action='store_true',
default=False,
help="ignore EOF")
parser.add_option("--size", type='int', default=20, help="plot size in meters")
parser.add_option("--skip",
type='int',
default=1,
help="show every N positions")
parser.add_option("--reference",
help="reference position (lat,lon,alt)",
default=None)
(opts, args) = parser.parse_args()
if opts.reference:
reference_position = util.ParseLLH(opts.reference)
else:
reference_position = None
# create a figure
f = pyplot.figure(1)
f.clf()
pyplot.axis([-opts.size, opts.size, -opts.size, opts.size])
pyplot.ion()
colours = ['ro', 'bo', 'go', 'yo']
devs = []
for d in args:
devs.append(ublox.UBlox(d))
sv].timereceived + 1800 < tnow:
continue
dev1.configure_poll(ublox.CLASS_AID, ublox.MSG_AID_EPH,
struct.pack('<B', sv))
svid_seen[sv] = tnow
last_msg1_time = time.time()
last_msg2_time = time.time()
last_msg3_time = time.time()
messages = {}
satinfo = satelliteData.SatelliteData()
if opts.reference is not None:
satinfo.reference_position = util.ParseLLH(opts.reference).ToECEF()
elif opts.ecef_reference is not None:
satinfo.reference_position = util.PosVector(
*opts.ecef_reference.split(','))
else:
satinfo.reference_position = None
satinfo.min_elevation = opts.minelevation
satinfo.min_quality = opts.minquality
def handle_device1(msg):
'''handle message from reference GPS'''
global messages, satinfo
if msg.name() in [
parser.add_option("--reference", help="reference position (lat,lon,alt)", default=None)
(opts, args) = parser.parse_args()
if len(args) != 1:
print("usage: position_estimate.py <file>")
sys.exit(1)
filename = args[0]
dev = ublox.UBlox(filename)
rtcmfile = open('rtcm2.dat', mode='wb')
if opts.plot:
reference = util.ParseLLH(opts.reference).ToECEF()
plotter = dataPlotter.dataPlotter(reference)
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
# get get position the receiver calculated. We use this to check the calculations
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
if opts.plot:
plotter.plotPosition(pos, 0)