Skip to content

Commit

Permalink
Merge pull request #142 from Stanford-NavLab/v0.2.2
Browse files Browse the repository at this point in the history 
v0.2.2
  • Loading branch information
@kanhereashwin
kanhereashwin authored Sep 29, 2023
2 parents c14fdac + 06bc039 commit c569dbf
Show file tree
Hide file tree
Showing 35 changed files with 2,862 additions and 1,190 deletions.
16 changes: 8 additions & 8 deletions CONTRIBUTORS.md
View file
Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
Ashwin Kanhere
Derek Knowles
Shubh Gupta
Adam Dai
Bradley Collicott
Shivam Soni
Sriramya Bhamidipati
Dalton Vega
Ashwin Kanhere
Derek Knowles
Shubh Gupta
Adam Dai
Bradley Collicott
Shivam Soni
Sriramya Bhamidipati
Dalton Vega
28 changes: 22 additions & 6 deletions README.md
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
[![build](https://github.com/Stanford-NavLab/gnss_lib_py/actions/workflows/build.yml/badge.svg)](https://github.com/Stanford-NavLab/gnss_lib_py/actions/workflows/build.yml)
[![codecov](https://codecov.io/gh/Stanford-NavLab/gnss_lib_py/branch/main/graph/badge.svg?token=1FBGEWRFM6)](https://codecov.io/gh/Stanford-NavLab/gnss_lib_py)
[![Documentation Status](https://readthedocs.org/projects/gnss_lib_py/badge/?version=latest)](https://gnss_lib_py.readthedocs.io/en/latest/?badge=latest)
[![Documentation Status](https://readthedocs.org/projects/gnss_lib_py/badge/?version=latest)](https://gnss-lib-py.readthedocs.io/en/latest/?badge=latest)
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/drive/1DYfuiM5ipz0B-lgjKYcL1Si-V4jNBEac?usp=sharing)

gnss_lib_py
===========
Expand Down Expand Up @@ -72,7 +73,7 @@ In the directory organization above:
* Weighted Least Squares
* Extended Kalman Filter
* Calculating pseudorange residuals
* Calculating multi-GNSS satellite PVT information
* Fault detection and exclusion
* The data parsers in the `parsers` directory allow for either loading
GNSS data into `gnss_lib_py`'s unifying `NavData` class or parsing
precise ephemerides data.
Expand All @@ -87,8 +88,9 @@ In the directory organization above:
* [CLK clock products](https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/clock_products.html)

* The `utils` directory contains utilities used to handle
GNSS measurements, time conversions, visualizations, satellite
simulation, file operations, etc.
GNSS measurements, time conversions, coordinate transformations,
visualizations, calculating multi-GNSS satellite PVT information,
satellite simulation, file operations, etc.

Installation
------------
Expand Down Expand Up @@ -125,8 +127,9 @@ Answers to common questions can be found in the [troubleshooting section](https:
Attribution
-----------
This project is a product of the [Stanford NAV Lab](https://navlab.stanford.edu/)
and currently maintained by Ashwin Kanhere and Derek Knowles. If using
this project in your own work please cite the following:
and currently maintained by Ashwin Kanhere (akanhere [at] stanford [dot] edu)
and Derek Knowles (dcknowles [at] stanford [dot] edu). If using
this project in your own work please cite either of the following:

```
Expand All @@ -137,6 +140,19 @@ this project in your own work please cite the following:
institution = {Stanford University},
year = {2022 [Online]},
url = {https://github.com/Stanford-NavLab/gnss_lib_py},
doi = {10.33012/2022.18525}
}
```

```
@inproceedings{knowles_kanhere_baselines_2023,
title = {Localization and Fault Detection Baselines From an Open-Source Python GNSS Library},
author={Knowles, Derek and Kanhere, Ashwin V and Gao, Grace},
booktitle={Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023)},
institution = {Stanford University},
year = {2023 [Online]},
url = {https://github.com/Stanford-NavLab/gnss_lib_py},
}
```

Expand Down
25 changes: 25 additions & 0 deletions data/unit_test/fde/no_suspects.csv
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
gnss_id,sv_id,x_rx_m,y_rx_m,z_rx_m,b_rx_m,gps_millis,gnss_sv_id,x_sv_m,y_sv_m,z_sv_m,vx_sv_mps,vy_sv_mps,vz_sv_mps,b_sv_m,b_dot_sv_mps,el_sv_deg,az_sv_deg,corr_pr_m,raw_pr_m,fault_gt
beidou,9,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C09,3886810.099879006,27576581.60709904,32209088.75004957,-813.0022227901017,-966.2075814929648,910.3311683141897,264198.92791046563,-0.0127214679359402,36.11486533529876,59.084650239031184,38523153.97160033,38258955.04368987,0
beidou,11,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C11,16035331.456514563,-9845588.969211256,20668688.446566343,2262.9926695866798,619.9917078231585,-1466.069048036097,211660.55110541775,0.0064261888839976,55.92933695013578,285.70993233502253,22451474.07269993,22239813.52159452,0
beidou,12,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C12,26938347.813311618,1982540.0464153688,7047572.366824986,764.2967149102137,240.78418386556805,-3004.6010170697823,151914.5450338638,0.0070503422406744,48.33418966900247,187.6552599980536,22825081.444292866,22673166.899259,0
beidou,21,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C21,18720175.538493365,641625.789061533,20699841.022997044,-1576.701289542336,1756.7752432420486,1375.035858615959,-272462.8203532112,6.992980449510893e-05,84.25907856150451,278.8116574576984,21575024.93852561,21847487.758878816,0
beidou,22,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C22,4872065.165274595,16671858.521899004,21853662.16286644,-1720.5969248207773,1805.309530202481,-991.4658516444448,-175681.41197993004,0.0056846111725087,38.553592437366255,59.06650558180393,23507214.13530934,23682895.547289267,0
beidou,34,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C34,22379473.645226706,-6425347.943883084,15390208.001154244,1704.923377839762,446.0659378236816,-2288.47191038489,37931.78111363739,0.0025069252701809,60.42378239967242,241.90654274177837,22191868.60509481,22153936.823981173,0
beidou,42,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C42,21763099.95676565,-15582274.076639265,7900033.246059988,-537.6110969620313,724.1998509716118,2929.616691130239,-236041.23151628344,0.0058985396603652,31.16943105976864,244.75900302983004,24069091.96457053,24305133.19608681,0
beidou,43,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,C43,6057835.214530018,-15071481.5344152,22682440.644376274,2539.667967987814,530.8532717586197,-322.87038091682064,3510.221874622869,0.0006065063096257,32.50607791721156,308.57274659443067,23965704.87262329,23962194.650748663,0
galileo,4,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,E04,3944721.122226598,16567505.212541088,24220476.018349603,-2335.917847260916,657.1710442818013,-69.22419159886441,-23514.10547989453,-0.0024452364135855,38.68474970845478,53.394713898910446,25217883.491396558,25241397.59687645,0
galileo,9,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,E09,22925035.60488857,6240468.002027356,17653414.802075382,-1715.4976711323882,438.3438617577507,2074.3871561343058,-260506.48423307063,-0.0040166629561567,74.94923624981487,152.74277770755353,23401465.85076317,23661972.33499624,0
galileo,11,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,E11,23351643.09226321,17123255.09407444,6186802.454787168,558.23449373781,318.2939983661598,-2982.539185350679,373243.8877478863,0.0429281558167326,37.94924339201977,137.38906754849802,25255889.02420037,24882645.13645248,0
galileo,34,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,E34,6327900.586502701,-15629698.752877314,24323608.10742074,1733.954893217586,1724.6311874058406,657.0472857772077,-10463.080223391768,-0.0005492710506856,33.73063104441832,309.63071383796625,25593929.79486101,25604392.875084404,0
galileo,36,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,E36,20875500.07047945,1476175.157468347,20943544.46703659,1577.4321204327996,1395.1459252498669,-1669.559698450648,-7860.685492209977,-0.0016824499786035,85.06715882299909,234.38755371515225,23258507.323108207,23266368.008600418,0
gps,1,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G01,20744501.00318849,12488190.248186644,10996622.767275345,839.0998804729959,1166.1857181934022,-2790.7390352386187,60791.8660251612,-0.0010248198691278,52.52055839747616,134.1068380865483,21250231.44362812,21189439.57760296,0
gps,3,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G03,14473137.578870265,3218646.472071748,21910428.799287982,-827.2851858676286,2682.3795781553304,162.8948400436111,-104840.44294765408,0.0020163199999677,78.2941330564022,14.76079190309196,20193070.137318224,20297910.58026588,0
gps,4,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G04,25263791.543823067,1175192.8340649873,8308394.895684836,-987.4466070304534,434.694961482676,2933.2592306709034,-2097.625982420825,0.0026246200522074,51.94844818729338,191.2955867154848,21306227.83171965,21308325.457702074,1
gps,17,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G17,17902687.74414594,-13158293.219565095,15060834.348541046,1831.3678441920104,-133.44476789892315,-2351.634424241644,211501.25152282105,-0.0002159588109118,44.38500046403713,264.93213164353966,21998855.645693514,21787354.39417069,0
gps,19,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G19,8147100.069936847,-14741041.721302511,20233935.86491704,2620.322453195132,-186.89493707080427,-1204.9473251966156,86965.09570180946,0.001820497337223,34.25883311374587,300.74299214550865,22219124.02327808,22132158.927576263,0
gps,21,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,G21,21317106.309657816,16351749.078222468,3415900.594523299,124.54187810042924,386.7198868349684,-3085.5503093072134,46267.68108431084,-0.0006478817439066,31.280109810951203,138.97799718070894,23212684.94842072,23166417.26733641,0
glonass,1,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,R01,3387265.5238809995,11144791.995122869,22701654.32609002,-2430.7754500038614,1933.1334968213137,-585.2915525859363,7419.130532939037,0.0005660977800267,41.09501613532916,41.94939491535927,20885564.663659908,20878145.53312697,0
glonass,2,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,R02,17834383.411924068,-2455780.2249923004,18150557.939768005,-2067.5058861184334,1360.8035327961093,2215.55658001052,-6944.896922072433,0.0001706313669588,74.78662674222342,265.3420826021922,19365950.360496867,19372895.25741894,0
glonass,17,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,R17,17757587.405147158,-1250432.881585261,18263078.15072561,2346.185731248887,882.6377830348587,-2224.4968629370064,183645.442523328,0.00131038841518,78.35213243842496,263.9132614711525,19235433.59888936,19051788.15636603,0
glonass,18,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,R18,2726266.160591064,-10210729.979419364,23227613.66316868,2893.784100519734,1322.0288696564207,246.94404455131772,21419.63154171661,0.0004433809372467,32.366388228934014,324.7647549268775,21550349.99168678,21528930.360145062,0
glonass,24,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362868218000.0,R24,23637204.811776225,9178585.61127508,2765348.955040068,417.78256378396446,-11.779418124203238,-3554.5360130244308,46096.35705925326,0.0035808394639288,35.73730839816049,161.10832403239905,21245636.74982497,21199540.392765723,0
18 changes: 18 additions & 0 deletions data/unit_test/fde/nothing_removed.csv
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
gnss_id,sv_id,x_rx_m,y_rx_m,z_rx_m,b_rx_m,gps_millis,gnss_sv_id,x_sv_m,y_sv_m,z_sv_m,vx_sv_mps,vy_sv_mps,vz_sv_mps,b_sv_m,b_dot_sv_mps,el_sv_deg,az_sv_deg,corr_pr_m,raw_pr_m,fault_gt
beidou,19,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,C19,11393312.437632836,-17170481.673205025,18859922.40554178,2060.069349804306,-607.1515716541315,-1798.2469330284068,-268589.7241701188,-0.0003636368244325,34.24943599679211,288.8110497946775,23856050.43792817,24124640.16209829,0
beidou,20,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,C20,24991577.16737436,-11481778.118580334,4843495.100212388,551.4350597216028,-82.7671242534204,-3051.060542013859,203932.5771388628,-0.0057194538568113,32.16877015261522,227.79779989965465,24000952.700463142,23797020.12332428,0
beidou,37,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,C37,14643285.015170367,8157227.608609372,22320162.760330945,-570.2925756391209,2486.661412005685,-532.58364567905,-240832.15753002604,0.0018775948703379,71.54429250313177,58.78078170336106,21804128.046690997,22044960.204221018,0
beidou,46,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,C46,16087964.73197824,-14360483.328999406,17682559.291692972,-337.8558542983301,1998.830410614847,1933.3914776805836,-11928.743415917244,-0.0007662356362999,43.77307899038751,276.3243336692347,23103106.476501703,23115035.21991762,0
galileo,1,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,E01,23631522.61949869,-15015136.554079166,9585608.011522744,-723.9692409793578,639.0105218849462,2784.763407903365,-4897.640728768326,0.0013125709052984,36.25642671400479,243.70631064854632,25373180.056663334,25378077.697392102,0
galileo,4,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,E04,6727687.906148172,-15803698.804318905,24117182.358258035,2349.1610045395514,565.7115417522109,-284.84123145085005,-23389.15955745533,-0.0025121610051188,34.01251174178781,308.37516292323977,25582634.995051835,25606024.15460929,0
galileo,19,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,E19,26006164.918806933,-3412013.33311436,13725082.713085037,1348.4245797560725,275.9387321600103,-2488.6635298637343,-903358.9763394548,0.0278982594054645,60.570439155440646,217.9582926430376,23885590.73853945,24788949.714878906,0
galileo,21,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,E21,19714352.156374738,1280881.55373046,22033104.53200818,-1557.144979342935,1571.1494667795891,1302.0595424491585,-155111.81594089273,-0.0006561505344981,85.79270671138487,284.93765248208666,23240361.34768649,23395473.163627382,0
galileo,27,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,E27,4295454.424753777,18226209.121134598,22923527.405864533,-1571.7187737288164,1679.4955548840346,-1039.453466996536,-160193.41959589918,-0.0027909782852553,36.8715851067519,59.06069042880392,25345622.665889207,25505816.08548511,0
gps,12,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,G12,22354175.414516192,-7842827.446927055,11629208.6947203,-1029.197947015508,1148.0208901060537,2697.0279263143334,-105323.334800153,-0.0011573698382963,50.74097040066133,235.75154985210105,21145399.794912435,21250723.12971259,0
gps,15,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,G15,26452062.219067466,3373405.9582735733,1025426.459380111,126.3243011259438,374.6471750943844,-3089.709780156056,6423.322268772287,0.0009902054963027,33.3066167175584,181.73808945412708,22638756.224311523,22632332.90204275,0
gps,19,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,G19,10334610.059800854,17160542.395005886,17350507.96705407,-2111.052923659021,-744.8243938797527,1941.0510362037144,86888.76545355405,0.0014890339110656,43.90803451915259,81.26965792705752,21688248.05576549,21601359.29031194,0
gps,24,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,G24,16459275.004208166,1553944.3126191664,20505837.22751532,765.5594501041718,2576.3110794521067,-754.5442738757467,-33288.813813874294,-0.0046386071920594,84.36772672468055,332.8320730809228,19998467.677661438,20031756.491475303,0
glonass,7,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,R07,3171455.641574261,-11218960.677935416,22727400.642420106,3072.825701585963,-414.86104193285365,-639.3119281242675,15497.251899051662,8.503568154246041e-05,31.699923002163604,321.0657050694632,21629153.43559832,21613656.183699265,1
glonass,15,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,R15,4090801.497377511,15285981.804850908,20019090.019973285,-979.2764299469076,2557.095359869846,-1753.632651214674,27120.53539079166,-0.0003416594396896,36.56532522638332,58.40239081737761,21215043.939897142,21187923.40450636,0
glonass,16,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,R16,12250814.3965819,-2337521.453522725,22258840.54638837,-1181.1788380626383,2808.99356429005,942.3914120282386,3695.2879552977774,0.0006264067264287,67.01273174177334,327.29323674094354,19537706.87334701,19534011.58539171,0
glonass,17,4276936.989842105,639250.223239567,4672543.160806354,0.0,1362818118000.0,R17,5349601.552255271,19198709.23852283,15947401.552168978,-1178.5508292582156,-1845.3801005167652,2615.15982985716,183601.0937754479,0.0005394946006097,30.01211449005524,75.13524774619569,21742287.13651519,21558686.04273974,0
Loading

0 comments on commit c569dbf

Please sign in to comment.