def test_prop_single_diff():
rover_nm = [t.NavigationMeasurement(sat_pos=[-19277207.52067729, -8215764.2479763795, 16367744.770246204],
pseudorange=21123480.27105955, doppler=0, raw_doppler=0, carrier_phase=-110993309.26669005,
sat_vel=[-1025.0370403901404, -1821.9217799467374, -2091.6303199092254],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.92954684512),
raw_pseudorange=21121324.476403236, raw_carrier_phase=-110993309.26669005,
snr=30.0, sid=s.GNSSSignal(code=0, sat=0), lock_counter=0),
t.NavigationMeasurement(sat_pos=[-16580310.849158794, 918714.1939749047, 20731444.258332774],
pseudorange=22432049.84763688, doppler=0, raw_doppler=0, carrier_phase=-117882743.21601027,
sat_vel=[1060.9864205977192, -2411.43509917502, 953.6270954519971],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125, raw_carrier_phase=-117882743.21601027,
snr=30.0, sid=s.GNSSSignal(code=0, sat=2), lock_counter=0)]
base_nm = [t.NavigationMeasurement(sat_pos=[-19277279.74504115, -8215892.62052003, 16367597.39238895],
pseudorange=21123480.27105955, doppler=0, raw_doppler=0, carrier_phase=-110993309.26669005,
sat_vel=[-1025.03418813, -1821.90205153, -2091.65477547],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.92954684512),
raw_pseudorange=21121324.476403236, raw_carrier_phase=-110993309.26669005,
snr=30.0, sid=s.GNSSSignal(code=0, sat=0), lock_counter=0),
t.NavigationMeasurement(sat_pos=[-16580231.46081397, 918533.75723257, 20731515.61249766],
pseudorange=22432049.84763688, doppler=0, raw_doppler=0, carrier_phase=-117882743.21601027,
sat_vel=[1060.97989026, -2411.44777346, 953.59410165],
lock_time=0, tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125, raw_carrier_phase=-117882743.21601027,
snr=30.0, sid=s.GNSSSignal(code=0, sat=2), lock_counter=0)]
remote_dists = np.array([ 21121393.87562408, 22432814.46819838])
base_pos = np.array( [-2704375, -4263211, 3884637])
sdiffs = o.make_propagated_sdiffs_(rover_nm, base_nm, remote_dists, base_pos)
assert len(sdiffs) == 2
assert sdiffs[0].pseudorange > 0
assert sdiffs[1].pseudorange > 0
assert sdiffs[0].carrier_phase < 0
assert sdiffs[0].doppler > 0
assert sdiffs[0].sid['sat'] == 0
assert sdiffs[1].sid['sat'] == 2
def test_creation():
new_ref = s.GNSSSignal(sat=8, band=0, constellation=0)
sids = [
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=4, band=0, constellation=0)
]
sm = sat.SatsManagement(sids=sids)
assert sm.num_sats
assert sm.sids[0]['sat'] == 2
assert sm.sids[1]['sat'] == 1
assert sm.sids[2]['sat'] == 3
assert sm.sids[3]['sat'] == 4
assert not sm._print()
assert not sm._print_short()
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=1),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=5),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=10)
]
# TODO (Buro): Check outputs!
assert sm.rebase(sdiffs)
assert not sm.update(sdiffs)
def test_bad_measurements():
sids = [
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=5, band=0, constellation=0),
s.GNSSSignal(sat=6, band=0, constellation=0)
]
float_sats = sat.SatsManagement(sids=sids)
sids = [
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=5, band=0, constellation=0),
s.GNSSSignal(sat=6, band=0, constellation=0)
]
amb_sats_init = sat.SatsManagement(sids=sids)
test = a.AmbiguityTest(sats=float_sats)
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 4,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 5,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 6,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0)
]
def test_update_sats_same_sats():
sids = [
s.GNSSSignal(sat=3, band=0, constellation=0),
s.GNSSSignal(sat=1, band=0, constellation=0),
s.GNSSSignal(sat=2, band=0, constellation=0),
s.GNSSSignal(sat=4, band=0, constellation=0)
]
sm = sat.SatsManagement(sids=sids)
test = a.AmbiguityTest(sats=sm)
sdiffs = [
o.SingleDiff(sid={
'sat': 1,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 2,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 3,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0),
o.SingleDiff(sid={
'sat': 4,
'band': 0,
'constellation': 0
},
pseudorange=0,
sat_pos=(0, 0, 0),
sat_vel=(0, 0, 0),
carrier_phase=0,
raw_doppler=0,
doppler=0,
snr=0)
]
assert not test.ambiguity_update_sats(sdiffs, None, None, None, None,
False)
assert test.sats['sids'][0]['sat'] == 3
assert test.sats['sids'][1]['sat'] == 1
assert test.sats['sids'][2]['sat'] == 2
assert test.sats['sids'][3]['sat'] == 4
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
from swiftnav.ephemeris import Ephemeris
from swiftnav.pvt import calc_PVT_
import copy
import numpy as np
import pytest
import swiftnav.time as ti
import swiftnav.track as t
import swiftnav.observation as o
import swiftnav.signal as s
nms = \
[t.NavigationMeasurement(sid=s.GNSSSignal(sat=9, code=0),
pseudorange=23946993.888943646,
raw_pseudorange=23946993.888943646,
sat_pos=(-19477278.087422125, -7649508.9457812719, 16674633.163554827),
sat_vel=(0, 0, 0), raw_carrier_phase=0, carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),
t.NavigationMeasurement(sid=s.GNSSSignal(sat=1, code=0),
pseudorange=22932174.156858064,
raw_pseudorange=22932174.156858064,
sat_pos=(-9680013.5408340245, -15286326.354385279, 19429449.383770257),
sat_vel=(0, 0, 0), raw_carrier_phase=0, carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),
def test_prop_single_diff():
rover_nm = [
t.NavigationMeasurement(sat_pos=[
-19277207.52067729, -8215764.2479763795, 16367744.770246204
],
pseudorange=21123480.27105955,
doppler=0,
raw_doppler=0,
carrier_phase=-110993309.26669005,
sat_vel=[
-1025.0370403901404, -1821.9217799467374,
-2091.6303199092254
],
lock_time=0,
tot=ti.GpsTime(wn=1876,
tow=167131.92954684512),
raw_pseudorange=21121324.476403236,
snr=30.0,
sid=s.GNSSSignal(band=0,
constellation=0,
sat=0),
lock_counter=0),
t.NavigationMeasurement(
sat_pos=[
-16580310.849158794, 918714.1939749047, 20731444.258332774
],
pseudorange=22432049.84763688,
doppler=0,
raw_doppler=0,
carrier_phase=-117882743.21601027,
sat_vel=[1060.9864205977192, -2411.43509917502, 953.6270954519971],
lock_time=0,
tot=ti.GpsTime(wn=1876, tow=167131.9251737675),
raw_pseudorange=22432340.166121125,
snr=30.0,
sid=s.GNSSSignal(band=0, constellation=0, sat=2),
lock_counter=0)
]
remote_dists = np.array([21121393.87562408, 22432814.46819838])
base_pos = np.array([-2704375, -4263211, 3884637])
es = [
Ephemeris(
**{
'ura': 0.0,
'healthy': 1,
'xyz': {
'acc': [
-6.51925802230835e-08, 4.718410826464475e-09,
2.6226835183928943
],
'iod':
0,
'a_gf0':
5153.648313522339,
'a_gf1':
0.5977821557062277,
'pos': [5.122274160385132e-09, 19.0625, 259.9375],
'rate': [
1.0151416063308716e-06, 6.260350346565247e-06,
-6.332993507385254e-08
],
'toa':
4096
},
'valid': 1,
'sid': {
'band': 0,
'constellation': 0,
'sat': 0
},
'toe': {
'wn': 1876,
'tow': 172800.0
},
'kepler': {
'inc_dot': 4.4966158735287064e-10,
'tgd': 5.122274160385132e-09,
'omegadot': -8.099980253833005e-09,
'sqrta': 5153.648313522339,
'inc': 0.9634151551139846,
'cus': 6.260350346565247e-06,
'omega0': 0.5977821557062277,
'cuc': 1.0151416063308716e-06,
'm0': 2.6226835183928943,
'toc': {
'wn': 1876,
'tow': 172800.0
},
'dn': 4.718410826464475e-09,
'ecc': 0.0049016030970960855,
'cic': -6.332993507385254e-08,
'crs': 19.0625,
'iode': 74,
'iodc': 21845,
'cis': -6.51925802230835e-08,
'crc': 259.9375,
'w': 0.4885959643259506,
'af0': 7.212162017822266e-06,
'af1': 9.094947017729282e-13,
'af2': 0.0
},
'fit_interval': 4
}),
Ephemeris(
**{
'ura': 0.0,
'healthy': 1,
'xyz': {
'acc': [
-6.146728992462158e-08, 4.742340394655613e-09,
-0.8114190126645531
],
'iod':
0,
'a_gf0':
5153.798839569092,
'a_gf1':
1.6390180338742641,
'pos': [1.862645149230957e-09, -40.5625, 221.625],
'rate': [
-2.2239983081817627e-06, 8.001923561096191e-06,
3.725290298461914e-09
],
'toa':
0
},
'valid': 1,
'sid': {
'band': 0,
'constellation': 0,
'sat': 2
},
'toe': {
'wn': 1876,
'tow': 172800.0
},
'kepler': {
'inc_dot': -4.475186409476941e-10,
'tgd': 1.862645149230957e-09,
'omegadot': -8.103551831174965e-09,
'sqrta': 5153.798839569092,
'inc': 0.9587534715647247,
'cus': 8.001923561096191e-06,
'omega0': 1.6390180338742641,
'cuc': -2.2239983081817627e-06,
'm0': -0.8114190126645531,
'toc': {
'wn': 1876,
'tow': 172800.0
},
'dn': 4.742340394655613e-09,
'ecc': 0.00035172002390027046,
'cic': 3.725290298461914e-09,
'crs': -40.5625,
'iode': 59,
'iodc': 21845,
'cis': -6.146728992462158e-08,
'crc': 221.625,
'w': 2.9037284161724037,
'af0': -9.969808161258698e-07,
'af1': -5.229594535194337e-12,
'af2': 0.0
},
'fit_interval': 4
})
]
gpst = ti.GpsTime(wn=1876, tow=167132)
sdiffs = o.make_propagated_sdiffs_(rover_nm, rover_nm, remote_dists,
base_pos, es, gpst)
assert len(sdiffs) == 2
assert sdiffs[0].pseudorange > 0
assert sdiffs[1].pseudorange > 0
assert sdiffs[0].carrier_phase < 0
assert sdiffs[0].doppler > 0
assert sdiffs[0].sid['sat'] == 0
assert sdiffs[1].sid['sat'] == 2
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
from swiftnav.ephemeris import Ephemeris
from swiftnav.pvt import calc_PVT_
import numpy as np
import pytest
import swiftnav.time as ti
import swiftnav.track as t
import swiftnav.observation as o
import swiftnav.signal as s
nms = \
[t.NavigationMeasurement(sid=s.GNSSSignal(sat=9, band=0, constellation=0),
pseudorange=23946993.888943646,
raw_pseudorange=23946993.888943646,
sat_pos=(-19477278.087422125, -7649508.9457812719, 16674633.163554827),
sat_vel=(0, 0, 0), carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),
t.NavigationMeasurement(sid=s.GNSSSignal(sat=1, band=0, constellation=0),
pseudorange=22932174.156858064,
raw_pseudorange=22932174.156858064,
sat_pos=(-9680013.5408340245, -15286326.354385279, 19429449.383770257),
sat_vel=(0, 0, 0), carrier_phase=0,
raw_doppler=0, doppler=0, lock_counter=0,
snr=0, lock_time=0,
tot=ti.GpsTime(tow=0, wn=0)),