EKF renamed use_tx_time to sv_rx_time

Author: kanhereashwin

gnss_lib_py/algorithms/gnss_filters.py

@@ -123,8 +123,8 @@ def solve_gnss_ekf(measurements, init_dict = None,
     if "R" not in init_dict:
         raise RuntimeError("Measurement noise must be specified in init_dict")
 
-    if "use_tx_time" not in init_dict:
-        init_dict["use_tx_time"] = False
+    if "sv_rx_time" not in init_dict:
+        init_dict["sv_rx_time"] = False
 
     # initialize parameter dictionary
     if params_dict is None:
@@ -212,7 +212,7 @@ def __init__(self, init_dict, params_dict):
         self.delta_t = params_dict.get('dt',1.0)
         self.motion_type = params_dict.get('motion_type','stationary')
         self.measure_type = params_dict.get('measure_type','pseudorange')
-        self.use_tx_time = init_dict.get('use_tx_time', False)
+        self.sv_rx_time = init_dict.get('sv_rx_time', False)
 
     def dyn_model(self, u, predict_dict=None):
         """Nonlinear dynamics
@@ -291,7 +291,7 @@ def measure_model(self, update_dict):
         """
         if self.measure_type=='pseudorange':
             pos_sv_m = update_dict['pos_sv_m']
-            if not self.use_tx_time:
+            if not self.sv_rx_time:
                 rx_pos_m = np.array([[self.state[0]], [self.state[1]], [self.state[2]]])
                 num_svs = np.shape(pos_sv_m)[1]
                 _, true_range = _find_delxyz_range(pos_sv_m.T, rx_pos_m, num_svs)

tests/algorithms/test_gnss_filters.py

@@ -36,7 +36,7 @@ def gnss_init_params():
                 'sigma_0': 5*np.eye(state_dim),
                 'Q': Q,
                 'R': R,
-                'use_tx_time': True}
+                'sv_rx_time': True}
     return init_dict
 
 
@@ -221,7 +221,7 @@ def fixture_android_init_dict():
     init_dict = {}
     init_dict['Q'] = np.eye(7)
     init_dict['R'] = np.eye(1)
-    init_dict['use_tx_time'] = False
+    init_dict['sv_rx_time'] = False
     return init_dict
 
 def test_solve_gnss_ekf(derived, noise_tx_init_dict):
@@ -326,19 +326,19 @@ def test_solve_gnss_ekf_initializations(derived_2022):
     reset_init_dict = {}
     reset_init_dict['Q'] = np.eye(7)
     reset_init_dict['R'] = np.eye(1)
-    reset_init_dict['use_tx_time'] = True
+    reset_init_dict['sv_rx_time'] = True
     _ = solve_gnss_ekf(derived_2022, reset_init_dict)
     # GNSS EKF solution when initial positions are given
     derived_2022.remove(rows=['b_rx_m'], inplace=True)
     reset_init_dict = {}
     reset_init_dict['Q'] = np.eye(7)
     reset_init_dict['R'] = np.eye(1)
-    reset_init_dict['use_tx_time'] = True
+    reset_init_dict['sv_rx_time'] = True
     _ = solve_gnss_ekf(derived_2022, reset_init_dict)
     # GNSS EKF solution when no initial states are given
     derived_no_rx_rows = derived_2022.remove(rows=['x_rx_m', 'y_rx_m', 'z_rx_m'])
     reset_init_dict = {}
     reset_init_dict['Q'] = np.eye(7)
     reset_init_dict['R'] = np.eye(1)
-    reset_init_dict['use_tx_time'] = True
+    reset_init_dict['sv_rx_time'] = True
     _ = solve_gnss_ekf(derived_no_rx_rows, reset_init_dict)