def test_parameters():
toe = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
valid = 1
fit_interval = 4 * 60 * 60
assert e.Ephemeris.is_params_valid(valid, fit_interval, toe, time)
toe = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
valid = 0
fit_interval = 4 * 60 * 60
assert not e.Ephemeris.is_params_valid(valid, fit_interval, toe, time)
toe = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
valid = 1
fit_interval = 0 * 60 * 60
assert not e.Ephemeris.is_params_valid(valid, fit_interval, toe, time)
toe = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0 + 3600.0 * 2,
})
valid = 1
fit_interval = 4 * 60 * 60
assert e.Ephemeris.is_params_valid(valid, fit_interval, toe, time)
toe = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0 + 3600.0 * 3,
})
valid = 1
fit_interval = 4 * 60 * 60
assert not e.Ephemeris.is_params_valid(valid, fit_interval, toe, time)
def test_gpsdifftime():
cases = [
{
'a': (567890.0, 1234),
'b': (567890.0, 1234),
'dt': 0,
'time': 1062855873
},
{
'a': (567890.0, 1234),
'b': (0.0, 1234),
'dt': 567890,
'time': 1062855873
},
{
'a': (604578.0, 1000),
'b': (222.222, 1001),
'dt': -444.222,
'time': 921369361
},
{
'a': (604578.0, 1001),
'b': (222.222, 1000),
'dt': 1209155.778,
'time': 921974161
},
]
for c in cases:
tow_tol = 1e-10
a, b, dt, time = c['a'], c['b'], c['dt'], c['time']
assert t.GpsTime(tow=a[0], wn=a[1]).gps2time() == time
print t.GpsTime(tow=a[0], wn=a[1]).normalize_gps_time()
assert t.GpsTime(tow=a[0], wn=a[1]).gpsdifftime(
t.GpsTime(tow=b[0], wn=b[1])) - dt < tow_tol
def test_prop_single_diff():
rover_nm = [t.NavigationMeasurement(sat_pos=[-19277207.52067729, -8215764.2479763795, 16367744.770246204],
pseudorange=21123480.27105955, doppler=0, raw_doppler=0, carrier_phase=-110993309.26669005,
sat_vel=[-1025.0370403901404, -1821.9217799467374, -2091.6303199092254],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.92954684512),
raw_pseudorange=21121324.476403236, raw_carrier_phase=-110993309.26669005,
snr=30.0, sid=s.GNSSSignal(code=0, sat=0), lock_counter=0),
t.NavigationMeasurement(sat_pos=[-16580310.849158794, 918714.1939749047, 20731444.258332774],
pseudorange=22432049.84763688, doppler=0, raw_doppler=0, carrier_phase=-117882743.21601027,
sat_vel=[1060.9864205977192, -2411.43509917502, 953.6270954519971],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125, raw_carrier_phase=-117882743.21601027,
snr=30.0, sid=s.GNSSSignal(code=0, sat=2), lock_counter=0)]
base_nm = [t.NavigationMeasurement(sat_pos=[-19277279.74504115, -8215892.62052003, 16367597.39238895],
pseudorange=21123480.27105955, doppler=0, raw_doppler=0, carrier_phase=-110993309.26669005,
sat_vel=[-1025.03418813, -1821.90205153, -2091.65477547],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.92954684512),
raw_pseudorange=21121324.476403236, raw_carrier_phase=-110993309.26669005,
snr=30.0, sid=s.GNSSSignal(code=0, sat=0), lock_counter=0),
t.NavigationMeasurement(sat_pos=[-16580231.46081397, 918533.75723257, 20731515.61249766],
pseudorange=22432049.84763688, doppler=0, raw_doppler=0, carrier_phase=-117882743.21601027,
sat_vel=[1060.97989026, -2411.44777346, 953.59410165],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125, raw_carrier_phase=-117882743.21601027,
snr=30.0, sid=s.GNSSSignal(code=0, sat=2), lock_counter=0)]
remote_dists = np.array([ 21121393.87562408, 22432814.46819838])
base_pos = np.array( [-2704375, -4263211, 3884637])
sdiffs = o.make_propagated_sdiffs_(rover_nm, base_nm, remote_dists, base_pos)
assert len(sdiffs) == 2
assert sdiffs[0].pseudorange > 0
assert sdiffs[1].pseudorange > 0
assert sdiffs[0].carrier_phase < 0
assert sdiffs[0].doppler > 0
assert sdiffs[0].sid['sat'] == 0
assert sdiffs[1].sid['sat'] == 2
def test_almanac_functions():
alm = {
'sid': {'sat': 1, 'code': 0},
'toa': {'tow': 233472.0, 'wn': 814,},
'ura': 900.0,
'fit_interval': 144 * 60 * 60,
'valid': 1,
'healthy': 1,
'kepler': {
'sqrta': np.sqrt(26559810.38052176),
'ecc': 0.004033565521,
'w': 0.380143734,
'omega0': -0.9244574916,
'omegadot': -7.874613724e-09,
'm0': 2.030394348,
'inc': 0.9619461694,
'af0': -7.629394531e-06,
'af1': 0.0,
}
}
time = t.GpsTime(**{ 'wn': 814, 'tow': 168214.0,})
pos = np.array([-2704369.61784456, -4263211.09418205, 3884641.21270987])
satAlmanac = a.Almanac(**alm)
position, velocity, clock_err, clock_rate_err = satAlmanac.calc_state(time)
assert np.allclose(position, np.array([7937862.2780455 , -19534384.87638699, -16087474.32428426]))
assert np.allclose(velocity, np.array([1771.85083411, -1031.81872491, 2151.28549392]))
assert np.isclose(clock_err, -7.629394531e-06)
assert np.isclose(clock_rate_err, 0.0)
doppler = satAlmanac.calc_doppler(time, pos)
assert np.isclose(doppler, -1607.665252834069)
azimuth, elevation = satAlmanac.calc_az_el(time, pos)
assert np.isclose(azimuth, 2.437585312667075)
assert np.isclose(elevation, -0.23953409326103278)
def test_sat_state():
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'band': 0,
'constellation': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4,
'valid': 1,
'healthy': 1,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 21845,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.good(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
pos, vel, clock_err, clock_rate_err = eph.calc_sat_state(time)
assert np.allclose(
pos, [8939514.51292471, -19122117.65874583, 16447534.13118957])
assert np.allclose(vel, [1892.86704302, -765.38725981, -1985.61338019])
assert clock_err - 0.00336435649383 < tol
assert clock_rate_err - 3.63797880709e-12 < tol
assert not eph.good(t.GpsTime(**{
'wn': 1866,
'tow': 518400.0,
}))
assert not eph.good(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 4}))
assert eph.good(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 2}))
assert not eph.good(t.GpsTime(**{
'wn': 1868,
'tow': 518400.0,
}))
assert len(eph.to_dict()) == 8
assert repr(eph)
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'band': 0,
'constellation': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4,
'valid': 1,
'healthy': 0,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 21845,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.good(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'band': 0,
'constellation': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4,
'valid': 0,
'healthy': 0,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 21845,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert not eph.good(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'band': 0,
'constellation': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 6,
'valid': 1,
'healthy': 1,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 21845,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.good(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 4}))
assert not eph.good(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 6}))
def test_glo_sat_state():
eph1 = e.Ephemeris(**{'sid': {'sat': 3, 'code': 3,},
'toe': {'wn': 1892, 'tow': 303900.0,}, #from GPS
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 1,
'healthy': 1,
'glo': { #data at 2016-04-13T12:25:00
'gamma' : 9.09494701772928238e-13,
'tau' : -6.72144815325737000e-05,
'pos' : [-1.4379786621093750e+07,-7.6587543945312500e+06,1.9676794921875000e+07],
'vel' : [2.6736078262329102e+03,-2.4776077270507813e+02,1.8579368591308594e+03],
'acc' : [0.0,0.0,-2.79396772384643555e-06],
}})
eph2 = e.Ephemeris(**{'sid': {'sat': 3, 'code': 3,},
'toe': {'wn': 1892, 'tow': 305700.0,}, #from GPS
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 1,
'healthy': 1,
'glo': { #data at 2016-04-13T12:55:00
'gamma' : 9.09494701772928238e-13,
'tau' : -6.72172755002975464e-05,
'pos' : [-9.2793393554687500e+06,-8.5263706054687500e+06,2.2220868652343750e+07],
'vel' : [2.9441843032836914e+03,-7.2328472137451172e+02,9.5054054260253906e+02],
'acc' : [0.0,0.0,-2.79396772384643555e-06],
}})
#check that both ephemeris are valid at 2016-04-13T12:40:00
assert eph1.is_valid(t.GpsTime(**{
'wn': 1892,
'tow': 304800.0,
}))
assert eph2.is_valid(t.GpsTime(**{
'wn': 1892,
'tow': 304800.0,
}))
assert eph1.is_healthy()
assert eph2.is_healthy()
#set time in between 2 ephemeris
time = t.GpsTime(**{
'wn': 1892,
'tow': 304800.0,
})
#calculate SV orbits at the time
pos1, vel1, clock_err1, clock_rate_err1 = eph1.calc_sat_state(time)
pos2, vel2, clock_err2, clock_rate_err2 = eph2.calc_sat_state(time)
#check if position difference of the SV in 2.5 m range
assert np.allclose(pos1, pos2, 0, 2.5)
#check if velocity difference of the SV in 0.005 m/s range
assert np.allclose(vel1, vel2, 0, 0.005)
assert abs(clock_err1 - clock_err2) < 1.0e-8
assert abs(clock_rate_err1 - clock_rate_err2) < 1.0e-8
# Now check GLO orbit computation (pos and vel) at particular time
# set reference ephemeris at 2007-15-11T06.15.00
eph = e.Ephemeris(**{'sid': {'sat': 3, 'code': 3,},
'toe': {'wn': 1453, 'tow': 368100.0,}, #from GPS
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 1,
'healthy': 1,
'glo': { #input data from GLO ICD, pg. 55
'gamma' : 0, #not necessary for the test
'tau' : 0, #not necessary for the test
'pos' : [-14081752.701,18358958.252,10861302.124],
'vel' : [-1025.76358,1086.72147,-3157.32343],
'acc' : [1.7156e-6-9.2581e-7,1.0278e-6-1.0343e-6,-1.0368e-6-1.1260e-6],
}})
#set time to 6:30
time = t.GpsTime(**{
'wn': 1453,
'tow': 369000.0,
})
#calculate SV orbits at the time
pos, vel, clock_err, clock_rate_err = eph.calc_sat_state(time)
#check calculated vel and pos data at 2007-15-11T06:30:00
#reference values from GLO ICD, pg 55. Note: it seems there is an typo in
# result Vz in ICD example
assert np.allclose(pos, [-14836563.872, 19249935.476, 7924017.196], 0, 2.5)
assert np.allclose(vel, [-653.97782, 882.62958, -3359.44444], 0, 0.005)
def test_sat_state():
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'code': 0,
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 1,
'healthy': 1,
'kepler': {
'toc': {
'tow': 518400.0,
'wn': 1867,
},
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.is_valid(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
assert eph.is_healthy()
time = t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
})
pos, vel, clock_err, clock_rate_err = eph.calc_sat_state(time)
assert np.allclose(
pos, [8939514.51292471, -19122117.65874583, 16447534.13118957])
assert np.allclose(vel, [1892.86704302, -765.38725981, -1985.61338019])
assert clock_err - 0.00336435649383 < tol
assert clock_rate_err - 3.63797880709e-12 < tol
gnd_pos = np.array([1115054, -4843905, 3983584])
doppler = eph.calc_doppler(time, gnd_pos)
assert np.isclose(doppler, 253.83513370122773)
azimuth, elevation = eph.calc_az_el(time, gnd_pos)
assert np.isclose(azimuth, 1.5874048317078373)
assert np.isclose(elevation, 1.3533993525984187)
assert not eph.is_valid(t.GpsTime(**{
'wn': 1866,
'tow': 518400.0,
}))
assert not eph.is_valid(
t.GpsTime(**{
'wn': 1867,
'tow': 518400.0 + 3600. * 2 + 1
}))
assert not eph.is_valid(
t.GpsTime(**{
'wn': 1867,
'tow': 518400.0 - 3600. * 2 - 1
}))
assert eph.is_valid(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 1}))
assert eph.is_valid(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 - 3600. * 1}))
assert not eph.is_valid(t.GpsTime(**{
'wn': 1868,
'tow': 518400.0,
}))
assert len(eph.to_dict()) == 9
assert repr(eph)
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'code': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 1,
'healthy': 0,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 1867,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.is_valid(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
assert not eph.is_healthy()
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'code': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 4 * 60 * 60,
'valid': 0,
'healthy': 0,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 1867,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert not eph.is_valid(t.GpsTime(**{
'wn': 1867,
'tow': 518400.0,
}))
assert eph.is_healthy()
eph = e.Ephemeris(
**{
'sid': {
'sat': 17,
'code': 0
},
'toe': {
'wn': 1867,
'tow': 518400.0,
},
'ura': 2.0,
'fit_interval': 6 * 60 * 60,
'valid': 1,
'healthy': 1,
'kepler': {
'crs': 25.125,
'inc_dot': 3.78944355982045e-10,
'tgd': -1.1175870895385742e-08,
'crc': 106.65625,
'ecc': 0.016364791779778898,
'omegadot': -8.013190924423338e-09,
'inc': 0.9253317285121154,
'cuc': 1.255422830581665e-06,
'omega0': 2.7384009602031045,
'cus': 1.280754804611206e-05,
'm0': -2.057975194561658,
'toc': {
'tow': 518400.0,
'wn': 1867,
},
'dn': 5.035924052164783e-09,
'cic': 2.7194619178771973e-07,
'sqrta': 5153.647108078003,
'cis': 9.313225746154785e-09,
'iode': 50,
'iodc': 21845,
'crc': 49614,
'w': -1.9329047030450934,
'af0': 0.0004458986222743988,
'af1': 3.637978807091713e-12,
'af2': 0.0
}
})
assert eph.is_valid(t.GpsTime(**{'wn': 1867, 'tow': 518400.0 + 3600. * 2}))
assert not eph.is_valid(
t.GpsTime(**{
'wn': 1867,
'tow': 518400.0 + 3600. * 3 + 1
}))
assert eph.is_healthy()
import numpy as np
import pytest
import swiftnav.time as ti
import swiftnav.track as t
import swiftnav.observation as o
import swiftnav.signal as s
nms = \
[t.NavigationMeasurement(sid=s.GNSSSignal(sat=9, code=0),
pseudorange=23946993.888943646,
raw_pseudorange=23946993.888943646,
sat_pos=(-19477278.087422125, -7649508.9457812719, 16674633.163554827),
sat_vel=(0, 0, 0), raw_carrier_phase=0, carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),
t.NavigationMeasurement(sid=s.GNSSSignal(sat=1, code=0),
pseudorange=22932174.156858064,
raw_pseudorange=22932174.156858064,
sat_pos=(-9680013.5408340245, -15286326.354385279, 19429449.383770257),
sat_vel=(0, 0, 0), raw_carrier_phase=0, carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),
t.NavigationMeasurement(sid=s.GNSSSignal(sat=2, code=0),
pseudorange=24373231.648055989,
raw_pseudorange=24373231.648055989,
sat_pos=(-19858593.085281931, -3109845.8288993631, 17180320.439503901),
sat_vel=(0, 0, 0), raw_carrier_phase=0, carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
def test_prop_single_diff():
rover_nm = [
t.NavigationMeasurement(sat_pos=[
-19277207.52067729, -8215764.2479763795, 16367744.770246204
],
pseudorange=21123480.27105955,
doppler=0,
raw_doppler=0,
carrier_phase=-110993309.26669005,
sat_vel=[
-1025.0370403901404, -1821.9217799467374,
-2091.6303199092254
],
lock_time=0,
tot=ti.GpsTime(wn=1876,
tow=167131.92954684512),
raw_pseudorange=21121324.476403236,
snr=30.0,
sid=s.GNSSSignal(band=0,
constellation=0,
sat=0),
lock_counter=0),
t.NavigationMeasurement(
sat_pos=[
-16580310.849158794, 918714.1939749047, 20731444.258332774
],
pseudorange=22432049.84763688,
doppler=0,
raw_doppler=0,
carrier_phase=-117882743.21601027,
sat_vel=[1060.9864205977192, -2411.43509917502, 953.6270954519971],
lock_time=0,
tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125,
snr=30.0,
sid=s.GNSSSignal(band=0, constellation=0, sat=2),
lock_counter=0)
]
remote_dists = np.array([21121393.87562408, 22432814.46819838])
base_pos = np.array([-2704375, -4263211, 3884637])
es = [
Ephemeris(
**{
'ura': 0.0,
'healthy': 1,
'xyz': {
'acc': [
-6.51925802230835e-08, 4.718410826464475e-09,
2.6226835183928943
],
'iod':
0,
'a_gf0':
5153.648313522339,
'a_gf1':
0.5977821557062277,
'pos': [5.122274160385132e-09, 19.0625, 259.9375],
'rate': [
1.0151416063308716e-06, 6.260350346565247e-06,
-6.332993507385254e-08
],
'toa':
4096
},
'valid': 1,
'sid': {
'band': 0,
'constellation': 0,
'sat': 0
},
'toe': {
'wn': 1876,
'tow': 172800.0
},
'kepler': {
'inc_dot': 4.4966158735287064e-10,
'tgd': 5.122274160385132e-09,
'omegadot': -8.099980253833005e-09,
'sqrta': 5153.648313522339,
'inc': 0.9634151551139846,
'cus': 6.260350346565247e-06,
'omega0': 0.5977821557062277,
'cuc': 1.0151416063308716e-06,
'm0': 2.6226835183928943,
'toc': {
'wn': 1876,
'tow': 172800.0
},
'dn': 4.718410826464475e-09,
'ecc': 0.0049016030970960855,
'cic': -6.332993507385254e-08,
'crs': 19.0625,
'iode': 74,
'iodc': 21845,
'cis': -6.51925802230835e-08,
'crc': 259.9375,
'w': 0.4885959643259506,
'af0': 7.212162017822266e-06,
'af1': 9.094947017729282e-13,
'af2': 0.0
},
'fit_interval': 4
}),
Ephemeris(
**{
'ura': 0.0,
'healthy': 1,
'xyz': {
'acc': [
-6.146728992462158e-08, 4.742340394655613e-09,
-0.8114190126645531
],
'iod':
0,
'a_gf0':
5153.798839569092,
'a_gf1':
1.6390180338742641,
'pos': [1.862645149230957e-09, -40.5625, 221.625],
'rate': [
-2.2239983081817627e-06, 8.001923561096191e-06,
3.725290298461914e-09
],
'toa':
0
},
'valid': 1,
'sid': {
'band': 0,
'constellation': 0,
'sat': 2
},
'toe': {
'wn': 1876,
'tow': 172800.0
},
'kepler': {
'inc_dot': -4.475186409476941e-10,
'tgd': 1.862645149230957e-09,
'omegadot': -8.103551831174965e-09,
'sqrta': 5153.798839569092,
'inc': 0.9587534715647247,
'cus': 8.001923561096191e-06,
'omega0': 1.6390180338742641,
'cuc': -2.2239983081817627e-06,
'm0': -0.8114190126645531,
'toc': {
'wn': 1876,
'tow': 172800.0
},
'dn': 4.742340394655613e-09,
'ecc': 0.00035172002390027046,
'cic': 3.725290298461914e-09,
'crs': -40.5625,
'iode': 59,
'iodc': 21845,
'cis': -6.146728992462158e-08,
'crc': 221.625,
'w': 2.9037284161724037,
'af0': -9.969808161258698e-07,
'af1': -5.229594535194337e-12,
'af2': 0.0
},
'fit_interval': 4
})
]
gpst = ti.GpsTime(wn=1876, tow=167132)
sdiffs = o.make_propagated_sdiffs_(rover_nm, rover_nm, remote_dists,
base_pos, es, gpst)
assert len(sdiffs) == 2
assert sdiffs[0].pseudorange > 0
assert sdiffs[1].pseudorange > 0
assert sdiffs[0].carrier_phase < 0
assert sdiffs[0].doppler > 0
assert sdiffs[0].sid['sat'] == 0
assert sdiffs[1].sid['sat'] == 2
def test_datetime2gpst():
test_dt = dt.datetime.strptime('1995-05-07 08:20:00', '%Y-%m-%d %H:%M:%S')
gpst = t.datetime2gpst(test_dt)
assert str(gpst) == str(t.GpsTime(wn=800, tow=30000))
def test_gpst2datetime():
gpst = t.GpsTime(wn=800, tow=30000)
test_dt = t.gpst2datetime(gpst)
assert test_dt == dt.datetime.strptime('1995-05-07 08:20:00', '%Y-%m-%d %H:%M:%S')
