def test_least_squares(self):
print "PRN number:", self.o.PRN_number
# make sure that GPS satellites are used (not GLONASS)
pos = least_squares(self.o, self.sp3s, init_pos=self.apriori_coords, vmf_coeffs=self.vmf_coeffs)
approx_ans = [4433432, 362722, 4556149]
print pos, approx_ans
assert_allclose(pos, approx_ans, rtol=1e-5)
def test_least_squares(self):
print "PRN number:", self.o.PRN_number
# make sure that GPS satellites are used (not GLONASS)
pos = least_squares(self.o,
self.sp3s,
init_pos=self.apriori_coords,
vmf_coeffs=self.vmf_coeffs)
approx_ans = [4433432, 362722, 4556149]
print pos, approx_ans
assert_allclose(pos, approx_ans, rtol=1e-5)
from proto.coord.ecef import ecef_to_lat_lon_alt as ecef2lla
from proto.helper.vmf import find_VMF_coeffs
from proto.parse_rinex import parse_rinex, parse_sp3
from proto.least_squares import least_squares, distance
if __name__ == '__main__':
home = './'
sp3_file = home + 'igs18775.sp3' # <-- GPS
# sp3_file = home + 'igl18775.sp3' # <-- GLONASS
obs_file = home + 'gope0010.16o.GPS.filtered'
# obs_file = home + 'gope0010.16o.GLO.filtered'
navs = parse_sp3(sp3_file)
obs = parse_rinex(obs_file)
zero_epoch = obs[2]
print zero_epoch.date
a_priori_ecef = [3979316.4389, 1050312.2534,
4857066.9036] # GOPE coordinates in meters
coords = ecef2lla(a_priori_ecef)
print "A priori coordinates:", coords
print "A priori ECEF coords:", a_priori_ecef
vmf = find_VMF_coeffs(home + 'VMF_ah16001.h00', home + 'VMF_aw16001.h00',
coords)
print "VMF1 coefficients: ah = %.7f, aw = %.7f" % vmf
for o in obs:
final = least_squares(obs=o,
navs=navs,
init_pos=a_priori_ecef,
vmf_coeffs=vmf)
print str(o.date)[11:19], "Accuracy: %.1f m" % distance(
a_priori_ecef, final)
"""
Here we test the absolute accuracy of our software in static measurements.
GOPE = geodetic observatory Pecný: http://www.pecny.cz/gop/index.php/gnss/observations/gope
"""
from proto.coord.ecef import ecef_to_lat_lon_alt as ecef2lla
from proto.helper.vmf import find_VMF_coeffs
from proto.parse_rinex import parse_rinex, parse_sp3
from proto.least_squares import least_squares, distance
if __name__ == '__main__':
home = './'
sp3_file = home + 'igs18775.sp3' # <-- GPS
# sp3_file = home + 'igl18775.sp3' # <-- GLONASS
obs_file = home + 'gope0010.16o.GPS.filtered'
# obs_file = home + 'gope0010.16o.GLO.filtered'
navs = parse_sp3(sp3_file)
obs = parse_rinex(obs_file)
zero_epoch = obs[2]
print zero_epoch.date
a_priori_ecef = [3979316.4389, 1050312.2534, 4857066.9036] # GOPE coordinates in meters
coords = ecef2lla(a_priori_ecef)
print "A priori coordinates:", coords
print "A priori ECEF coords:", a_priori_ecef
vmf = find_VMF_coeffs(home+'VMF_ah16001.h00', home+'VMF_aw16001.h00', coords)
print "VMF1 coefficients: ah = %.7f, aw = %.7f" % vmf
for o in obs:
final = least_squares(obs=o, navs=navs, init_pos=a_priori_ecef, vmf_coeffs=vmf)
print str(o.date)[11:19], "Accuracy: %.1f m" % distance(a_priori_ecef, final)
