class NmeaStatistic:
def __init__(self):
self.FileName = FILE_NAME_EXT_DATA
self.OutputFile = None
self.LastNavigateData = None
self.DistanceFromLastPoint = 0
self.TotalDistance = 0
self.FixQuality_0 = 0;
self.FixQuality_1 = 0;
self.FixQuality_2 = 0;
self.FixQuality_3 = 0;
self.FixQuality_4 = 0;
self.FixQuality_5 = 0;
self.FixQuality_6 = 0;
self.MarkColor = None
self.PDOPList = []
self.HDOPList = []
self.VDOPList = []
self.LatitudeList = []
self.LongitudeList = []
self.AltitudeList = []
self.XList = []
self.YList = []
self.ColorList = []
self.PDOTStatistic = Statistic()
self.HDOTStatistic = Statistic()
self.VDOTStatistic = Statistic()
self.LatitudeStatistic = Statistic()
self.LongitudeStatistic = Statistic()
self.AltitudeStatistic = Statistic()
self.XStatistic = Statistic()
self.YStatistic = Statistic()
self.Basemap = None
self.CEP = 0
self.CEP95 = 0
self.CEP99 = 0
def set_file_name(self, file_name):
self.FileName = file_name + FILE_NAME_EXT_DATA
def check_date_time(self, navigate_data):
result = False
if navigate_data is None:
return result
if navigate_data.LocalDateTime is None:
return result
if self.LastNavigateData is not None:
last_local_date_time = self.LastNavigateData.LocalDateTime
if last_local_date_time is not None:
duration = navigate_data.LocalDateTime - last_local_date_time
if duration.seconds <= 0:
return result
result = True
return result
def add_to_data_list(self, navigate_data):
self.DistanceFromLastPoint = 0
if navigate_data is None:
return
if not self.check_date_time(navigate_data):
return
if len(navigate_data.PDOP) == 0 or len(navigate_data.HDOP) == 0 or len(navigate_data.VDOP) == 0:
return
if navigate_data.LatitudeValue == 0 or navigate_data.LongitudeValue == 0:
return
if self.LastNavigateData is not None:
last_point = (self.LastNavigateData.LatitudeValue, self.LastNavigateData.LongitudeValue)
current_point = (navigate_data.LatitudeValue, navigate_data.LongitudeValue)
self.DistanceFromLastPoint = distance.distance(last_point, current_point).m
self.TotalDistance += self.DistanceFromLastPoint
try:
self.PDOPList.append(navigate_data.PDOP)
self.HDOPList.append(navigate_data.HDOP)
self.VDOPList.append(navigate_data.VDOP)
self.LatitudeList.append(navigate_data.LatitudeValue)
self.LongitudeList.append(navigate_data.LongitudeValue)
self.AltitudeList.append(float(navigate_data.Altitude))
except ValueError as e:
print("ValueError:", e)
return
# (55, 168, 218), (187, 249, 112), (255, 255, 0), (113, 130, 36), (113, 174, 38), (255, 255, 255)
value = int(navigate_data.FixQuality)
if value == 0:
self.FixQuality_0 = self.FixQuality_0 + 1;
self.MarkColor = (0.5, 0.5, 0.5) # remark = "Invalid"
elif value == 1:
self.FixQuality_1 = self.FixQuality_1 + 1;
self.MarkColor = (0.22, 0.67, 0.872) # remark = "SPS"
elif value == 2:
self.FixQuality_2 = self.FixQuality_2 + 1;
self.MarkColor = (0.733, 0.976, 0.439) # remark = "Differential"
elif value == 3:
self.FixQuality_3 = self.FixQuality_3 + 1;
self.MarkColor = (1.0, 1.0, 0) # remark = "PPS"
elif value == 4:
self.FixQuality_4 = self.FixQuality_4 + 1;
self.MarkColor = (0.443, 0.509, 0.141) # remark = "RTK Fixed"
elif value == 5:
self.FixQuality_5 = self.FixQuality_5 + 1;
self.MarkColor = (0.443, 0.682, 0.149) # remark = "RTK Float"
elif value == 6:
self.FixQuality_6 = self.FixQuality_6 + 1;
self.MarkColor = (1.0, 1.0, 1.0) # remark = "Estimated"
self.ColorList.append(self.MarkColor)
self.LastNavigateData = navigate_data
self.write_to_file(navigate_data)
def convert(self):
if not self.LongitudeStatistic.valid():
return
if not self.LatitudeStatistic.valid():
return
a = 1
b = 0.001
longitude_offset = a * max(abs(self.LongitudeStatistic.Mean - self.LongitudeStatistic.Min),
abs(self.LongitudeStatistic.Mean - self.LongitudeStatistic.Max)) + b
latitude_offset = a * max(abs(self.LatitudeStatistic.Mean - self.LatitudeStatistic.Min),
abs(self.LatitudeStatistic.Mean - self.LatitudeStatistic.Max)) + b
self.Basemap = Basemap(llcrnrlon=self.LongitudeStatistic.Mean - longitude_offset,
llcrnrlat=self.LatitudeStatistic.Mean - latitude_offset,
urcrnrlon=self.LongitudeStatistic.Mean + longitude_offset,
urcrnrlat=self.LatitudeStatistic.Mean + latitude_offset,
projection='lcc', suppress_ticks=False, resolution='i',
lat_0=self.LatitudeStatistic.Mean,
lon_0=self.LongitudeStatistic.Mean)
self.XList, self.YList = self.Basemap(self.LongitudeStatistic.DataList, self.LatitudeStatistic.DataList)
def write_to_file(self, navigate_data):
if self.OutputFile is None:
self.OutputFile = open(self.FileName, "w")
text = "date_time" + SEPARATOR_T \
+ "FixQuality" + SEPARATOR_T \
+ "PDOP" + SEPARATOR_T \
+ "HDOP" + SEPARATOR_T \
+ "VDOP" + SEPARATOR_T \
+ "Latitude" + SEPARATOR_T \
+ "Longitude" + SEPARATOR_T \
+ "Altitude" + SEPARATOR_T \
+ "delt" + SEPARATOR_T \
+ "total" + SEPARATOR_N
self.OutputFile.write(text)
if self.OutputFile is not None:
text = navigate_data.local_date_time_to_string() + SEPARATOR_T \
+ navigate_data.FixQuality + SEPARATOR_T \
+ navigate_data.PDOP + SEPARATOR_T \
+ navigate_data.HDOP + SEPARATOR_T \
+ navigate_data.VDOP + SEPARATOR_T \
+ str(navigate_data.LatitudeValue) + SEPARATOR_T \
+ str(navigate_data.LongitudeValue) + SEPARATOR_T \
+ str(navigate_data.Altitude) + SEPARATOR_T \
+ str(self.DistanceFromLastPoint) + SEPARATOR_T \
+ str(self.TotalDistance) + SEPARATOR_N
self.OutputFile.write(text)
def statistic(self):
self.PDOTStatistic.statistic("PDOP", self.PDOPList)
self.HDOTStatistic.statistic("HDOP", self.HDOPList)
self.VDOTStatistic.statistic("VDOP", self.VDOPList)
self.LatitudeStatistic.statistic("Latitude", self.LatitudeList)
self.LongitudeStatistic.statistic("Longitude", self.LongitudeList)
self.AltitudeStatistic.statistic("Altitude", self.AltitudeList)
self.convert()
self.XStatistic.statistic("X", self.XList)
self.YStatistic.statistic("Y", self.YList)
self.CEP = Statistic.cep(self.XStatistic.Std, self.YStatistic.Std)
self.CEP95 = Statistic.cep95(self.XStatistic.Std, self.YStatistic.Std)
self.CEP99 = Statistic.cep99(self.XStatistic.Std, self.YStatistic.Std)
print(self.cep_to_string())
print(self.rms_to_string())
print(self.test_point_count_to_string())
print(self.fix_quality_count_to_string())
if self.OutputFile is not None:
self.OutputFile.write(self.to_string())
self.OutputFile.close()
def draw(self):
if self.Basemap is None:
return
self.Basemap.scatter(self.XList, self.YList, c=self.ColorList)
x0 = self.XStatistic.Mean
y0 = self.YStatistic.Mean
# MAX_RADIUS = 10
x_axis = (x0 - MAX_RADIUS, x0 + MAX_RADIUS)
y_axis = (y0 - MAX_RADIUS, y0 + MAX_RADIUS)
plt.plot(x_axis, (y0, y0), color='grey')
plt.plot((x0, x0), y_axis, color='grey')
for i in range(0, MAX_RADIUS):
circle = Circle((x0, y0), radius=i + 1, fill=False, color='#00ffff', alpha=0.5)
plt.gca().add_patch(circle)
plt.text(x0 + i + 1, y0, i + 1)
circle = Circle((x0, y0), radius=self.CEP, fill=False, color='red')
plt.gca().add_patch(circle)
plt.text(x0, y0 + self.CEP, ("%.4f" % self.CEP))
circle = Circle((x0, y0), radius=self.CEP95, fill=False, color='red')
plt.gca().add_patch(circle)
plt.text(x0, y0 + self.CEP95, ("%.4f" % self.CEP95))
circle = Circle((x0, y0), radius=self.CEP99, fill=False, color='red')
plt.gca().add_patch(circle)
plt.text(x0, y0 + self.CEP99, ("%.4f" % self.CEP99))
plt.show()
def test_point_count_to_string(self):
result = ""
result += "Test point count = " + str(len(self.XList)) + SEPARATOR_N
return result
def fix_quality_count_to_string(self):
result = ""
if self.FixQuality_0 > 0:
result += "Invalid count = " + str(self.FixQuality_0) + SEPARATOR_N
if self.FixQuality_1 > 0:
result += "SPS count = " + str(self.FixQuality_1) + SEPARATOR_N
if self.FixQuality_2 > 0:
result += "Differential count = " + str(self.FixQuality_2) + SEPARATOR_N
if self.FixQuality_3 > 0:
result += "PPS count = " + str(self.FixQuality_3) + SEPARATOR_N
if self.FixQuality_4 > 0:
result += "RTK Fixed count = " + str(self.FixQuality_4) + SEPARATOR_N
if self.FixQuality_5 > 0:
result += "RTK Float count = " + str(self.FixQuality_5) + SEPARATOR_N
if self.FixQuality_6 > 0:
result += "Estimated count = " + str(self.FixQuality_6) + SEPARATOR_N
return result
def rms_to_string(self):
result = ""
result += "RMS_H = " + str(1.2 * self.CEP) + SEPARATOR_N \
+ "RMS_V = " + str(self.AltitudeStatistic.Std) + SEPARATOR_N
return result
def cep_to_string(self):
result = ""
result += "CEP = " + str(self.CEP) + SEPARATOR_N \
+ "CEP95 = " + str(self.CEP95) + SEPARATOR_N \
+ "CEP99 = " + str(self.CEP99) + SEPARATOR_N
return result
def to_string(self):
result = ""
result += self.PDOTStatistic.to_string() + SEPARATOR_N \
+ self.HDOTStatistic.to_string() + SEPARATOR_N \
+ self.VDOTStatistic.to_string() + SEPARATOR_N \
+ self.LatitudeStatistic.to_string() + SEPARATOR_N \
+ self.LongitudeStatistic.to_string() + SEPARATOR_N \
+ self.AltitudeStatistic.to_string() + SEPARATOR_N \
+ self.XStatistic.to_string() + SEPARATOR_N \
+ self.YStatistic.to_string() + SEPARATOR_N \
+ self.cep_to_string() + SEPARATOR_N \
+ self.rms_to_string() + SEPARATOR_N \
+ self.test_point_count_to_string() + SEPARATOR_N\
+ self.fix_quality_count_to_string()
return result
