parsermc.m

此功能包用于各种GPS坐标和时间的转换

function rmc_out = parsermc(line)

% rmc_out = parsermc_new(line);
%
% Function to parse RMC NMEA messages.
% 
% Input:
%   line    - string with one NMEA RMC data message
% Output:
%   rmc_out - output data message for RMC data type (nx8)
%                        1  2  3   4   5   6    7       8  
%           columns are [hh mm ss lat lon SOG course mag_var]
%             hh, mm, ss are UTC HMS
%             lat and lon are in deg
%             SOG in knts
%             COG in deg - true
% 

% Written by: Jimmy LaMance 7/26/00 
% Copyright (c) 2000 by Constell, Inc.

% functions called: none

%%%%% BEGIN VARIABLE CHECKING CODE %%%%%
% declare the global debug mode
global DEBUG_MODE

% Initialize the output variables
gsa_out=[];

% Check the number of input arguments and issues a message if invalid
msg = nargchk(1,1,nargin);
if ~isempty(msg)
  fprintf('%s  See help on PARSERMC for details.\n',msg);
  fprintf('Returning with empty outputs.\n\n');
  return
end

% verify that line is a string
if ~isstr(line)
  fprintf('NMEA line input to PARSERMC must be a string. \n');
  fprintf('See help PARSERMC for details.') 
  if DEBUG_MODE
    fprintf('Error from PARSERMC:  ')
    fprintf('Wrong type of line variable to PARSERMC.\n');
    % return to the calling function without filling in the output variables
    return
  else
    error('Wrong type of line variable to PARSERMC.');
  end % if DEBUG_MODE
end % if ~isstr(line)

%%%% END VARIABLE CHECKING CODE %%%%%

%%%%% BEGIN ALGORITHM CODE %%%%%

ll = size(line,2);     % length of line
rmc_out = [];                 

% default size of message output
rmc_size = 8;

if strcmp(line(1:6),'$GPRMC') == 1    % found an Ashtech RMC message 
  
  % Find all of the commas in the line
  I_comma = findstr(line,',');
  
  % A valid RMC message has 11 commas
  if length(I_comma) ~= 11
    return
  end
  
  % parse out the time
  time_field = str2num(line(I_comma(1)+1:I_comma(2)-1));
  if (length(time_field) ~= 1)
     rmc_out = [];
     return
  end
  
  rmc_out(1) = fix(time_field / 10000);    % hours
  rmc_out(2) = fix(time_field / 100) - rmc_out(1) * 100;    % minutes
  rmc_out(3) = time_field - rmc_out(1) * 10000 - rmc_out(2) * 100;   % seconds

  lat = str2num(line(I_comma(3)+1:I_comma(4)-1));
  North = line(I_comma(4)+1:I_comma(5)-1);
  deg = fix(lat / 100);
  min = lat - deg * 100;

  if (length(deg) ~= 1) | (length(min) ~= 1)
     fprintf('Failure getting latitude\n');
     rmc = [];
     return;
  end
  
  if strcmp(North,'N')
    rmc_out(4) = deg + min / 60;      % latitude in degrees
  elseif strcmp(North,'S')
    rmc_out(4) = -1 * (deg + min / 60);      % (south) latitude in degrees
  else
    rmc_out(4) = inf;
  end % if
  
  lon = str2num(line(I_comma(5)+1:I_comma(6)-1)); 
  East = line(I_comma(6)+1:I_comma(7)-1);  
  deg = fix(lon / 100);
  min = lon - deg * 100;

  if (length(deg) ~= 1) | (length(min) ~= 1)
     pos_out = [];
     return;
  end
  
  if strcmp(East,'E')
    rmc_out(5) = deg + min / 60;      % longitude in degrees 
  elseif strcmp(East,'W')
    rmc_out(5) = -1 * (deg + min / 60);      % (west) longitude in degrees 
  else
    rmc_out(5) = inf;
  end % if

  % Speed over ground  
  sog = str2num(line(I_comma(7)+1:I_comma(8)-1));    % SOG 
  if ~isempty(sog)
    rmc_out(6) = sog;
  else
    rmc_out(6) = inf;
  end
  
  % Course over ground (COG)
  cog = str2num(line(I_comma(8)+1:I_comma(9)-1));    % number of satellite 
  if ~isempty(cog)
    rmc_out(7) = cog;
  else
    rmc_out(7) = inf;
  end
  
  % UTC date field - toss for now
  utc_date = str2num(line(I_comma(9)+1:I_comma(10)-1));    
  %if ~isempty(hdop)
  %  rmc_out(9) = hdop;
  %else
  %  rmc_out(9) = inf;
  %end
  
  % magnetic variation
  I_star = findstr(line,'*'); 
  mag_var = str2num(line(I_comma(10)+1:I_comma(11)-1)); 
  East = line(I_comma(11)+1:I_star-1);  
  
  if strcmp(East,'E')
    rmc_out(8) = mag_var;      % longitude in degrees 
  elseif strcmp(East,'W')
    rmc_out(8) = -mag_var;      % (west) longitude in degrees 
  else
    rmc_out(8) = inf;
  end % if

  if length(I_star) ~= 1   % too many star characters
    rmc = [];
    return
  end
  
  % checksum
  check_sum = line(I_star+1:length(line));
  
  % get all of the characters between the header and the star before the check sum
  start_ind = 2;                    % exclude the $ sign
  stop_ind = length(line) - 3;      % remove the * and 2 digit hex check sum
  
  chk_line = line(start_ind:stop_ind);
  
  % Compute the check sum
  s_chk = double(chk_line(1));
  for i = 2:length(chk_line)
    s_chk = bitxor(double(chk_line(i)),s_chk);
  end      
  
  valid = 0;    % set this as an invalid message until the checksum has passed
  s_chk = dec2hex(s_chk);    % convert to hex
  
  if ~isstr(check_sum)
    check_sum = num2str(check_sum);
  end % if ~isstr(check_sum)

  if strcmp(check_sum,s_chk)
    valid = 1;
  else
    valid = 0;
  end % if strcmp(check_sum,s_chk)
    
  % make sure that at least valid time, lat and lon data were obtained, 
  % otherwise return a blank message
  if any(find(rmc_out(1:8) == inf)) | valid == 0
%    fprintf('Error parsing RMC message\n  %s\n',line);
%    keyboard
    rmc_out = [];
  end % if any(find(rmc_out(1:9) == inf))
  
else
  fprintf('Warning from PARSERMC. RMC message not found in the current line.\n')
  fprintf('  %s\n\n',line);

end % if strcmp(line(1:6),'$GPRMC') == 1   

%%%%% END ALGORITHM CODE %%%%%

% end of PARSERMC