite position based on almanac data |
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svpeph |
ECEF satellite position based on ephemeris data |
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svpvalm |
ECEF satellite position and velocity based on ephemeris data |
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xsvpalm |
main program determining ECEF satellite position based on almanac data |
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xsvpcomp |
main program determining RSS satellite position difference based on
ephemeris and almanac data, and executing the corresponding graph |
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xsvpeph |
main program determining ECEF satellite position based on ephemeris data |
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xsvpvalm |
main program computing the ECEF satellite position and velocity based on
almanac data; WGS-84 constants are used |
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xsvpvcomp |
main program computing the RSS between ECEF satellite position/velocity
based on ephemeris and almanac data; WGS-84 constants are used |
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xsvpveph |
main program computing the ECEF satellite position and velocity based on
ephemeris data; WGS-84 constants are used |
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(13) Elevation and azimuth determination, and satellite visibility
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eleva |
elevation angle and the ECEF unit line-of-sight vector |
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elevar |
elevation angle, the ECEF unit line-of-sight vector, and the range |
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elevaz |
elevation angle, azimuth angle, the ECEF unit line-of-sight vector, and
range |
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range |
range between two position points |
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uverv |
unit vertical vector for a given ECEF position vector |
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xelaz |
main program determining elevation and azimuth angles for specified users,
time interval, and all satellites in view |
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xpelaza |
main program executing the azimuth-elevation plot for all satellites in
view, and the number of visible satellites plot |
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xpelazs |
main program executing graphs related to elevation and azimuth angles for a
specified satellite and selected used (input file can be generated by xelaz) |
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(14) DOPs computation, satellite selection and
related functions
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dop1 |
dilution of precision (DOP) quantities when at least 3 line-of-sight unit
vectors are specified |
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dop2 |
dilution of precision (DOP) quantities when 4 line-of-sight unit vectors are
specified |
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gdopv |
approximate geometric dilution of precision (GDOP) when four line-of-sight
unit vectors are specified |
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hmat |
H matrix based on line-of-sight measurements |
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hmatb |
H matrix based on line-of-sight and baro measurements |
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hmatbc |
H matrix based on line-of-sight, baro and clock measurements |
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hmatc |
H matrix based on line-of-sight and clock measurements |
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svsel4 |
selection of a set of 4 satellites based on minimum GDOP |
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svsel5 |
selection of a set of 5 satellites based on minimum GDOP |
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svsel6 |
selection of a set of 6 satellites based on minimum GDOP |
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wdop1 |
weighted dilution of precision (WDOP) quantities when at least 3
line-of-sight unit vectors and the corresponding weighting factors are
specified |
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wdop2 |
weighted dilution of precision (WDOP) quantities when 4 line-of-sight unit
vectors and the corresponding weighting factor are specified |
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wdopv |
weighted dilution of precision (WDOP) quantities when 4 line-of-sight unit
vectors and the corresponding weighting factors are specified |
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xdop |
main program determining dilution of precision (DOP) quantities by using 2
methods |
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xgdopv |
main program determining an approximate value of the geometric dilution of
precision (GDOP) |
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xhmatall |
main program testing the construction of the H matrix based on
line-of-sight, baro and clock measurements |
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xmapdop |
main program determining repartition of number of visible satellites and the
corresponding DOPs for a specified geographical area |
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xsvsel |
main program executing the selection of 4, 5 or 6 satellites based on
minimum GDOP, and the computation of the corresponding DOP quantities |
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xwdop |
main program computing the weighted dilution of precision (WDOP) quantities
when at least 3 line-of-sight unit vectors and the corresponding weighting
factors are specified |
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xwdopv |
main program computing the weighted dilution of precision (WDOP) quantities
when 4 line-of-sight unit vectors and the corresponding weighting factors
are specified |
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(15) Pseudorange and Delta range determination and
related functions
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ionoc |
L1 iono correction computation by using Klobuchar model |
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ionocon |
setting of Klobuchar model iono constants |
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pionoc |
pseudorange measurement corrected for ionospheric effects based on L1/L2
measured pseudoranges |
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pradr |
pseudorange and accumulated delta range |
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tropoc1 |
tropospheric correction by using a simplified model |
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uclock |
user clock bias and drift |
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uercor |
user earth rotation correction vector |
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xambig |
main program generating ambiguity numbers |
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xionoc |
main program determining iono corrections by using Klobuchar model |
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xmpath |
main program generating and saving the multipath pseudorange errors |
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xpradr |
main program generating pseudorange and accumulated delta range |
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xsaerr |
main program generating SA errors |
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xtropoc1 |
main program generating tropospheric delay contours for a specified location |
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xuclock |
main program generating user clock bias and clock drift |
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xuercor |
main program generating and plotting the magnitude of the earth rotation
correction vector for a specified longitude/latitude grid |
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(16) Determination
of user's position and related functions
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uspos4 |
position fix determination by using Bancroft's algorithm when 4
measurements are known |
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uposdg |
position fix determination by using Bancroft's algorithm when at least 4
measurements are known |
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uposit |
position fix determination by using an iterative method when at least
measurements are known |
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xpfwls |
main program determining position fixes using weighted least squares
algorithm when the user is stationary |
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xuposd4 |
main program determining the user's position fix by using a direct method
when 4 measurements are known |
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xuposdg |
main program determining the user's position fix by using a direct method
when at least 4 measurements are known |
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xuposit |
main program determining the user's position fix by using an iterative
method when at least 4 measurements are knon |
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(17) RINEX 2 data
processing and position determination
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svclockc |
computation of satellite clock correction. WGS-84 constants are used |
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xrinexn |
main program reads a RINEX 2 navigation message file and writes the data
into four files containing the header section main information, the complete
navigation section information, the reduced ephemeris and reduced almanac
data |
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xrinexo |
main program reads a RINEX 2 observation message file and writes the data
into two files containing the header information and the main observation
data only |
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xuposr |
main program computing user position based on RINEX 2 navigation and
observation data; no atmospheric corrections are applied |
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xuposra |
main program computing user position based on RINEX 2 navigation and
observation data; iono and tropo corrections are applied |
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xuposrp |
main program computing user position based on RINEX 2 navigation and
observation data; dual frequency P-code iono and tropo corrections are
applied |
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(18) Basic RAIM/FDE
functions
|
dhmax |
delta_h_max computation (used in RAIM constant alarm rate algorithm) |
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raimfd |
RAIM availability and fault detection by using the parity vector algorithm
(one step implementation) |
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raimst |
RAIM availability and fault detection by using the standard (constant alarm
rate) algorithm |
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slopemax |
slopemax computation (used in RAIM constant alarm rate algorithm) |
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xopcr |
main program comparing four different implementations of RAIM decision
variable computation |
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xraimda |
main program determining the RAIM fault detection availability for a user
selected or defined set of input data |
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xraimea |
main program determining the RAIM fault exclusion availability for a user
selected or defined set of input data |
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xraimfd |
main program determining RAIM availability and fault detection by using the
parity vector algorithm |
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xraimst |
main program determining RAIM availability and fault detection by using the
standard (constant alarm rate) algorithm |
|
xslope |
main program determining slopemax and delta_h_max for RAIM baseline standard
(constant alarm rate) algorithm |
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(19) Advanced RAIM/FDE
functions
|
chi2_dof |
probability density function of Chi-square distribution with specified
degrees of freedom |
|
fdnt |
fault detection normalized thresholds |
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fpbias_c |
parity bias for Chi-square distribution with degree of freedom greater than
1 |
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fpbias_g |
parity bias for Gauss distribution with one degree of freedom |
|
gauss_1 |
probability density function for the normal Gaussian distribution |
|
heLveL1 |
horizontal/vertical exclusion level (HEL/VEL) by using a direct conventional
method |
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heLveL2 |
horizontal/vertical exclusion level (HEL/VEL) by using the parity method |
|
heLveL3 |
horizontal/vertical exclusion level (HEL/VEL) by using a new efficient
method |
|
hpLvpL1 |
horizontal/vertical protection level (HPL/VPL) by using a direct
conventional method |
|
hpLvpL2 |
horizontal/vertical protection level (HPL/VPL) by using the parity method |
|
ncchis2_k |
probability density function for the non-central Chi-square distribution,
where k is 2 to 10 for the degree of freedom 2 to 10 |
|
qrupa |
Q-R updating algorithm of the measurement matrix when a new clock
measurement is added |
|
sdop |
sub-dilution of precision (sub-DOP) quantities |
|
swdop |
sub-weighted dilution of precision (sub-WDOP) quantities |
|
xfdnt |
main program computing the fault detection normalized thresholds |
|
xheLveL |
main program determining the horizontal/vertical exclusion level (HEL/VEL)
by using three different methods |
|
xhpLvpL |
main program determining the horizontal/vertical protection level (HPL/VPL)by
using two different methods |
|
xpbias |
main program computing the value of the parity bias for 10 degrees of
freedom (dof) by using Gaussian distribution for dof = 1 and Chi-square
distribution for dof > 1 |
|
xqrupa |
main program testing the Q-R updating algorithm of the measurement matrix
when a new clock measurement is added |
|
xsdop |
main program determining sub-dilution of precision (sub-DOP) quantities |
|
xswdop |
main program determining sub-weighted dilution of precision (sub-WDOP)
quantities |
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(20) GPS receiver
evaluation functions
|
cn0_j |
equivalent carrier to noise power density ratio for a specified jamming
level |
|
cn0_unj |
unjammed carrier to noise power density ratio |
|
fom |
figure of merit determination based on ICD-059 table |
|
pracc_cl |
pseudorange accuracy of Costas loop implementation when the equivalent
carrier to noise power density ratio is known |
|
prscp |
carrier phase smoothed pseudorange by using a first order filter |
|
xcn0_pr |
main program executing graphs related to carrier-to-noise power density
ratio and pseudorange accuracy |
|
xebudget |
main program determining GPS error budget |
|
xfom |
main program plotting the figure of merit versus estimated position error
for a specified position error range |
|
xgpsr5s |
main program performing covariance analysis for the 5-state GPS receiver
model (near stationary user) |
|
xgpsr8s |
main program performing covariance analysis for the 8-state GPS receiver
model (near constant velocity user) |
|
xprcp |
main program performing pseudorange and carrier phase data analysis |
|
xprscp |
main program executing the pseudorange smoothing by carrier phase data using
a first order filter |
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