def gThanMask(elevationDegrees):
settings = initSettings()
aboveMaskIndices = []
for i in range(len(elevationDegrees)):
if elevationDegrees[i] > settings.elevationMask:
aboveMaskIndices.append(i)
return np.array(aboveMaskIndices)
def main():
default_logging_config()
# Initialize constants, settings
settings = initSettings()
parser = argparse.ArgumentParser()
parser.add_argument("file",
help="the sample data file to process")
parser.add_argument("-a", "--skip-acquisition",
help="use previously saved acquisition results",
action="store_true")
parser.add_argument("-t", "--skip-tracking",
help="use previously saved tracking results",
action="store_true")
parser.add_argument("-n", "--skip-navigation",
help="use previously saved navigation results",
action="store_true")
args = parser.parse_args()
settings.fileName = args.file
samplesPerCode = int(round(settings.samplingFreq /
(settings.codeFreqBasis / settings.codeLength)))
# Do acquisition
acq_results_file = args.file + ".acq_results"
if args.skip_acquisition:
logging.info("Skipping acquisition, loading saved acquisition results.")
try:
acq_results = load_acq_results(acq_results_file)
except IOError:
logging.critical("Couldn't open acquisition results file '%s'.",
acq_results_file)
sys.exit(1)
else:
# Get 11ms of acquisition samples for fine frequency estimation
acq_samples = load_samples(args.file, 11*samplesPerCode,
settings.skipNumberOfBytes)
acq = Acquisition(acq_samples, settings.samplingFreq, settings.IF,
samplesPerCode)
acq_results = acq.acquisition()
try:
save_acq_results(acq_results_file, acq_results)
logging.debug("Saving acquisition results as '%s'" % acq_results_file)
except IOError:
logging.error("Couldn't save acquisition results file '%s'.",
acq_results_file)
# Filter out non-acquired satellites.
acq_results = [ar for ar in acq_results if ar.status == 'A']
if len(acq_results) == 0:
logging.critical("No satellites acquired!")
sys.exit(1)
acq_results.sort(key=attrgetter('snr'), reverse=True)
# Track the acquired satellites
track_results_file = args.file + ".track_results"
if args.skip_tracking:
logging.info("Skipping tracking, loading saved tracking results.")
try:
with open(track_results_file, 'rb') as f:
track_results = pickle.load(f)
except IOError:
logging.critical("Couldn't open tracking results file '%s'.",
track_results_file)
sys.exit(1)
else:
signal = load_samples(args.file,
int(settings.samplingFreq*1e-3*37100))
track_results = track(signal, acq_results, settings)
try:
with open(track_results_file, 'wb') as f:
pickle.dump(track_results, f)
logging.debug("Saving tracking results as '%s'" % track_results_file)
except IOError:
logging.error("Couldn't save tracking results file '%s'.",
track_results_file)
# Do navigation
if not args.skip_navigation:
navSolutions = navigation(track_results, settings)
(0,0.5,0),\
(0,0.5,0.5),\
(0.5,0,0),\
(0.5,0,0.5),\
(0.5,0.5,0),\
(0.5,0.5,0.5)]
pylab.title("Prompt correlation magnitude of each channel")
pylab.xlabel("Time")
pylab.hold(True)
for channelNr in range(len(trackResults)):
pylab.plot(x_pts,\
np.sqrt(np.square(trackResults[channelNr].I_P[0:len(x_pts)])\
+ np.square(trackResults[channelNr].Q_P[0:len(x_pts)])),\
color=colors[channelNr], label=("PRN %2d" % (trackResults[channelNr].PRN)))
pylab.legend()
pylab.hold(False)
return fig
if __name__ == "__main__":
settings = initSettings.initSettings()
parser = argparse.ArgumentParser()
parser.add_argument("file", help="the tracking results file to analyse")
args = parser.parse_args()
settings.fileName = args.file
with open(settings.fileName, "rb") as f:
trackResults, channel = pickle.load(f)
fig = plotTrackingHigh(trackResults, settings)
pylab.show()
#Add ./geofunctions and ./include to search directory for import calls
sys.path.append('./include/')
sys.path.append('./geoFunctions/')
print '\nWelcome to: softGNSS'
print 'An open source GNSS SDR software project initiated by:'
print ' Danish GPS Center/Aalborg University'
print 'The code was improved by GNSS Laboratory/University of Colorado'
print 'and converted to Python by Colin Beighley ([email protected]).'
print 'The software receiver softGNSS comes with ABSOLUTELY NO WARRANTY;'
print 'for details please read license details in the file license.txt. This'
print 'is free software you are welcome to redistribute it under'
print 'the terms described in the license.'
#Initialize constants, settings
settings = initSettings()
#Generate plot of raw data
if settings.plotSignal:
print "Plotting data", settings.fileName
probeFigure = probeData(settings)
pylab.draw()
#Do acquisition
#Get 11ms of acquisition samples for fine frequency estimation
samplesPerCode = int(
round(settings.samplingFreq /
(settings.codeFreqBasis / settings.codeLength)))
acqSamples = getSamples.int8(settings.fileName, 11 * samplesPerCode,
settings.skipNumberOfBytes)
if settings.skipAcquisition:
def main():
default_logging_config()
# Initialize constants, settings
settings = initSettings()
parser = argparse.ArgumentParser()
parser.add_argument("file", help="the sample data file to process")
parser.add_argument("-a",
"--skip-acquisition",
help="use previously saved acquisition results",
action="store_true")
parser.add_argument("-t",
"--skip-tracking",
help="use previously saved tracking results",
action="store_true")
parser.add_argument("-n",
"--skip-navigation",
help="use previously saved navigation results",
action="store_true")
args = parser.parse_args()
settings.fileName = args.file
samplesPerCode = int(
round(settings.samplingFreq /
(settings.codeFreqBasis / settings.codeLength)))
# Do acquisition
acq_results_file = args.file + ".acq_results"
if args.skip_acquisition:
logging.info(
"Skipping acquisition, loading saved acquisition results.")
try:
acq_results = load_acq_results(acq_results_file)
except IOError:
logging.critical("Couldn't open acquisition results file '%s'.",
acq_results_file)
sys.exit(1)
else:
# Get 11ms of acquisition samples for fine frequency estimation
acq_samples = load_samples(args.file, 11 * samplesPerCode,
settings.skipNumberOfBytes)
acq = Acquisition(acq_samples, settings.samplingFreq, settings.IF,
samplesPerCode)
acq_results = acq.acquisition()
try:
save_acq_results(acq_results_file, acq_results)
logging.debug("Saving acquisition results as '%s'" %
acq_results_file)
except IOError:
logging.error("Couldn't save acquisition results file '%s'.",
acq_results_file)
# Filter out non-acquired satellites.
acq_results = [ar for ar in acq_results if ar.status == 'A']
if len(acq_results) == 0:
logging.critical("No satellites acquired!")
sys.exit(1)
acq_results.sort(key=attrgetter('snr'), reverse=True)
# Track the acquired satellites
track_results_file = args.file + ".track_results"
if args.skip_tracking:
logging.info("Skipping tracking, loading saved tracking results.")
try:
with open(track_results_file, 'rb') as f:
track_results = cPickle.load(f)
except IOError:
logging.critical("Couldn't open tracking results file '%s'.",
track_results_file)
sys.exit(1)
else:
signal = load_samples(
args.file,
int(settings.samplingFreq * 1e-3 * settings.msToProcess))
track_results = track(signal, acq_results, settings)
try:
with open(track_results_file, 'wb') as f:
cPickle.dump(track_results,
f,
protocol=cPickle.HIGHEST_PROTOCOL)
logging.debug("Saving tracking results as '%s'" %
track_results_file)
except IOError:
logging.error("Couldn't save tracking results file '%s'.",
track_results_file)
# Do navigation
nav_results_file = args.file + ".nav_results"
if not args.skip_navigation:
nav_solns = navigation(track_results, settings)
nav_results = []
for s, t in nav_solns:
nav_results += [(t, s.pos_llh, s.vel_ned)]
with open(nav_results_file, 'wb') as f:
cPickle.dump(nav_results, f, protocol=cPickle.HIGHEST_PROTOCOL)
logging.debug("Saving navigation results as '%s'" % nav_results_file)
def main():
default_logging_config()
# Initialize constants, settings
settings = initSettings()
parser = argparse.ArgumentParser()
parser.add_argument("file",
help="the sample data file to process")
parser.add_argument("-a", "--skip-acquisition",
help="use previously saved acquisition results",
action="store_true")
parser.add_argument("-t", "--skip-tracking",
help="use previously saved tracking results",
action="store_true")
parser.add_argument("-n", "--skip-navigation",
help="use previously saved navigation results",
action="store_true")
parser.add_argument("-f", "--file-format", default=defaults.file_format,
help="the format of the sample data file "
"(e.g. 'piksi', 'int8', '1bit', '1bitrev')")
args = parser.parse_args()
settings.fileName = args.file
samplesPerCode = int(round(settings.samplingFreq /
(settings.codeFreqBasis / settings.codeLength)))
# Do acquisition
acq_results_file = args.file + ".acq_results"
if args.skip_acquisition:
logging.info("Skipping acquisition, loading saved acquisition results.")
try:
acq_results = load_acq_results(acq_results_file)
except IOError:
logging.critical("Couldn't open acquisition results file '%s'.",
acq_results_file)
sys.exit(1)
else:
# Get 11ms of acquisition samples for fine frequency estimation
acq_samples = load_samples(args.file, 11*samplesPerCode,
settings.skipNumberOfBytes,
file_format=args.file_format)
acq = Acquisition(acq_samples)
acq_results = acq.acquisition()
try:
save_acq_results(acq_results_file, acq_results)
logging.debug("Saving acquisition results as '%s'" % acq_results_file)
except IOError:
logging.error("Couldn't save acquisition results file '%s'.",
acq_results_file)
# Filter out non-acquired satellites.
acq_results = [ar for ar in acq_results if ar.status == 'A']
if len(acq_results) == 0:
logging.critical("No satellites acquired!")
sys.exit(1)
acq_results.sort(key=attrgetter('snr'), reverse=True)
# Track the acquired satellites
track_results_file = args.file + ".track_results"
if args.skip_tracking:
logging.info("Skipping tracking, loading saved tracking results.")
try:
with open(track_results_file, 'rb') as f:
track_results = cPickle.load(f)
except IOError:
logging.critical("Couldn't open tracking results file '%s'.",
track_results_file)
sys.exit(1)
else:
signal = load_samples(args.file,
int(settings.samplingFreq*1e-3*(settings.msToProcess+22)),
settings.skipNumberOfBytes,
file_format=args.file_format)
track_results = track(signal, acq_results, settings.msToProcess)
try:
with open(track_results_file, 'wb') as f:
cPickle.dump(track_results, f, protocol=cPickle.HIGHEST_PROTOCOL)
logging.debug("Saving tracking results as '%s'" % track_results_file)
except IOError:
logging.error("Couldn't save tracking results file '%s'.",
track_results_file)
# Do navigation
nav_results_file = args.file + ".nav_results"
if not args.skip_navigation:
nav_solns = navigation(track_results, settings)
nav_results = []
for s, t in nav_solns:
nav_results += [(t, s.pos_llh, s.vel_ned)]
if len(nav_results):
print "First nav solution: t=%s lat=%.5f lon=%.5f h=%.1f vel_ned=(%.2f, %.2f, %.2f)" % (
nav_results[0][0],
np.degrees(nav_results[0][1][0]), np.degrees(nav_results[0][1][1]), nav_results[0][1][2],
nav_results[0][2][0], nav_results[0][2][1], nav_results[0][2][2])
with open(nav_results_file, 'wb') as f:
cPickle.dump(nav_results, f, protocol=cPickle.HIGHEST_PROTOCOL)
print "and %d more are cPickled in '%s'." % (len(nav_results)-1, nav_results_file)
else:
print "No navigation results."
