def test_baseline_ref_end():
# Check that it works with the last sdiff as the reference sat. This
# should verify that the loop can terminate correctly
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(n=4,
sids=[{'sat': 5, 'code': 0},
{'sat': 1, 'code': 0},
{'sat': 2, 'code': 0},
{'sat': 3, 'code': 0},
{'sat': 4, 'code': 0},
# Remaining
{'sat': 6, 'code': 0},
{'sat': 7, 'code': 0},
{'sat': 8, 'code': 0},
{'sat': 9, 'code': 0},
{'sat': 10, 'code': 0},
{'sat': 11, 'code': 0}],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
index = ambs.n
old_snr_2 = sdiffs[index].snr
s = sdiffs[index].to_dict()
s.update({'snr': 22})
sdiffs[index] = SingleDiff(**s)
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False, bl.DEFAULT_RAIM_THRESHOLD_)
assert code == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.589178, -0.35166, 0.0288157]))
def test_baseline_ref_middle():
# Check that it works with a middle sdiff as the reference sat. This
# should verify that the induction works.
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(n=4,
sids=[{'sat': 1, 'code': 0},
{'sat': 2, 'code': 0},
{'sat': 3, 'code': 0},
{'sat': 4, 'code': 0},
{'sat': 5, 'code': 0},
# Remaining
{'sat': 6, 'code': 0},
{'sat': 7, 'code': 0},
{'sat': 8, 'code': 0},
{'sat': 9, 'code': 0},
{'sat': 10, 'code': 0},
{'sat': 11, 'code': 0}],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
old_snr_2 = sdiffs[1].snr
sdiffs[1] = SingleDiff(sid={'sat':2, 'code': 0},
pseudorange=0,
sat_pos=np.array([1, 0, 0]),
sat_vel=np.array([0, 0, 0]),
doppler=0,
carrier_phase=2,
snr=22.0)
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False, bl.DEFAULT_RAIM_THRESHOLD_)
assert code == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.622609, -0.432371, -0.00461595]))
def test_baseline_ref_first():
# Check that it works with the first sdiff as the reference
# sat. This should verify that the loop can start correctly.
ambs = bl.Ambiguities(
n=4,
sids=[
{
'sat': 1,
'code': 0
},
{
'sat': 2,
'code': 0
},
{
'sat': 3,
'code': 0
},
{
'sat': 4,
'code': 0
},
{
'sat': 5,
'code': 0
},
# Remaining
{
'sat': 6,
'code': 0
},
{
'sat': 7,
'code': 0
},
{
'sat': 8,
'code': 0
},
{
'sat': 9,
'code': 0
},
{
'sat': 10,
'code': 0
},
{
'sat': 11,
'code': 0
}
],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
sdiffs, ref_ecef = baseline_setup()
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False,
bl.DEFAULT_RAIM_THRESHOLD_)
assert valid == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.742242, -0.492905, -0.0533294]))
def test_baseline_few_sats():
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(
n=0,
sids=[
{
'sat': 5,
'code': 0
},
{
'sat': 1,
'code': 0
},
{
'sat': 2,
'code': 0
},
{
'sat': 3,
'code': 0
},
{
'sat': 4,
'code': 0
},
# Remaining
{
'sat': 6,
'code': 0
},
{
'sat': 7,
'code': 0
},
{
'sat': 8,
'code': 0
},
{
'sat': 9,
'code': 0
},
{
'sat': 10,
'code': 0
},
{
'sat': 11,
'code': 0
}
],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False,
bl.DEFAULT_RAIM_THRESHOLD_)
assert num_used == 0
assert np.allclose(b, np.array([0, 0, 0]))
assert code == -1
def test_baseline_few_sats():
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(n=0,
sids=[{'sat': 5, 'code': 0},
{'sat': 1, 'code': 0},
{'sat': 2, 'code': 0},
{'sat': 3, 'code': 0},
{'sat': 4, 'code': 0},
# Remaining
{'sat': 6, 'code': 0},
{'sat': 7, 'code': 0},
{'sat': 8, 'code': 0},
{'sat': 9, 'code': 0},
{'sat': 10, 'code': 0},
{'sat': 11, 'code': 0}],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False, bl.DEFAULT_RAIM_THRESHOLD_)
assert num_used == 0
assert np.allclose(b, np.array([0, 0, 0]))
assert code == -1
def test_baseline_ref_first():
# Check that it works with the first sdiff as the reference
# sat. This should verify that the loop can start correctly.
ambs = bl.Ambiguities(n=4,
sids=[{'sat': 1, 'code': 0},
{'sat': 2, 'code': 0},
{'sat': 3, 'code': 0},
{'sat': 4, 'code': 0},
{'sat': 5, 'code': 0},
# Remaining
{'sat': 6, 'code': 0},
{'sat': 7, 'code': 0},
{'sat': 8, 'code': 0},
{'sat': 9, 'code': 0},
{'sat': 10, 'code': 0},
{'sat': 11, 'code': 0}],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
sdiffs, ref_ecef = baseline_setup()
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False, bl.DEFAULT_RAIM_THRESHOLD_)
assert valid == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.742242, -0.492905, -0.0533294]))
def test_baseline_ref_end():
# Check that it works with the last sdiff as the reference sat. This
# should verify that the loop can terminate correctly
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(
n=4,
sids=[
{
'sat': 5,
'code': 0
},
{
'sat': 1,
'code': 0
},
{
'sat': 2,
'code': 0
},
{
'sat': 3,
'code': 0
},
{
'sat': 4,
'code': 0
},
# Remaining
{
'sat': 6,
'code': 0
},
{
'sat': 7,
'code': 0
},
{
'sat': 8,
'code': 0
},
{
'sat': 9,
'code': 0
},
{
'sat': 10,
'code': 0
},
{
'sat': 11,
'code': 0
}
],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
index = ambs.n
old_snr_2 = sdiffs[index].snr
s = sdiffs[index].to_dict()
s.update({'snr': 22})
sdiffs[index] = SingleDiff(**s)
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False,
bl.DEFAULT_RAIM_THRESHOLD_)
assert code == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.589178, -0.35166, 0.0288157]))
def test_baseline_ref_middle():
# Check that it works with a middle sdiff as the reference sat. This
# should verify that the induction works.
sdiffs, ref_ecef = baseline_setup()
ambs = bl.Ambiguities(
n=4,
sids=[
{
'sat': 1,
'code': 0
},
{
'sat': 2,
'code': 0
},
{
'sat': 3,
'code': 0
},
{
'sat': 4,
'code': 0
},
{
'sat': 5,
'code': 0
},
# Remaining
{
'sat': 6,
'code': 0
},
{
'sat': 7,
'code': 0
},
{
'sat': 8,
'code': 0
},
{
'sat': 9,
'code': 0
},
{
'sat': 10,
'code': 0
},
{
'sat': 11,
'code': 0
}
],
ambs=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
old_snr_2 = sdiffs[1].snr
sdiffs[1] = SingleDiff(sid={
'sat': 2,
'code': 0
},
pseudorange=0,
sat_pos=np.array([1, 0, 0]),
sat_vel=np.array([0, 0, 0]),
doppler=0,
carrier_phase=2,
snr=22.0)
code, num_used, b = bl._baseline(sdiffs, ref_ecef, ambs, False,
bl.DEFAULT_RAIM_THRESHOLD_)
assert code == 0
assert num_used == 5
assert np.allclose(b, np.array([-0.622609, -0.432371, -0.00461595]))
