location_plotter/macos

Location Plotter

Qt6/C++ GUI that listens to a USB UART on macOS, parses normal debug lines, and plots live locations on a map.

The application also includes an interactive 3D Earth/orbit view. It downloads the current stream-derived RINEX 3 navigation file from the BKG/IGS archive at startup and every 15 minutes, then recomputes GPS satellite positions for current UTC every minute. The last valid file is cached for offline startup.

Parsed fields

The parser accepts labeled values in the same line or in separate lines:

lat=41.0082 long=28.9784 hheight=123.45 sats=7
latitude: 41.0082 longitude: 28.9784 height: 123.45 activeSats: 7
active_sats=8
navigation software running with 5 satellites
GDOP : 3.9576744550
PDOP : 3.2540598660
HDOP : 2.3631161789
VDOP : 2.2370935468
TDOP : 2.2526165852
tracking PRNs: G03, G08, 14, 21
SV=G27
[LOCATION] source=gps lat=40.7357 lon=31.5985 height=812.0 gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5
[LOCATION] source=imu_corrected lat=40.7356 lon=31.5985 height=812.7 gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5
[LOCATION] source=trajectory lat=40.7358 lon=31.5987 height=812.1 tracked=4 used=4
lattitude : 40.78925034214206846173
longitude : 29.46277530841727809729
height    : -89.05779508221894502640

Accepted location labels:

• Latitude: lat, latitude, lattitude
• Longitude: long, longitude, lon, lng
• Height: hheight, height, alt, altitude
• Active satellites: sat, sats, satellite, satellites, active_sats, activeSats, satellites_active, num_sats, uydu
• DOP: GDOP, PDOP, HDOP, VDOP, TDOP
• GPS identifiers: G03, PRN: 3, PRNs: 3, 8, 14, SV=G21, SVID: 27
• Location source: source=gps, source=imu_corrected, source=trajectory
• tracked is accepted as the active satellite count; used remains visible in the raw UART line and denotes satellites used by the WLS solution.

If a satellite count arrives without a location, the active satellite display is updated. If a location arrives without a satellite count, the latest known satellite count is attached to that point. If DOP values arrive before a location, the latest known values stay visible in the DOP section and are attached to the next plotted point. If latitude, longitude, and height arrive as separate consecutive lines, they are combined into a single plotted point.

The GPS firmware's level-1 paired protocol is source-aware. Every received source=gps location is added to the blue GPS series and every source=imu_corrected location is added to the red corrected series at the firmware-configured UART cadence. Paths are built independently, so alternating UART lines do not create GPS-to-IMU zigzags. A corrected point newer than one second is also preferred for map auto-follow, the current-position label and the globe receiver marker. Raw GPS outliers remain visible in blue for diagnosis without pulling the whole view away. When corrected points exist, CEP50, average and scatter calculations use only that corrected series; legacy input without a source keeps the previous behavior. Synthetic source=trajectory points form a third independent green ground-truth path. The map legend identifies all three series.

UART log replay

Use the UART Replay button (or Dosya > UART Log Replay...) to feed a recorded UART .log/.txt file back through the same parser used by the live serial port. Choose the raw GPS update interval (default 200 ms) and sensor/fused update interval (default 50 ms) in the replay dialog. Press Replay Durdur to stop.

Recorder timestamps are optional and do not control replay speed. The replayer removes a leading timestamp when present, identifies source=gps as raw GPS and source=imu_corrected or [FUSION] as fused/sensor output, then synthesizes the two update timelines while retaining the original UART line order. Other UART diagnostic lines are forwarded with the surrounding location update.

Sentetik ESKF senaryolarini açma

GPS deposundan 48 kombinasyonun replay loglarini üretin:

cd /home/onur/Desktop/gps
make -C soc/software/fusion/tests scenario-logs

Sonra GUI'yi açıp Senaryo Logu Ac düğmesinden örneğin soc/software/fusion/tests/output/scenarios/car_gps200_imu20.log dosyasını seçin. GUI logdaki bütün rotayı otomatik sığdırır. Aynı dosya komut satırından da doğrudan açılabilir:

cd location_plotter/macos
cmake -S . -B build
cmake --build build -j
./build/location_plotter --replay \
  /home/onur/Desktop/gps/soc/software/fusion/tests/output/scenarios/car_gps200_imu20.log

Tek bir özel kombinasyon üretmek için:

cd /home/onur/Desktop/gps/soc/software/fusion/tests
make platform_scenario_matrix_test
./platform_scenario_matrix_test --log aircraft 500 19 aircraft.log

Desteklenen senaryolar stationary, pedestrian, car, aircraft; GNSS periyotları 200/500/1000 ms, IMU periyotları 19/20/200/300 ms'dir.

macOS'ta kurulum (MacBook Air, Apple Silicon veya Intel)

Guncel macOS surumunde once Homebrew kurulu olmalidir. Ardindan:

cd location_plotter/macos
chmod +x setup-macos.sh run.sh
./setup-macos.sh
./run.sh

Betik Homebrew ile guncel cmake ve qt paketlerini kurar, yerel mimari icin location_plotter.app paketini derler, gerekli Qt kutuphanelerini uygulama paketine ekler ve testleri calistirir.

macOS USB UART aygitlarini genellikle iki adla gosterir:

/dev/cu.usbserial-XXXXXXXX
/dev/tty.usbserial-XXXXXXXX

veya bir CDC aygitinda:

/dev/cu.usbmodemXXXX
/dev/tty.usbmodemXXXX

Uygulama her iki bicimi de algilar. Mümkünse cu.usb... yolunu secin; macOS'ta disariya baglanti baslatan uygulamalar icin uygun olan aygit budur. UART uygulama acikken takildiysa port alaninin yanindaki Yenile dugmesine basin. Otomatik algilanmayan bir yol port alanina elle de yazilabilir.

Istenen port baslatmadan once ortam degiskeniyle de secilebilir:

LOCATION_PLOTTER_PORT=/dev/cu.usbserial-XXXXXXXX ./run.sh

Port hic gorunmuyorsa ls /dev/cu.usb* /dev/tty.usb* ile macOS'un aygiti olusturup olusturmadigini kontrol edin. Hic sonuc yoksa kabloyu/veri baglantisini ve UART donaniminizin macOS surucusunu kontrol edin.

Elle derleme

Homebrew ile cmake ve qt kurulduktan sonra derleme ve test:

cmake -S . -B build -DCMAKE_PREFIX_PATH="$(brew --prefix qt)"
cmake --build build
ctest --test-dir build --output-on-failure

Run:

./run.sh

Uygulama Qt tabanli bir macOS masaustu arayuzudur. Harita karolari ve guncel RINEX verisi icin internet erisimi gerekir; son gecerli RINEX verisi ve harita onbellegiyle cevrimdisi kullanim da desteklenir. Port secici USB ile ilgili /dev/cu.* ve /dev/tty.* aygitlarini listeler. Hic aygit algilanmazsa /dev/cu.usbserial duzenlenebilir bir varsayilan yol olarak gosterilir.

Notes

• The map uses OpenStreetMap tiles through Qt Network. If there is no internet connection, points are still drawn over a fallback grid.
• The 3B Dunya · Uydular tab appears beside the map. It uses broadcast ephemeris values from BKG's near-real-time BRDC00WRD_S RINEX file to propagate GPS satellites in ECEF. PRNs parsed from the current navigation solve are green; other RINEX satellites are red. Drag to rotate the globe and use the mouse wheel to zoom.
• The globe includes a shaded continent layer and a receiver-centred translucent visibility cone. Min. elevation accepts a directly typed decimal value from 0 to 90 degrees (10 degrees by default, press Enter after typing); satellites inside the mask get a cyan sight line and halo. Incoming positions update the receiver marker without resetting a globe orientation chosen by dragging.
• The globe surface uses NASA/GSFC Scientific Visualization Studio's 2048x1024 Blue Marble mosaic (NASA SVS visualization 2915), projected locally without a runtime network request.
• RINEX download starts at every launch, repeats every 15 minutes, and falls back through the previous two UTC days if today's stream file is unavailable. Current and next-minute satellite positions are propagated from the cached ephemeris, then smoothly interpolated at 10 FPS.
• The 3D Earth tab includes a RINEX Guncelle button for an immediate manual refresh. Its status line shows the system-local time of the last successful download or cache load.
• Complete UART channel snapshots such as tracked satellites=5 prn_indices=[...] replace the previous connected-PRN set, so satellites that were lost no longer remain green. Firmware channel indices are zero-based and are normalized for display (0 is GPS PRN G01).
• RINEX text is parsed once per download and retained as compact ephemeris records. The static globe is cached between camera changes, reducing CPU and allocation load during orbit animation.
• The globe uses an embedded Natural Earth coastline mask with terrain-like land colouring, shallow-water edges, atmospheric shading, and a cached Earth-fixed texture for smooth rotation.
• The main content width and the right-side dashboard/UART height are both adjustable by dragging their splitter handles. Dashboard cards scroll independently so the UART log can be enlarged substantially.
• Max controls how many recent points stay visible and are included in location analysis. The default is 10. When the limit is reached, older points are removed automatically.
• Location analysis shows the average of the plotted samples, the last point's deviation from that average, mean deviation, RMS scatter, and max deviation in meters. The average marker can be toggled on the map.
• The map layers panel can hide all telemetry overlays, show only the newest location instead of the recent path, and independently toggle the average marker.
• GPS points and paths are blue. IMU+ESKF corrected points and their independent path are red. Synthetic ground-truth trajectory is green; the locations table shows the parsed source in its Kaynak column.
• The application calculates empirical CEP50 as the median horizontal distance of the retained measurements from their spherical mean, then draws the circle around that measurement center. This is the radius containing 50 percent of the retained position fixes and is independent of the optional user reference.
• A user reference can be selected by right-clicking the map. The selected WGS84 coordinates are transferred to the reference fields with 15 decimal places but do not alter CEP50.
• Latitude and longitude tokens are preserved exactly as received for the table and map label. Calculations and map projection use IEEE 754 double precision.
• The OpenStreetMap Standard raster layer supports zoom levels through 19. At latitude 40.8, zoom 19 is approximately 0.23 meters per pixel; the marker still uses subpixel coordinates, but the background tiles cannot add accuracy to the GNSS measurement.
• OpenStreetMap attribution is shown on the map. Tile responses use a 100 MB persistent HTTP cache in the application's standard cache directory.
• UART log and telemetry views are refreshed in batches so a high-rate serial stream does not rebuild the complete interface for every received line. The locations table uses a virtual model and remains usable with a high Max value.
• Her basarili UART baglantisi, dosya adinda ve her satirda yerel zaman damgasi bulunan ayri bir log olusturur. Dosyalar kaynak kodun ana klasorundeki uart_logs dizinine yazilir; LOCATION_PLOTTER_UART_LOG_DIR ile farkli bir klasor secilebilir.
• If no new plotted location arrives for 10 seconds while listening, current location points and analysis values are cleared.