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processGNSSMeas.py
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processGNSSMeas.py
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# -*- coding: utf-8 -*-
import GnssThresholds
import GnssConstants
import numpy as np
import Time
import datetime
from math import sin,cos,sqrt,pi
class GpsLoc():
def __init__(self,rfile):
self.rfile = rfile
with open(self.rfile,'w') as f:
f.writelines('')
@staticmethod
def blhxyz(geod,a0,b0):
'''
input:
geod tuple or list(B,L,H)(3) 单位：（弧度）
output:
x tuple or list(X,Y,Z)(3)
'''
xyz = [0,0,0]
if a0 == 0 or b0 == 0:
a = 6378137.0
b = 298.257223563 # alpha = (a-b)/a
else:
a = a0
b = b0
if b <= 6000000:
b = a - a / b
e2 = 1 - (b ** 2) / (a ** 2)
W = sqrt(1 - e2 * sin(geod[0]) **2)
N = a / W
xyz[0] = (N + geod[2]) * cos(geod[0]) * cos(geod[1])
xyz[1] = (N + geod[2]) * cos(geod[0]) * sin(geod[1])
xyz[2] = (N * (1 - e2) + geod[2]) * sin(geod[0])
return xyz
def loc2rfile(self,fixdata):
with open(self.rfile,'a+') as f:
blh = [float(i)*pi/180 for i in fixdata[1:4]]
utctime = datetime.datetime.fromtimestamp(float(fixdata[-1])/1e3).strftime("%Y/%m/%d %H:%M:%S.%f")[:-3]
xyz = GpsLoc.blhxyz(blh,0,0)
f.writelines("%s %15.4f %15.4f %15.4f\n" % (utctime,*xyz))
class GnssRaw():
def __init__(self):
self._prepself()
def clear(self):
self._prepself()
def _prepself(self):
self._prepClock()
self._prepMeas()
self.gnssRaw = {}
self.gnssRaw.update(self.gnssClockFields)
self.gnssRaw.update(self.gnssMeasurementFields)
def _prepClock(self):
clockfields = ['TimeNanos',
'TimeUncertaintyNanos',
'LeapSecond',
'FullBiasNanos',
'BiasUncertaintyNanos',
'DriftNanosPerSecond',
'DriftUncertaintyNanosPerSecond',
'HardwareClockDiscontinuityCount',
'BiasNanos']
self.gnssClockFields = {i:None for i in clockfields}
def _prepMeas(self):
measurementfields = ['Cn0DbHz',
'ConstellationType',
'MultipathIndicator',
'PseudorangeRateMetersPerSecond',
'PseudorangeRateUncertaintyMetersPerSecond',
'ReceivedSvTimeNanos',
'ReceivedSvTimeUncertaintyNanos',
'State',
'Svid',
'AccumulatedDeltaRangeMeters',
'AccumulatedDeltaRangeUncertaintyMeters',
'CarrierFrequencyHz']
self.gnssMeasurementFields = {i:None for i in measurementfields}
class AdrMconstBias():
timeLimit = 10 * 60
sysType = [1,3,5,6]
def __init__(self):
'''
checkCycleSlip:
systerm: GPS GLS BDS GAL
satNumber: 1-50
-1 Not initialized
0 valid data
1 cycle-slip
'''
self.checkTime = {isys : {isat : np.inf for isat in range(GnssConstants.MAXSAT)} for isys in AdrMconstBias.sysType}
self.constBias = {isys : {isat : np.nan for isat in range(GnssConstants.MAXSAT)} for isys in AdrMconstBias.sysType}
self.refPrM = {isys : {isat : np.nan for isat in range(GnssConstants.MAXSAT)} for isys in AdrMconstBias.sysType}
self.refClkDCount = 0
@staticmethod
def wavelength(ifreq,isys,isvd,freqv=None):
if ifreq == 0:
return np.nan
if ifreq == 1 and isys == 1:
return GnssConstants.LIGHTSPEED / GnssConstants.GPS_L1
if ifreq != 1 and isys == 1:
return GnssConstants.LIGHTSPEED / GnssConstants.GPS_L5
if ifreq == 1 and isys == 3:
# gls_freq = round((freqv - GnssConstants.GLS_L1) / GnssConstants.GLS_dL1) * GnssConstants.GLS_dL1 + GnssConstants.GLS_L1
gls_freq = GnssConstants.GLS_L1 + GnssConstants.GLS_IFREQ[isvd] * GnssConstants.GLS_dL1
return GnssConstants.LIGHTSPEED / gls_freq
if ifreq != 1 and isys == 3:
#gls_freq = round((freqv - GnssConstants.GLS_L2) / GnssConstants.GLS_dL2) * GnssConstants.GLS_dL2 + GnssConstants.GLS_L2
# gls_freq = GnssConstants.GLS_L2 + GnssConstants.GLS_IFREQ[isvd] * GnssConstants.GLS_dL2
return np.nan # GnssConstants.LIGHTSPEED / GnssConstants.GLS_L2
if ifreq == 1 and isys == 5:
return GnssConstants.LIGHTSPEED / GnssConstants.BDS_B1
if ifreq != 1 and isys == 5:
return GnssConstants.LIGHTSPEED / GnssConstants.BDS_B2
if ifreq == 1 and isys == 6:
return GnssConstants.LIGHTSPEED / GnssConstants.GAL_E1
if ifreq != 1 and isys == 6:
return GnssConstants.LIGHTSPEED / GnssConstants.GAL_E5a
@staticmethod
def getRealMeasWaveL(freqNum,conType,freqValue):
return np.array([AdrMconstBias.wavelength(ifreq,isys,freqv) for ifreq,isys,freqv in zip(freqNum,conType,freqValue)])
@staticmethod
def getStandardWaveL(freqNum,conType,sVids):
return np.array([AdrMconstBias.wavelength(ifreq,isys,isvd) for ifreq,isys,isvd in zip(freqNum,conType,sVids)])
def getDelPr(self,gnssMeas):
nmeas = len(gnssMeas.Svid)
delPrM = []
bClockDis = (gnssMeas.ClkDCount - self.refClkDCount) != 0
self.refClkDCount = gnssMeas.ClkDCount
for i in range(nmeas):
isys = gnssMeas.ConstellationType[i]
isvd = gnssMeas.Svid[i]
if bClockDis or (self.refPrM[isys][isvd] == np.nan):
self.refPrM[isys][isvd] = gnssMeas.PrM[i]
delPrM.append(np.nan)
else:
delPrM.append(gnssMeas.PrM[i] - self.refPrM[isys][isvd])
return np.array(delPrM)
def processAdrM(self,gnssMeas):
nmeas = len(gnssMeas.Svid)
waveLen = AdrMconstBias.getStandardWaveL(gnssMeas.freqNum,gnssMeas.ConstellationType,gnssMeas.CarrierFrequencyHz)
constBias = []
for i in range(nmeas):
isys = gnssMeas.ConstellationType[i]
isvd = gnssMeas.Svid[i]
if (gnssMeas.AdrState[i] & 2**0): # Valid Adr Meas
ltime = (gnssMeas.fctTime - self.checkTime[isys][isvd]) > AdrMconstBias.timeLimit
# update time-tag
self.checkTime[isys][isvd] = gnssMeas.fctTime
# check if failed time-tag or no-valued Bias
if ltime or np.isnan(self.constBias[isys][isvd]):
bias = gnssMeas.PrM[i] - gnssMeas.AdrM[i]
self.constBias[isys][isvd] = bias
constBias.append(bias)
else:
constBias.append(self.constBias[isys][isvd])
elif (gnssMeas.AdrState[i] & 2**4): # Cycle-slip Adr Meas
# update time-tag
self.checkTime[isys][isvd] = gnssMeas.fctTime
bias = gnssMeas.PrM[i] - gnssMeas.AdrM[i]
self.constBias[isys][isvd] = bias
constBias.append(bias)
else:
if not np.isnan(self.constBias[isys][isvd]):
# delete time-tag
self.checkTime[isys][isvd] = np.inf
self.constBias[isys][isvd] = np.nan
constBias.append(np.nan)
return (gnssMeas.AdrM + np.array(constBias)) / waveLen
class GnssMeas():
LogFile = './Log.txt'
def __init__(self):
self.iepoch = 1
self.ConstComp = AdrMconstBias()
def filterValid(self,gnssRaw):
# remove fields corresponding to measurements that are invalid
# check ReceivedSvTimeUncertaintyNanos, PseudorangeRateUncertaintyMetersPerSecond
# for now keep only Svid with towUnc<0.5 microseconds and prrUnc < 10 mps
sMsg = ''
iTowUnc = gnssRaw['ReceivedSvTimeUncertaintyNanos'] > GnssThresholds.MAXTOWUNCNS
iPrrUnc = gnssRaw['PseudorangeRateUncertaintyMetersPerSecond'] > GnssThresholds.MAXPRRUNCMPS
iBad = iTowUnc | iPrrUnc
if np.any(iBad):
numBad = np.sum(iBad)
if numBad >= len(iBad):
raise Exception("Removing all measurements in gnssRaw.")
gnssRaw = {i:gnssRaw[i][iBad==0] for i in gnssRaw.keys()}
sMsg += 'Removed %d bad meas inside ProcessGnssMeas > FilterValid because:\n' % numBad
if np.any(iTowUnc):
sMsg += 'towUnc > %.0f ns\n' % GnssThresholds.MAXTOWUNCNS
if np.any(iPrrUnc):
sMsg += 'prrUnc > %.0f m/s\n' % GnssThresholds.MAXPRRUNCMPS
print(sMsg)
with open(GnssMeas.LogFile,'a+') as f:
f.writelines(sMsg)
return gnssRaw
def checkGpsTimeRollover(self,tRxSecondes,prSeconds,Type):
if Type == 'day':
const_t = GnssConstants.DAYSEC
iRollover = prSeconds > const_t / 2
elif Type == 'week':
const_t = GnssConstants.WEEKSEC
iRollover = prSeconds > const_t / 2
if np.any(iRollover):
print('WARNING: %s rollover detected in time tags. Adjusting ...\n' % Type)
prS = prSeconds[iRollover]
delS = np.round(prS / const_t) * const_t
prS -= delS
maxBiasSeconds = 10
if np.any(prS>maxBiasSeconds):
raise Exception("Failed to correct %s rollover\n" % Type)
else:
prSeconds[iRollover] = prS
tRxSecondes[iRollover] = tRxSecondes[iRollover] - delS
print("Corrected %s rollover\n" % Type)
prSeconds[tRxSecondes == 0] = np.nan
return tRxSecondes,prSeconds
def _getDelPrMinusAdrM(self):
#/* However, it is expected that the data is only accurate when:
# * 'accumulated delta range state' == GPS_ADR_STATE_VALID.
#*/
# define GPS_ADR_STATE_UNKNOWN 0
# define GPS_ADR_STATE_VALID (1<<0)
# define GPS_ADR_STATE_RESET (1<<1)
# define GPS_ADR_STATE_CYCLE_SLIP (1<<2)
nmeas = len(self.Svid)
DelPrMinusAdrM = np.array([np.nan]*nmeas)
iValid = self.AdrState & (2**0)
iReset = self.AdrState & (2**1)
self.AdrM[iValid==0] = np.nan
for i in range(nmeas):
DelPrM0 = 0 # to store initial offset from AdrM
if (not np.isinf(self.AdrM[i])) and (self.AdrM[i] != 0) and (not np.isinf(self.DelPrM[i])) and (iReset[i] == 0):
# reinitialize after NaNs or AdrM zero or AdrState reset
if np.isnan(DelPrM0):
DelPrM0 = self.DelPrM[i] - self.AdrM[i]
else:
DelPrM0 = np.nan
DelPrMinusAdrM[i] = self.DelPrM[i] - DelPrM0 - self.AdrM[i]
return DelPrMinusAdrM
def _getPhaseMeas(self):
return self.ConstComp.processAdrM(self)
def _getDelPr(self):
return self.ConstComp.getDelPr(self)
def _prepData(self,nmeas,gnssRaw):
self.ClkDCount = 0
self.HwDscDelS = 0
# self.Svid = 0
# epoch 1 base-Data
if self.iepoch == 1:
self.fullBiasNanos = gnssRaw['FullBiasNanos'][0]
self.AzDeg = np.array([np.nan]*nmeas)
self.ElDeg = np.array([np.nan]*nmeas)
self.tRxSeconds = np.array([np.nan]*nmeas)
self.tTxSeconds = np.array([np.nan]*nmeas)
self.PrM = np.array([np.nan]*nmeas)
self.PrSigmaM = np.array([np.nan]*nmeas)
self.DelPrM = np.array([np.nan]*nmeas)
self.PrrMps = np.array([np.nan]*nmeas)
self.PrrSigmaMps= np.array([np.nan]*nmeas)
self.AdrM = np.array([np.nan]*nmeas)
self.AdrSigmaM = np.array([np.nan]*nmeas)
self.AdrState = np.zeros(nmeas)
self.Cn0DbHz = np.array([np.nan]*nmeas)
self.ConstellationType = np.array([np.nan]*nmeas)
self.CarrierFrequencyHz = np.array([np.nan]*nmeas)
self.freqNum = np.zeros(nmeas)
def freqSign(self,gnssRaw):
# gps sys
gpsfreq = gnssRaw['CarrierFrequencyHz'] * (gnssRaw['ConstellationType'] == 1)
self.freqNum[np.abs(gpsfreq - GnssConstants.GPS_L1) < 100] = 1
self.freqNum[np.abs(gpsfreq - GnssConstants.GPS_L5) < 100] = 5
# gls sys
glsfreq = gnssRaw['CarrierFrequencyHz'] * (gnssRaw['ConstellationType'] == 3)
# self.freqNum[glsfreq!=0] = 1
self.freqNum[
np.abs(np.round((glsfreq - GnssConstants.GLS_L1) / GnssConstants.GLS_dL1) -
(gnssRaw['CarrierFrequencyHz'] - GnssConstants.GLS_L1) / GnssConstants.GLS_dL1) < 0.0002
] = 1
self.freqNum[np.round((glsfreq - GnssConstants.GLS_L1) / GnssConstants.GLS_dL1) > 100] = 0
# self.freqNum[
# np.abs(np.round((glsfreq - GnssConstants.GLS_L2) / GnssConstants.GLS_dL2) -
# (gnssRaw['CarrierFrequencyHz'] - GnssConstants.GLS_L2) / GnssConstants.GLS_dL2) < 0.0002
# ] = 2
# bds sys
bdsfreq = gnssRaw['CarrierFrequencyHz'] * (gnssRaw['ConstellationType'] == 5)
self.freqNum[np.abs(bdsfreq - GnssConstants.BDS_B1) < 100] = 1
self.freqNum[np.abs(bdsfreq - GnssConstants.BDS_B2) < 100] = 2
# gal sys
galfreq = gnssRaw['CarrierFrequencyHz'] * (gnssRaw['ConstellationType'] == 6)
self.freqNum[np.abs(galfreq - GnssConstants.GAL_E1) < 100] = 1
self.freqNum[np.abs(galfreq - GnssConstants.GAL_E5a) < 100] = 5
def process(self,gnssRaw):
# clean invalid data in gnssRaw
gnssRaw = self.filterValid(gnssRaw)
# gnssRaw : dict
allRxMilliseconds = gnssRaw['allRxMillis'].astype(np.float64)
self.FctSeconds = np.unique(allRxMilliseconds) * 1e-3
self.Svid = gnssRaw['Svid']
nmeas = len(self.Svid)
self._prepData(nmeas,gnssRaw)
# GPS week number
weekNumber = np.floor( - gnssRaw['FullBiasNanos'] * 1e-9 / GnssConstants.WEEKSEC)
# GPS day number
# dayNumber = np.floor( - gnssRaw['FullBiasNanos']*1e-9 / GnssConstants.DAYSEC)
# GPS time of week
towSeconds = (gnssRaw['TimeNanos'] - gnssRaw['BiasNanos']) * 1e-9
# compute time of measurement relative to start of week
# subtract big longs (i.e. time from 1980) before casting time of week as double
weekNumberNanos = np.int64(weekNumber * GnssConstants.WEEKSEC * 1e9)
# compute tRxNanos using gnssRaw.FullBiasNanos(1), so that
# tRxNanos includes rx clock drift since the first epoch:
tRxNanos = gnssRaw['TimeNanos'] - self.fullBiasNanos - weekNumberNanos
gnssRaw['State'] = gnssRaw['State'].astype(np.int)
State = gnssRaw['State'][0]
if not ((State & 2**3) or (State & 2**7)) :
raise Exception('gnssRaw.State[0] must have bits 0 and (3 or 7) before calling Process')
if not(np.all(tRxNanos >= 0)):
raise Exception('tRxNanos should be >= 0')
tRxGnssSeconds = tRxNanos - gnssRaw['TimeOffsetNanos'] - gnssRaw['BiasNanos']
tRxSeconds = np.zeros(tRxGnssSeconds.shape)
# tRx at positions of GPS
gpspos = ((gnssRaw['ConstellationType'] == 1) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[gpspos] = np.mod(tRxGnssSeconds[gpspos],GnssConstants.WEEKSEC*1e9)*1e-9
# tRx at position of BDS
bdspos = ((gnssRaw['ConstellationType'] == 5) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[bdspos] = np.mod(tRxGnssSeconds[bdspos],GnssConstants.WEEKSEC*1e9)*1e-9 - 14
# tRx at position of GEO
galpos = ((gnssRaw['ConstellationType'] == 6) * (gnssRaw['State'] & 2**3))!=0
tRxSeconds[galpos] = np.mod(tRxGnssSeconds[galpos],GnssConstants.MILLISEC*1e9)*1e-9
# tRx at positions of GLO
glspos = ((gnssRaw['ConstellationType'] == 3) * (gnssRaw['State'] & 2**7))!=0
utctime = Time.Gps2Utc(weekNumber,towSeconds,allRxMilliseconds*1e-3)
leapsecs = Time.LeapSeconds(utctime)
tRxSeconds[glspos] = np.mod(tRxGnssSeconds[glspos],GnssConstants.DAYSEC*1e9)*1e-9 + (3*60*60 - leapsecs[glspos])
tTxSeconds = (gnssRaw['ReceivedSvTimeNanos'] + gnssRaw['TimeOffsetNanos'])*1e-9
prSeconds = tRxSeconds - tTxSeconds
tRxSeconds[glspos==0],prSeconds[glspos==0] = self.checkGpsTimeRollover(tRxSeconds[glspos==0],prSeconds[glspos==0],'week')
tRxSeconds[glspos],prSeconds[glspos] = self.checkGpsTimeRollover(tRxSeconds[glspos],prSeconds[glspos],'day')
PrM = prSeconds * GnssConstants.LIGHTSPEED
PrSigmaM = gnssRaw['ReceivedSvTimeUncertaintyNanos'] * 1e-9 * GnssConstants.LIGHTSPEED
PrrMps = gnssRaw['PseudorangeRateMetersPerSecond']
PrrSigmaMps = gnssRaw['PseudorangeRateUncertaintyMetersPerSecond']
AdrM = gnssRaw['AccumulatedDeltaRangeMeters']
AdrSigmaM = gnssRaw["AccumulatedDeltaRangeUncertaintyMeters"]
AdrState = gnssRaw['AccumulatedDeltaRangeState']
Cn0DbHz = gnssRaw['Cn0DbHz']
ConstellationType = gnssRaw['ConstellationType']
CarrierFrequencyHz = gnssRaw['CarrierFrequencyHz']
self.fctTime = weekNumber[0] * GnssConstants.WEEKSEC + tRxSeconds[gpspos][0]
self.GpsTime = Time.Fct2Ymdhms(np.array([self.fctTime]))[0]
self.tRxSeconds = tRxSeconds
self.tTxSeconds = tTxSeconds
self.PrM = PrM
self.PrSigmaM = PrSigmaM
self.PrrMps = PrrMps
self.PrrSigmaMps= PrrSigmaMps
self.AdrM = AdrM
self.AdrSigmaM = AdrSigmaM
self.AdrState = AdrState
self.Cn0DbHz = Cn0DbHz
self.ConstellationType = ConstellationType
self.CarrierFrequencyHz = CarrierFrequencyHz
self.ClkDCount = gnssRaw['HardwareClockDiscontinuityCount'][0]
if gnssRaw['HardwareClockDiscontinuityCount'][0] != gnssRaw['HardwareClockDiscontinuityCount'][-1]:
raise Exception('HardwareClockDiscontinuityCount changed within the same epoch')
self.freqSign(gnssRaw)
self.DelPrM = self._getDelPr()
# self.PhaseMeas = self._getPhaseMeas()
# self.PhaseMeas = self.AdrM / AdrMconstBias.getStandardWaveL(self.freqNum,self.ConstellationType,self.CarrierFrequencyHz)
self.PhaseMeas = self.AdrM / AdrMconstBias.getStandardWaveL(self.freqNum,self.ConstellationType,self.Svid)
self.PhaseMeas[(self.AdrState & 2**0) == 0] = np.nan
self.iepoch += 1
return None