def _process_eph(self, msg):
if type(msg) is ob.MsgEphemeris or type(msg) is tr.MsgEphemerisOld:
if msg.healthy == 1 and msg.valid == 1:
time = gpstime.gpst_components2datetime(msg.toe_wn, msg.toe_tow)
m = exclude_fields(msg)
if time in self.ephemerides:
self.ephemerides[time].update({msg.prn: m})
else:
self.ephemerides[time] = {msg.prn: m}
def tdcp_doppler(nav_meas_old, nav_meas_new):
"""Returns measurement precise Doppler using time difference of
carrier phase.
see: libswiftnav/src/track.c:tdcp_dopper
Parameters
----------
nav_meas_rover : object
nav_meas_base : object
"""
t_old = gpstime.gpst_components2datetime(nav_meas_old.tot.wn,
nav_meas_old.tot.tow)
t_new = gpstime.gpst_components2datetime(nav_meas_new.tot.wn,
nav_meas_new.tot.tow)
dt = (t_new - t_old).total_seconds()
doppler = (nav_meas_new.carrier_phase - nav_meas_old.carrier_phase) / dt
return doppler
def _process_eph(self, host_offset, host_time, msg):
if type(msg) in [ob.MsgEphemeris,
ob.MsgEphemerisDepA,
ob.MsgEphemerisDepB]:
time = gpstime.gpst_components2datetime(msg.toe_wn, msg.toe_tow)
t = self.base_ephemerides if from_base(msg) else self.rover_ephemerides
prn = msg.sid if msg.msg_type is ob.SBP_MSG_EPHEMERIS else msg.prn
m = exclude_fields(msg)
m['host_time'] = host_time
self.eph_seq = self.eph_seq + 1 if host_offset in self.ephemerides else 0
m['host_offset'] = host_offset + SEQ_INTERVAL*self.eph_seq
# For the moment, SITL and HITL analyses expect different
# formats of ephemerides tables. Keep both until everyone's
# migrated appropriately.
if msg.healthy == 1 and msg.valid == 1:
if time in self.ephemerides:
self.ephemerides[time].update({prn: m})
else:
self.ephemerides[time] = {prn: m}
if prn in t:
t[prn].update({m['host_offset']: m})
else:
t[prn] = {m['host_offset']: m}