def process(self,gnssRaw):
# clean invalid data in gnssRaw
gnssRaw = self.filterValid(gnssRaw)
# gnssRaw : dict
allRxMilliseconds = gnssRaw['allRxMillis'].astype(np.float64)
self.FctSeconds = np.unique(allRxMilliseconds) * 1e-3
self.Svid = gnssRaw['Svid']
nmeas = len(self.Svid)
self._prepData(nmeas,gnssRaw)
# GPS week number
weekNumber = np.floor( - gnssRaw['FullBiasNanos'] * 1e-9 / GnssConstants.WEEKSEC)
# GPS day number
# dayNumber = np.floor( - gnssRaw['FullBiasNanos']*1e-9 / GnssConstants.DAYSEC)
# GPS time of week
towSeconds = (gnssRaw['TimeNanos'] - gnssRaw['BiasNanos']) * 1e-9
# compute time of measurement relative to start of week
# subtract big longs (i.e. time from 1980) before casting time of week as double
weekNumberNanos = np.int64(weekNumber * GnssConstants.WEEKSEC * 1e9)
# compute tRxNanos using gnssRaw.FullBiasNanos(1), so that
# tRxNanos includes rx clock drift since the first epoch:
tRxNanos = gnssRaw['TimeNanos'] - self.fullBiasNanos - weekNumberNanos
gnssRaw['State'] = gnssRaw['State'].astype(np.int)
State = gnssRaw['State'][0]
if not ((State & 2**3) or (State & 2**7)) :
raise Exception('gnssRaw.State[0] must have bits 0 and (3 or 7) before calling Process')
if not(np.all(tRxNanos >= 0)):
raise Exception('tRxNanos should be >= 0')
tRxGnssSeconds = tRxNanos - gnssRaw['TimeOffsetNanos'] - gnssRaw['BiasNanos']
tRxSeconds = np.zeros(tRxGnssSeconds.shape)
# tRx at positions of GPS
gpspos = ((gnssRaw['ConstellationType'] == 1) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[gpspos] = np.mod(tRxGnssSeconds[gpspos],GnssConstants.WEEKSEC*1e9)*1e-9
# tRx at position of BDS
bdspos = ((gnssRaw['ConstellationType'] == 5) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[bdspos] = np.mod(tRxGnssSeconds[bdspos],GnssConstants.WEEKSEC*1e9)*1e-9 - 14
# tRx at position of GEO
galpos = ((gnssRaw['ConstellationType'] == 6) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[galpos] = np.mod(tRxGnssSeconds[galpos],GnssConstants.MILLISEC*1e9)*1e-9
# tRx at positions of GLO
glspos = ((gnssRaw['ConstellationType'] == 3) * (gnssRaw['State'] & 2**7))!=0
utctime = Time.Gps2Utc(weekNumber,towSeconds,allRxMilliseconds*1e-3)
leapsecs = Time.LeapSeconds(utctime)
tRxSeconds[glspos] = np.mod(tRxGnssSeconds[glspos],GnssConstants.DAYSEC*1e9)*1e-9 + (3*60*60 - leapsecs[glspos])
tTxSeconds = (gnssRaw['ReceivedSvTimeNanos'] + gnssRaw['TimeOffsetNanos'])*1e-9
prSeconds = tRxSeconds - tTxSeconds
tRxSeconds[glspos==0],prSeconds[glspos==0] = self.checkGpsTimeRollover(tRxSeconds[glspos==0],prSeconds[glspos==0],'week')
tRxSeconds[glspos],prSeconds[glspos] = self.checkGpsTimeRollover(tRxSeconds[glspos],prSeconds[glspos],'day')
PrM = prSeconds * GnssConstants.LIGHTSPEED
PrSigmaM = gnssRaw['ReceivedSvTimeUncertaintyNanos'] * 1e-9 * GnssConstants.LIGHTSPEED
PrrMps = gnssRaw['PseudorangeRateMetersPerSecond']
PrrSigmaMps = gnssRaw['PseudorangeRateUncertaintyMetersPerSecond']
AdrM = gnssRaw['AccumulatedDeltaRangeMeters']
AdrSigmaM = gnssRaw["AccumulatedDeltaRangeUncertaintyMeters"]
AdrState = gnssRaw['AccumulatedDeltaRangeState']
Cn0DbHz = gnssRaw['Cn0DbHz']
ConstellationType = gnssRaw['ConstellationType']
CarrierFrequencyHz = gnssRaw['CarrierFrequencyHz']
self.fctTime = weekNumber[0] * GnssConstants.WEEKSEC + tRxSeconds[gpspos][0]
self.GpsTime = Time.Fct2Ymdhms(np.array([self.fctTime]))[0]
self.tRxSeconds = tRxSeconds
self.tTxSeconds = tTxSeconds
self.PrM = PrM
self.PrSigmaM = PrSigmaM
self.PrrMps = PrrMps
self.PrrSigmaMps= PrrSigmaMps
self.AdrM = AdrM
self.AdrSigmaM = AdrSigmaM
self.AdrState = AdrState
self.Cn0DbHz = Cn0DbHz
self.ConstellationType = ConstellationType
self.CarrierFrequencyHz = CarrierFrequencyHz
self.ClkDCount = gnssRaw['HardwareClockDiscontinuityCount'][0]
if gnssRaw['HardwareClockDiscontinuityCount'][0] != gnssRaw['HardwareClockDiscontinuityCount'][-1]:
raise Exception('HardwareClockDiscontinuityCount changed within the same epoch')
self.freqSign(gnssRaw)
self.DelPrM = self._getDelPr()
# self.PhaseMeas = self._getPhaseMeas()
# self.PhaseMeas = self.AdrM / AdrMconstBias.getStandardWaveL(self.freqNum,self.ConstellationType,self.CarrierFrequencyHz)
self.PhaseMeas = self.AdrM / AdrMconstBias.getStandardWaveL(self.freqNum,self.ConstellationType,self.Svid)
self.PhaseMeas[(self.AdrState & 2**0) == 0] = np.nan
self.iepoch += 1
return None
