def predict_and_update_pseudorange(self, meas, t, kind):
R = np.zeros((len(meas), 1, 1))
sat_pos_freq = np.zeros((len(meas), 4))
z = np.zeros((len(meas), 1))
for i, m in enumerate(meas):
z_i, R_i, sat_pos_freq_i = parse_pr(m)
sat_pos_freq[i, :] = sat_pos_freq_i
z[i, :] = z_i
R[i, :, :] = R_i
return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq)
def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3):
bools = []
for m in meas:
z, R, sat_pos_freq = parse_pr(m)
bools.append(
self.filter.maha_test(x,
P,
kind,
z,
R,
extra_args=sat_pos_freq,
maha_thresh=maha_thresh))
return np.array(bools)
