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Merge pull request #71 from Stanford-NavLab/ramya/multiGNSS_sp3
Ramya/multi gnss sp3
2 parents 461f9aa + 706e7b7 commit 103d064

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‎.github/workflows/build.yml‎

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@@ -38,13 +38,13 @@ jobs:
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# Load cached environment, if it exists
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- name: Load cached poetry environment
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id: cached-poetry-dependencies
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uses: actions/cache@v2
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uses: actions/cache@v3
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with:
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path: .venv
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key: venv-${{ runner.os }}-${{ hashFiles('**/poetry.lock') }}
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key: venv-${{ runner.os }}-${{ steps.setup-python.outputs.python-version }}-${{ hashFiles('**/poetry.lock') }}
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- name: Install dependencies
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if: steps.cached-poetry-dependencies.outputs.catch-hit != 'true'
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run: poetry install
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if: steps.cached-poetry-dependencies.outputs.cache-hit != 'true'
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run: poetry install --no-interaction
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# Install pandoc for building docs
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- name: Install pandoc for Ubuntu
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if: matrix.os == 'ubuntu-latest'

‎README.md‎

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@@ -72,12 +72,15 @@ In the directory organization above:
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* Weighted Least Squares
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* Extended Kalman Filter
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* Calculating pseudorange residuals
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* The data parsers in the `parsers` directory allow for loading
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GNSS data into `gnss_lib_py`'s unifying `NavData` class.
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* Calculating multi-GNSS satellite PVT information
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* The data parsers in the `parsers` directory allow for either loading
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GNSS data into `gnss_lib_py`'s unifying `NavData` class or parsing
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precise ephemerides data.
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Currently, the following datasets and types are supported:
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* [2021 Google Android Derived Dataset](https://www.kaggle.com/c/google-smartphone-decimeter-challenge)
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* [2022 Google Android Derived Dataset](https://www.kaggle.com/competitions/smartphone-decimeter-2022)
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* [Precise Ephemeris Data](https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/gnss_mgex.html)
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* The `utils` directory contains utilities used to handle
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GNSS measurements, time conversions, visualizations, satellite

‎data/unit_test/android_2021/Pixel4_derived_clkdiscnt.csv‎

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‎data/unit_test/android_2021/Pixel4_ground_truth_clkdiscnt.csv‎

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collectionName,phoneName,millisSinceGpsEpoch,latDeg,lngDeg,heightAboveWgs84EllipsoidM,timeSinceFirstFixSeconds,hDop,vDop,speedMps,courseDegree
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2021-04-28-US-SJC-1,Pixel4,1303675237438,37.3351052538,-121.8983280611,55.04,410.44,3.14,0.00,10.38,60.26
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2021-04-28-US-SJC-1,Pixel4,1303675238438,37.3351481952,-121.8982357584,55.00,411.44,4.20,0.00,8.48,59.42
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2021-04-28-US-SJC-1,Pixel4,1303675239438,37.3351831871,-121.8981623107,54.96,412.44,4.20,0.00,6.83,59.14
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2021-04-28-US-SJC-1,Pixel4,1303675240438,37.3352103637,-121.8981049653,54.93,413.44,4.74,0.00,4.77,59.30
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2021-04-28-US-SJC-1,Pixel4,1303675241438,37.3352261605,-121.8980710846,54.91,414.44,5.50,0.00,2.62,59.70
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2021-04-28-US-SJC-1,Pixel4,1303675242438,37.3352389465,-121.8980422713,54.91,415.44,3.75,0.00,3.58,60.91
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2021-04-28-US-SJC-1,Pixel4,1303675243438,37.3352578644,-121.8979926902,54.88,416.44,1.26,0.00,6.15,64.97
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2021-04-28-US-SJC-1,Pixel4,1303675244438,37.3352786005,-121.8979153355,54.73,417.44,1.00,0.00,8.24,73.68
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2021-04-28-US-SJC-1,Pixel4,1303675245438,37.3352909782,-121.8978172871,54.77,418.44,1.74,0.00,9.33,83.74
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2021-04-28-US-SJC-1,Pixel4,1303675246438,37.3352917459,-121.8977066383,54.85,419.44,1.49,0.00,10.28,91.59
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2021-04-28-US-SJC-1,Pixel4,1303675247438,37.3352870824,-121.8975862683,54.96,420.44,0.00,0.00,11.03,92.29
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2021-04-28-US-SJC-1,Pixel4,1303675250438,37.3353062520,-121.8972039985,55.09,423.44,0.00,0.00,10.84,83.16
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2021-04-28-US-SJC-1,Pixel4,1303675251438,37.3353181826,-121.8970873147,55.15,424.44,0.00,0.00,9.92,82.50
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2021-04-28-US-SJC-1,Pixel4,1303675252438,37.3353286902,-121.8969849600,55.21,425.44,0.00,0.00,8.28,82.80
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2021-04-28-US-SJC-1,Pixel4,1303675253438,37.3353363575,-121.8969044308,55.25,426.44,0.00,0.00,6.10,83.24
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2021-04-28-US-SJC-1,Pixel4,1303675254438,37.3353413797,-121.8968490928,55.28,427.44,0.00,0.00,3.81,83.50
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2021-04-28-US-SJC-1,Pixel4,1303675255438,37.3353442503,-121.8968176088,55.30,428.44,0.00,0.00,2.31,83.50
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2021-04-28-US-SJC-1,Pixel4,1303675256438,37.3353467949,-121.8967892075,55.33,429.44,0.00,0.00,3.04,83.74
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2021-04-28-US-SJC-1,Pixel4,1303675257438,37.3353487758,-121.8967437877,55.37,430.44,0.00,0.00,5.05,87.27
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2021-04-28-US-SJC-1,Pixel4,1303675258438,37.3353411400,-121.8966775875,55.40,431.44,32.75,0.00,6.69,101.90
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2021-04-28-US-SJC-1,Pixel4,1303675259438,37.3353098019,-121.8966059999,55.46,432.44,87.16,0.00,7.76,123.97

‎data/unit_test/precise_ephemeris/grg21553_nodata.clk‎

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3.00 CLOCK DATA G RINEX VERSION / TYPE
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GINS2CLK CNES/CLS 20210506 201045 UTC PGM / RUN BY / DATE
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COMMENT
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GPS TIME SYSTEM ID
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2 AR AS # / TYPES OF DATA
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GRG CNES/CLS TOULOUSE,FRANCE Contact:igs-ac@cls.fr ANALYSIS CENTER
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G GINS V11.1 igs14_2148.atx SYS / PCVS APPLIED
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G CC2NONCC P1C1.DCB @ ftp.unibe.ch/aiub/CODE SYS / DCBS APPLIED
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1 # OF CLK REF
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BRUX 13101M010 ANALYSIS CLK REF
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R01 R02 R03 R04 R05 R07 R08 R09 R12 R13 R14 R15 R16 R17 R18 PRN LIST
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G12 G13 G14 G15 G16 G17 G18 G19 G20 G21 G22 G23 G24 G25 G26 PRN LIST
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FRAME TX (COM-COF) USED : -1.5 mm COMMENT
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FRAME TZ (COM-COF) USED : 8.4 mm COMMENT
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COMMENT
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WIDELANE SATELLITE FRACTIONNAL BIASES USED IN THIS SOLUTION COMMENT
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WL G32 2021 4 28 12 0 0.000000 1 -0.151800E+01 0102 COMMENT
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COMMENT
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END OF HEADER

‎data/unit_test/precise_ephemeris/grg21553_nodata.sp3‎

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++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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%c M cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
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%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
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%f 0.0000000 0.000000000 0.00000000000 0.000000000000000
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%f 0.0000000 0.000000000 0.00000000000 0.000000000000000
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%i 0 0 0 0 0 0 0 0 0
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/* CNES/CLS/GRGS - TOULOUSE,FRANCE - Contact : igs-ac@cls.fr
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/* PCV:IGS14_2148 OL/AL:FES2014 NONE NN ORB:CoN CLK:CoN
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/* CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC
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/* CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC

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