class Gnome:
def __init__(self, model_path):
self.model = np.load(open(model_path, 'r')).item()
self.head = 6
self.payload = 6
self.localizer = Localizer()
print('Inflation model loaded')
# head of data: Latitude, Longitude, Altitude, Speed, Accuracy, (UTC)TimeInMs
# payload: Svid, Azi, Ele, SNR, Used, EstPathInflation, ...
def update(self, data):
head = data[:6]
lat, lon = l2key(data[0]), l2key(data[1])
accuracy = data[4]
lat_head, lat_body = l_break(lat)
lon_head, lon_body = l_break(lon)
if not lat_head in self.model or not lon_head in self.model[lat_head]:
print('Not covered by model, use original location')
return [lat, lon]
search_rad = accuracy * 1.3 / ll_m_ratio
candidates = {}
for cand_lat_body in self.model[lat_head][lon_head]:
if abs(lat_body - cand_lat_body) > search_rad:
continue
candidates[cand_lat_body] = {}
for cand_lon_body in self.model[lat_head][lon_head][cand_lat_body]:
if abs(lon_body - cand_lon_body) > search_rad:
continue
candidates[cand_lat_body][cand_lon_body] = \
self.model[lat_head][lon_head][cand_lat_body][cand_lon_body]
for cand_lat_body in candidates:
for cand_lon_body in candidates[cand_lat_body]:
for i in range(self.head, len(data), self.payload):
azi, ele = map(int, data[i + 1:i + 3])
if ele in candidates[cand_lat_body][cand_lon_body][azi]:
data[i + 5] = int(
candidates[cand_lat_body][cand_lon_body][azi][ele])
self.localizer.add_candidate(cand_lat_body, cand_lon_body,
data)
return self.localizer.update()
