def test_creation():
new_ref = s.GNSSSignal(sat=8, band=0, constellation=0)
sids = [
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=4, band=0, constellation=0)
]
sm = sat.SatsManagement(sids=sids)
assert sm.num_sats
assert sm.sids[0]['sat'] == 2
assert sm.sids[1]['sat'] == 1
assert sm.sids[2]['sat'] == 3
assert sm.sids[3]['sat'] == 4
assert not sm._print()
assert not sm._print_short()
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=1),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=5),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=10)
]
# TODO (Buro): Check outputs!
assert sm.rebase(sdiffs)
assert not sm.update(sdiffs)
def test_bad_measurements():
sids = [
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=5, band=0, constellation=0),
s.GNSSSignal(sat=6, band=0, constellation=0)
]
float_sats = sat.SatsManagement(sids=sids)
sids = [
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=5, band=0, constellation=0),
s.GNSSSignal(sat=6, band=0, constellation=0)
]
amb_sats_init = sat.SatsManagement(sids=sids)
test = a.AmbiguityTest(sats=float_sats)
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 4,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 5,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 6,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0)
]
def test_update_sats_same_sats():
sids = [
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=4, band=0, constellation=0)
]
sm = sat.SatsManagement(sids=sids)
test = a.AmbiguityTest(sats=sm)
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 4,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0)
]
assert not test.ambiguity_update_sats(sdiffs, None, None, None, None,
False)
assert test.sats['sids'][0]['sat'] == 3
assert test.sats['sids'][1]['sat'] == 1
assert test.sats['sids'][2]['sat'] == 2
assert test.sats['sids'][3]['sat'] == 4
def test_choose_ref_sat():
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0)
]
assert isinstance(sat.choose_reference_sat_(sdiffs), s.GNSSSignal)
assert sat.choose_reference_sat_(sdiffs).sat == 1
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=1),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=5),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=10)
]
assert isinstance(sat.choose_reference_sat_(sdiffs), s.GNSSSignal)
assert sat.choose_reference_sat_(sdiffs).sat == 3