def main():
lon, lat = np.meshgrid(np.arange(-180, 180 + 10, 10),
np.arange(-90, 90 + 10, 10))
mag = wmm.wmm(lat, lon, 0, 2015)
plt.plotwmm(mag)
show()
def test_wmm2015():
mag = wmm.wmm(65, 85, alt_km=0, yeardec=2012.52868852459)
assert mag.north.item() == approx(9215.692665)
assert mag.east.item() == approx(2516.0058789)
assert mag.down.item() == approx(59708.529371)
assert mag.total.item() == approx(60467.906831)
assert mag.incl.item() == approx(80.910090)
assert mag.decl.item() == approx(15.27036)
def wmmMagneticField(self):
"""
In Tesla, in the geocentrical frame of reference.
"""
mag = wmm.wmm(self.i, self.u, self.r / 1000 - 6371.0088, 2019)
mag_orbital = 1e-9 * np.array(
[[-mag.down.values[0][0]], [mag.north.values[0][0]],
[mag.east.values[0][0]]]) #in the orbital frame
return np.dot(self.A_yx(), mag_orbital) # in the intertial frame
def test_wmm2015():
dt = datetime.datetime(2012, 7, 12, 12)
mag = wmm.wmm(65, 85, 0, datetime2yeardec(dt))
assert mag.north.item() == approx(9215.692665)
assert mag.east.item() == approx(2516.0058789)
assert mag.down.item() == approx(59708.529371)
assert mag.total.item() == approx(60467.906831)
assert mag.incl.item() == approx(80.910090)
assert mag.decl.item() == approx(15.27036)
def lookup_u_mag_enu(lon, lat, alt=0.0, year=2020):
"""Return the unit vector of the magnetic field in a local ENU
frame.
Args:
lon longitude of measurement (rad)
lat planetodetic/geodetic latitude of measurement (rad)
alt altitude above geoid (m; defaults to 0)
year decimal year of measurement (default is 2020)
Returns:
A unit vector in an ENU frame.
"""
# WMM takes degrees and km
mag = wmm2015.wmm(lat * 180 / np.pi, lon * 180 / np.pi, alt / 1000.0, year)
# Get vector in north/east/down coordinates.
enu = np.array([mag.east.item(), mag.north.item(), -mag.down.item()])
return enu / spl.norm(enu)
#!/usr/bin/env python
import numpy as np
from matplotlib.pyplot import show
import argparse
import wmm2015 as wmm
import wmm2015.plots as plt
p = argparse.ArgumentParser()
p.add_argument("yeardec", help="decimal year e.g. 2015.62", type=float)
p.add_argument("alt_km",
help="altitude (km) default: 0.",
type=float,
default=0.0)
P = p.parse_args()
lon, lat = np.meshgrid(np.arange(-180, 180 + 10, 10),
np.arange(-90, 90 + 10, 10))
mag = wmm.wmm(lat, lon, P.alt_km, P.yeardec)
plt.plotwmm(mag)
show()
motionCtrlAddress = liblo.Address("127.0.0.1", 8000)
gps = MirrorGPS.getGPSinfo()
print(gps)
date = gps[0]
time = gps[1]
suntime = Time(date + " " + time)
lon = float(gps[2]) / 100
lat = float(gps[4]) / 100
print("lon: %f" % lon)
print("lat: %f" % lat)
print("suntime: %s" % suntime)
sunPos = get_sun(suntime)
print("sunra: %s" % sunPos.ra)
magDecl = wmm.wmm(lat, lon, 0, 2019)
print("magDecl: %s" % (magDecl.decl.item(), ))
location = EarthLocation.from_geodetic(lat=lat, lon=lon, height=0)
altaz = sunPos.transform_to(AltAz(obstime=suntime, location=location))
sunalt = 90 - altaz.alt.deg
sunaz = altaz.az.deg
print(sunalt, sunaz)
if (argHeading == None):
import berryIMU
orientation = berryIMU.getValues()
print("pitch: %s , roll: %s , heading: %s" % orientation)
heading = orientation[2] - magDecl.decl.item()
print("corrected heading %f" % heading)
else: