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"""
gps_l1_ca_pvt_raw_plot_sample.py
Reads GNSS-SDR PVT raw dump binary file using the provided function and plots
some internal variables
Irene Pérez Riega, 2023. iperrie@inta.es
Modifiable in the file:
sampling_freq - Sampling frequency [Hz]
channels - Number of channels to check if they exist
path - Path to folder which contains raw file
pvt_raw_log_path - Completed path to PVT raw data file
nav_sol_period - Measurement period [ms]
plot_skyplot - = 1 -> Sky Plot (TO DO) // = 0 -> No Sky Plot
true_position - In settings, If not known enter all NaN's and mean
position will be used as a reference in UTM
coordinate system
plot_position - Optional function at the end
plot_oneVStime - Optional function at the end, select variable to plot
-----------------------------------------------------------------------------
GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
This file is part of GNSS-SDR.
Copyright (C) 2022 (see AUTHORS file for a list of contributors)
SPDX-License-Identifier: GPL-3.0-or-later
-----------------------------------------------------------------------------
"""
import utm
import numpy as np
from lib.gps_l1_ca_read_pvt_dump import gps_l1_ca_read_pvt_dump
from lib.plotNavigation import plotNavigation
import pyproj
from lib.plotPosition import plot_position, plot_oneVStime
settings = {}
utm_e = []
utm_n = []
E_UTM = []
N_UTM = []
utm_zone = []
# ---------- CHANGE HERE:
samplingFreq = 64e6 / 16
channels = 5
path = '/home/labnav/Desktop/TEST_IRENE/'
pvt_raw_log_path = path + 'PVT.dat'
nav_sol_period = 10
plot_skyplot = 0
settings['true_position'] = {'E_UTM':np.nan,'N_UTM':np.nan,'U_UTM':np.nan}
settings['navSolPeriod'] = nav_sol_period
navSolutions = gps_l1_ca_read_pvt_dump(pvt_raw_log_path)
X, Y, Z = navSolutions['X'], navSolutions['Y'], navSolutions['Z']
utm_coords = []
for i in range(len(navSolutions['longitude'])):
utm_coords.append(utm.from_latlon(navSolutions['latitude'][i],
navSolutions['longitude'][i]))
for i in range(len(utm_coords)):
utm_e.append(utm_coords[i][0])
utm_n.append(utm_coords[i][1])
utm_zone.append(utm_coords[i][2])
# Transform from Lat Long degrees to UTM coordinate system
# It's supposed utm_zone and letter will not change during tracking
input_projection = pyproj.CRS.from_string("+proj=longlat "
"+datum=WGS84 +no_defs")
utm_e = []
utm_n = []
for i in range(len(navSolutions['longitude'])):
output_projection = pyproj.CRS (f"+proj=utm +zone={utm_zone[i]} "
f"+datum=WGS84 +units=m +no_defs")
transformer = pyproj.Transformer.from_crs(input_projection,
output_projection)
utm_e, utm_n = transformer.transform(navSolutions['longitude'][i],
navSolutions['latitude'][i])
E_UTM.append(utm_e)
N_UTM.append(utm_n)
navSolutions['E_UTM'] = E_UTM
navSolutions['N_UTM'] = N_UTM
navSolutions['U_UTM'] = navSolutions['Z']
plotNavigation(navSolutions,settings,plot_skyplot)
# OPTIONAL: Other plots ->
plot_position(navSolutions)
plot_oneVStime(navSolutions, 'X_vel')
plot_oneVStime(navSolutions, 'Tot_Vel')
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