MATLAB Codes for Pseudorange Positioning with Android Raw GNSS Measurements

The codes are the implementation of the following paper:

Weng, X., & Ling, K. V. (2023). Localization with Noisy Android Raw GNSS Measurements. 2023 IEEE Asia Pacific Conference on Wireless and Mobile (APWiMob)

Introduction

Our codes are based on Google's open source GNSS software. Everyone should review this awesome contribution first.

Compared to Google's codes, where they did the baseline weighted least squares (WLS) to compute user positions, we support moving horizon estimation (MHE), extended Kalman filter (EKF), and Rauch-Tung-Striebel (RTS) smoother for noise suppression. Our results are shown below.

Data

We provide the data collected by us in static scenarios as well as the data collected by Google in dynamic scenarios.

Static data is put under:

androidGnss/data/HuaweiMate10Pro/Training_data

Dynamic data (Google Smartphone Decimeter Challenge-GSDC) is put under

androidGnss/data/GSDC

More GSDC data can be found at GSDC 2021 and GSDC 2022.

Using our Codes

👩🏽‍💻 The code is put under androidGnss/GPS_opensource_software.

The main entrance of the software includes:

• for static data:

  ProcessGnssMeasScript_Static_NTU.m

• for dynamic data collected in Mountain View areas in 2020:

  ProcessGnssMeasScript_Dynamic_MTV.m

• for dynamic data collected in Mountain View and San Jose areas in 2021:

  ProcessGnssMeasScript_Dynamic_SJC.m

Then, you need to

• set the directory of your Android raw GNSS data file, e.g.:

  dirName ='../data/HuaweiMate10Pro/Training_data/2022-10-09-NTU-ADM-4';
  

• specify the name of your Android raw GNSS data file, e.g.:

  prFileName = 'HuaweiMate10Pro_GnssLog.txt';
  

• specify the name of the ground truth data file, e.g.:

  gtNmeaFileName = 'NTU-ublox-GT.csv';
  

• run ProcessGnssMeasScript_Static_NTU.m (for example) to process Android raw GNSS measurements;

😃 Thank you for your interest in our work. Kindly cite our paper!