def getVisible(self, pos, sat):
for iss in sat:
iss.compute(self.place)
bad = abs(np.random.normal(0, 3000, 1))
if float(repr(iss.alt)) > 15.0 * pi / 180.0 and float(repr(iss.alt)) < pi / 2.0 and not bad >= 9900:
possat = lla2ECEF(iss.sublat, iss.sublong, iss.elevation, Geoid.EARTH_radius, _earth_E)
self.sats.sat[self.sats.visible].position.x = possat.x
self.sats.sat[self.sats.visible].position.y = possat.y
self.sats.sat[self.sats.visible].position.z = possat.z
self.sats.sat[self.sats.visible].range = vectornorm(possat, pos)
self.sats.visible = self.sats.visible + 1
self.measurement.satellites = self.sats.visible
def getVisible(self, pos, sat):
for iss in sat:
iss.compute(self.place)
bad = abs(np.random.normal(0, 3000, 1))
if float(repr(iss.alt)) > 15.0 * pi / 180.0 and float(repr(
iss.alt)) < pi / 2.0 and not bad >= 9900:
possat = lla2ECEF(iss.sublat, iss.sublong, iss.elevation,
Geoid.EARTH_radius, _earth_E)
self.sats.sat[self.sats.visible].position.x = possat.x
self.sats.sat[self.sats.visible].position.y = possat.y
self.sats.sat[self.sats.visible].position.z = possat.z
self.sats.sat[self.sats.visible].range = vectornorm(
possat, pos)
self.sats.visible = self.sats.visible + 1
self.measurement.satellites = self.sats.visible
def iterate(self, states):
self.measurement.fix = 0
self.place.lat = states.geoid.latitude
self.place.long = states.geoid.longitude
self.place.elevation = states.geoid.altitude
self.place.date = datetime.datetime.now()
pos = lla2ECEF(self.place.lat, self.place.long, self.place.elevation, Geoid.EARTH_radius, _earth_E)
self.sats.visible = 0
self.getVisible(pos, self.sat_sbas)
k = self.sats.visible
self.getVisible(pos, self.sat_gpsop)
self.setNoise()
self.getPosition(k)
self.getdop(self.position)
self.calculateMeas()
def iterate(self, states):
self.measurement.fix = 0
self.place.lat = states.geoid.latitude
self.place.long = states.geoid.longitude
self.place.elevation = states.geoid.altitude
self.place.date = datetime.datetime.now()
pos = lla2ECEF(self.place.lat, self.place.long, self.place.elevation,
Geoid.EARTH_radius, _earth_E)
self.sats.visible = 0
self.getVisible(pos, self.sat_sbas)
k = self.sats.visible
self.getVisible(pos, self.sat_gpsop)
self.setNoise()
self.getPosition(k)
self.getdop(self.position)
self.calculateMeas()