def start_RfEar(self): # center freq Nooelec
import rf
if self.__sdr_type == 'NooElec':
center_freq = 434.2e6
freqspan = 1e5
elif self.__sdr_type == 'AirSpy':
center_freq = 434.0e6
freqspan = 2e4
else:
print '~~~~~ UNKNOWN SDR-DEVICE-TYPE -> check type input'
quit()
self.__oRf = rf.RfEar(self.__sdr_type, center_freq, freqspan)
freq6tx = [
434.325e6, 433.89e6, 434.475e6, 434.025e6, 434.62e6, 434.175e6
] # NooElec
tx_6pos = [[770, 432, 0], [1794, 437, 0], [2814, 447, 0],
[2824, 1232, 0], [1789, 1237, 0], [774, 1227, 0]]
freq2tx = [434.325e6, 434.62e6] # FIXME: change if using not only 2 tx
tx_2pos = [
[1120, 1374, 0], # FIXME: change this if changing tx position
[1370, 1374, 0]
]
self.__oRf.set_txparams(freq2tx, tx_2pos)
return True
def start_RfEar(self, center_freq=434.2e6, freqspan=1e5):
import rf
self.__oRf = rf.RfEar(sdr_type='NooElec',
center_freq=center_freq,
freqspan=freqspan)
freq6tx = [434.82e6, 434.17e6, 434.02e6, 434.62e6, 434.32e6]
"""
tx_6pos = [[700, 440],
[1560,450],
[2440, 460],
[2440, 1240],
[1560, 1235],
[700, 1230]]
"""
tx_6pos = np.array([[2359, 1349, 641], [2110, 1349, 641],
[1861, 1349, 641], [1612, 1349, 641],
[1363, 1349, 641]])
self.__oRf.set_txparams(freq6tx, tx_6pos)
# self.__oRf.plot_txrss_live()
return True
def start_RfEar(self, center_freq=434.2e6, freqspan=2e4):
import rf
self.__oRf = rf.RfEar(center_freq, freqspan)
freqtx = [433.9e6, 434.15e6, 434.40e6, 434.65e6]
tx_pos = [[790, 440],
[2530, 460],
[2530, 1240],
[790, 1230]]
self.__oRf.set_txparams(freqtx, tx_pos)
return True
def start_RfEar(self, center_freq=434.2e6, freqspan=1e5):
import rf
self.__oRf = rf.RfEar(center_freq, freqspan)
# freqtx = [433.9e6, 434.15e6, 434.40e6, 434.65e6]
# tx_pos = [[790, 440],
# [2530, 460],
# [2530, 1240],
# [790, 1230]]
# self.__oRf.set_txparams(freqtx, tx_pos)
freq6tx = [434.00e6, 434.1e6, 434.30e6, 434.45e6, 434.65e6, 433.90e6]
"""
tx_6pos = [[700, 440],
[1560,450],
[2440, 460],
[2440, 1240],
[1560, 1235],
[700, 1230]]
"""
tx_6pos = [[520, 430, 0], [1540, 430, 0], [2570, 430, 0],
[2570, 1230, 0], [1540, 1230, 0], [530, 1230, 0]]
self.__oRf.set_txparams(freq6tx, tx_6pos)
return True
def __init__(self, tx_pos, set_model_type='log', x0=[1000, 1000]):
self.__model_type = set_model_type
self.__tx_freq = []
self.__tx_pos = []
self.__tx_alpha = []
self.__tx_gamma = []
self.__tx_freq = [
4.3400e+08, 4.341e+08, 4.3430e+08, 4.3445e+08, 4.3465e+08,
4.3390e+08
]
self.__tx_pos = tx_pos
if self.__model_type == 'log':
""" parameter for log model """
b_file_param = True
if b_file_param:
(self.__tx_alpha,
self.__tx_gamma) = rf_tools.get_cal_param_from_file(
param_filename='cal_param.txt')
print('Take alpha/gamma from cal-file')
print('alpha = ' + str(self.__tx_alpha))
print('gamma = ' + str(self.__tx_gamma))
else:
self.__tx_alpha = [
0.011100059337162281, 0.014013732682386724,
0.011873535003719441, 0.013228415946149144,
0.010212580857184312, 0.010286057191882235
]
self.__tx_gamma = [
-0.49471304043015696, -1.2482393190627841,
-0.17291318936462172, -0.61587988305564456,
0.99831151034040444, 0.85711994311461936
]
elif self.__model_type == 'lin':
""" parameter for linear model """
#self.__tx_alpha = [-0.020559673796613238, -0.027175147727451984, -0.023111068055053488, -0.024454023111282586,
# -0.024854213762496295, -0.021694731996127509]
#self.__tx_gamma = [-42.189573853301056, -37.651222316888159, -40.60648965954146, -41.523883513559113,
# -42.342411649995938, -42.349468350676268]
"""
Start RFEar as Measurement System
"""
self.__oMeasSys = rf.RfEar(434.2e6)
self.__oMeasSys.set_txparams(self.__tx_freq, self.__tx_pos)
self.__oMeasSys.set_calparams(self.__tx_alpha, self.__tx_gamma)
self.__tx_num = len(self.__tx_freq)
""" initialize tracking setup """
print(str(self.__tx_alpha))
print(str(self.__tx_gamma))
print(str(self.__tx_pos))
self.__tx_param = []
for itx in range(self.__tx_num):
self.__tx_param.append([
self.__tx_pos[itx], self.__tx_alpha[itx], self.__tx_gamma[itx]
])
""" initialize EKF """
self.__x_est_0 = np.array([[x0[0]], [x0[1]]]).reshape((2, 1))
self.__x_est = self.__x_est_0
# standard deviations
self.__sig_x1 = 500
self.__sig_x2 = 500
self.__p_mat_0 = np.array(np.diag([self.__sig_x1**2,
self.__sig_x2**2]))
self.__p_mat = self.__p_mat_0
# process noise
self.__sig_w1 = 100
self.__sig_w2 = 100
self.__q_mat = np.array(np.diag([self.__sig_w1**2, self.__sig_w2**2]))
# measurement noise
# --> see measurement_covariance_model
# self.__sig_r = 10
# self.__r_mat = self.__sig_r ** 2
# initial values and system dynamic (=eye)
self.__i_mat = np.eye(2)
self.__z_meas = np.zeros(self.__tx_num)
self.__y_est = np.zeros(self.__tx_num)
self.__r_dist = np.zeros(self.__tx_num)
import rf
import rf_tools
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.mlab as mlab
wp_filename = 'wp_list_test_06_2018.txt'
x0 = [80, 500, 0]
xn = [1500, 1200, np.pi]
dxdy = [50, 50, (np.pi * (1 / 100))]
rf_tools.wp_generator(wp_filename, x0, xn, dxdy, 3, True)
rf_tools.analyze_measdata_from_file('lin')
Rf = rf.RfEar(434.2e6, 8e4)
freq6tx = [434.00e6, 434.1e6, 434.30e6, 434.45e6, 434.65e6, 433.90e6]
tx_6pos = [[520, 430, 0], [1540, 430, 0], [2570, 430, 0], [2570, 1230, 0],
[1540, 1230, 0], [520, 1230, 0]]
Rf.set_txparams(freq6tx, tx_6pos)
Rf.set_samplesize(32)
Rf.plot_power_spectrum_density()
#Rf.plot_txrss_live()
"""
#Rf.get_performance()
#cal.plot_txrss_live()
for i in range(numtx):
str_rss = str_rss + ', '.join(map(str, dataseq[:, i])) + ', '
measfile.write(str_base_data + str_freqs + str_rss + '\n')
measfile.close()
return True
wplist_filename = 'way_points_cal_hippo_onboard.txt'
print(wplist_filename)
measdata_filename = 'measdata_onboard_cal_data.txt'
print(measdata_filename)
oRf = rf.RfEar(center_freq=434.2e6, freqspan=1e5)
freq6tx = [434.00e6, 434.15e6, 434.30e6, 434.45e6, 434.65e6, 433.90e6]
tx_6pos = [[520, 430], [1540, 430], [2570, 430], [2570, 1230], [1540, 1230],
[530, 1230]]
oRf.set_txparams(freq6tx, tx_6pos)
freqtx, numtx, tx_abs_pos = oRf.get_txparams()
#manual_measurement_sequence(wplist_filename, measdata_filename, numtx, tx_abs_pos, freqtx)
rf_tools.analyze_measdata_from_file(b_onboard=True,
measfilename=measdata_filename)
#rf_tools.wp_generator(wp_filename, x0, xn, dxdy, 5.0, True)
txpos_offset = np.array([0, 0])
txpos_tuning = [
[0, 0], # 433.9MHz
[0, 0], # 434.1MHz
[0, 0], # 434.3MHz
[0, 0]
] # 434.5MHz
analyze_tx = [1, 2, 3, 4]
#rf_tools.analyse_measdata_from_file(analyze_tx, txpos_tuning)
Rf = rf.RfEar(434.2e6, 2e4)
freqtx = [433.9e6, 434.15e6, 434.40e6, 434.65e6]
tx_pos = [[790, 440], [2530, 460], [2530, 1240], [790, 1230]]
Rf.set_txparams(freqtx, tx_pos)
Rf.set_samplesize(32)
#Rf.plot_power_spectrum_density()
#Rf.plot_txrss_live()
#cal.get_performance()
#cal.plot_txrss_live()
"""
freqspan = 2e4
freqcenter = np.mean(freqtx)