def test_pvt_repair():
ret, soln, dops = calc_PVT_(nms[0:9], False)
assert ret == 1, "Return code should be 1 (pvt repair)"
assert soln.n_used == 8
assert np.allclose(
soln.pos_llh,
[0.6590899959250786, -2.1360890086733595, 28.617422790579482])
assert soln.valid
def test_pvt_failed_repair(): n_used = 5 ret, soln, dops = calc_PVT_(nms[0:8], False) assert ret == 1 assert np.allclose(soln.pos_llh, [0.6590905981580969, -2.136087375092587, 37.806255077127076]) assert soln.valid assert soln.n_used == 7 assert soln.time['tow'] - 0.07107547315305934 <= TOL assert soln.time['wn'] == 0 assert soln.clock_offset - 0.008803100339752288 <= TOL assert soln.clock_bias - 0 <= TOL assert dops.pdop - 2.04639475526 <= TOL assert dops.gdop - 2.36782174999 <= TOL assert dops.tdop - 1.19115420721 <= TOL assert dops.hdop - 1.32894965567 <= TOL assert dops.vdop - 1.5561569031 <= TOL
def test_pvt_failed_repair(): n_used = 5 ret, soln, dops = calc_PVT_(nms[0:8], False) assert ret == 1 assert np.allclose(soln.pos_llh, [0.6590905981580969, -2.136087375092587, 37.806255077127076]) assert soln.valid assert soln.n_used == 7 assert soln.time['tow'] - 0.07107547315305934 <= TOL assert soln.time['wn'] == 0 assert soln.clock_offset - 0.008803100339752288 <= TOL assert soln.clock_bias - 0 <= TOL assert dops.pdop - 2.04639475526 <= TOL assert dops.gdop - 2.36782174999 <= TOL assert dops.tdop - 1.19115420721 <= TOL assert dops.hdop - 1.32894965567 <= TOL assert dops.vdop - 1.5561569031 <= TOL
def test_pvt_disable_pvt_raim(): ret, soln, dops = calc_PVT_(nms[0:9], True) assert soln.n_used == 9 assert ret == 2, "Return code should be 2 (raim not used)" assert soln.valid == 1, "Solution should be valid!"
def test_pvt_repair(): ret, soln, dops = calc_PVT_(nms[0:9], False) assert ret == 1, "Return code should be 1 (pvt repair)" assert soln.n_used == 8 assert np.allclose(soln.pos_llh, [0.6590899959250786, -2.1360890086733595, 28.617422790579482]) assert soln.valid
def test_pvt_disable_pvt_raim(): ret, soln, dops = calc_PVT_(nms[0:9], True) assert soln.n_used == 9 assert ret == 2, "Return code should be 2 (raim not used)" assert soln.valid == 1, "Solution should be valid!"