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Added : fill in missing seconds of data (TODO: interpolate data)

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Paul Cox
2010-09-20 18:16:21 +00:00
parent 818f3cc48f
commit 6b8d871672
2 changed files with 25 additions and 21 deletions
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sw/in_progress/log_parser/log2nmea.pl
+24 -20
View File
@@ -2,7 +2,7 @@
#Author: Paul Cox
#This script reads a paparazzi log file and extracts the GPS messages
#It outputs Time/Lat/Long/Alt
#TODO: waypoints and remove intermediate file creation
#TODO: waypoints and interpolation when delta is > 2 sec
#Notes:
#mode
#utm_east ALT_UNIT="m" UNIT="cm"
@@ -52,7 +52,7 @@ sub getnmeatime {
#ensure proper leading zero for single digits
$utw_m = sprintf("%02d",$utw_m);
#calculate remaining seconds
my $utw_s = sprintf("%06.3f",$utw/1000-$utw_m*60-$utw_h*60*60-$utw_d*60*60*24);
my $utw_s = sprintf("%06.3f",$utw/1000-$utw_m*60-$utw_h*60*60-$utw_d*60*60*24-$_[0]);
my $time = $utw_h . $utw_m . $utw_s; #Time UTC HHMMSS.mmm 303318000/60000=5055.3/60=84.255/24=3.510625
return $time;
}
@@ -67,6 +67,11 @@ open DATAFILE, "<$filename.data" or die $!;
#open OUTFILE, ">GPS_data_$date.txt" or die $!;
open NMEAFILE, ">NMEA_$date.log" or die $!;
my $sacc =0;
my $pacc =0;
my $pdop =0;
my $numSV =0;
while (my $line = <DATAFILE>) {
chomp($line);
my @fields = split(/ /,$line);
@@ -77,10 +82,10 @@ while (my $line = <DATAFILE>) {
$solstart = $fields[0];
printf "GPS SOL start time: $solstart\n";
}
my $pacc = $fields[3];
my $sacc = $fields[4];
my $pdop = $fields[5];
my $numSV = $fields[6];
$pacc = $fields[3];
$sacc = $fields[4];
$pdop = $fields[5];
$numSV = $fields[6];
}
#We are going to look for GPS messages, in mode 3 (3D fix)
@@ -144,16 +149,10 @@ while (my $line = <DATAFILE>) {
#Begin NMEA output
#RMC,GGA/GSA/VTG/GSV
printf NMEAFILE "\$GPRMC,";
$time = getnmeatime($utw);
printf NMEAFILE $time . ",A,"; #Active
$degrees = abs(int($latitude));
$minutes = (abs($latitude) - $degrees) * 60;
$nmealat = sprintf("%02d%.4f",$degrees,$minutes). "," ."N";
printf NMEAFILE $nmealat . ","; #LAT
$degrees = abs(int($longitude));
$minutes = (abs($longitude) - $degrees) * 60;
@@ -163,20 +162,24 @@ while (my $line = <DATAFILE>) {
} else {
$nmealon .= ",W" ; #LON
}
printf NMEAFILE $nmealon . ",";
printf NMEAFILE '%.2f,',$fields[8]*.019438444; #gnd spd in knts from cm/s
printf NMEAFILE '%.2f,',$fields[6]/10; #trk angle in deg from decideg
$gprmc = sprintf '%.2f,',$fields[8]*.019438444; #gnd spd in knts from cm/s
$gprmc .= sprintf '%.2f,',$fields[6]/10; #trk angle in deg from decideg
# ($year,$month,$day) = Monday_of_Week($week,"2010"); TODO:use week and day to calculate date?
printf NMEAFILE "$date,,\n"; #date and mag var
$gprmc .= sprintf "$date,,\n"; #date and mag var
#$GPRMC,121518.000,A,4452.767,N,00049.573,W,0.45,0.00,150910,,*1F
#$GPGGA,121518.000,4452.767,N,00049.573,W,1,00,0.0,0.000,M,0.0,M,,*7D
#$GPGGA,121518.000,4452.767,N,00049.573,W,1,00,0.0,0.000,M,0.0,M,,*7D
#$GPGGA,121828.500,4452.7696,N,00049.5712,W,1,8,184,52.65,M,52.65,M,,*55
#$GPVTG,0.000,T,0,M,0.450,N,0.833,K*59
printf NMEAFILE "\$GPGGA,$time,$nmealat,$nmealon,1,$numSV,$pdop,%.2f,M,%.2f,M,,\n",$fields[7]/100,$fields[7]/100;
printf NMEAFILE "\$GPVTG,0.000,T,0,M,%.2f,N,%.2f,K\n",$fields[8]*.019438444,$fields[8]*.03598272;
for (my $i = int($delta-0.25); $i >= 0 ; $i-- ) {
$time= getnmeatime($i);
#if ($i>0) {printf NMEAFILE "-----\n";}
printf NMEAFILE "\$GPRMC,$time,A,$nmealat,$nmealon,". $gprmc;
printf NMEAFILE "\$GPGGA,$time,$nmealat,$nmealon,1,$numSV,$pdop,%.2f,M,%.2f,M,,\n",$fields[7]/100,$fields[7]/100;
printf NMEAFILE "\$GPVTG,0.000,T,0,M,%.2f,N,%.2f,K\n",$fields[8]*.019438444,$fields[8]*.03598272;
}
}
}
@@ -189,6 +192,7 @@ printf " minutes\n";
close DATAFILE;
#close OUTFILE;
close NMEAFILE;
open NMEAFILE, "<NMEA_$date.log" or die $!;
$time = substr($time,0,6);
sw/in_progress/log_parser/nmea2kml.sh
+1 -1
View File
@@ -13,4 +13,4 @@
# labels (0/1) Display labels on track and routepoints (default
# max_position_point Retain at most this number of position points (0
gpsbabel -i nmea -f "$@" -o kml,deficon=funjet,line_width=1,floating=1 -F ppzout.kml
gpsbabel -i nmea -f "$@" -o kml,deficon=funjet,line_width=1,floating=1,labels=0 -F ppzout.kml