Merge pull request #82 from Stanford-NavLab/ashwin/multignss_paths

kanhereashwin · web-flow · commit 774c387a14a0 · 2022-10-31T22:46:25.000-07:00
Changed path names
diff --git a/.gitignore b/.gitignore
@@ -16,6 +16,12 @@ results/*
 *.csv
 !data/unit_test/*/*.csv
 !notebooks/tutorials/myreceiver.csv
+# Ignore downloaded precise ephimerides files by default
+*.sp3
+*.clk
+# Include unit test files for precise ephimerides
+!data/unit_test/*/*.sp3
+!data/unit_test/*/*.clk
 
 #Excluding VS Code files
 .vscode/*
diff --git a/docs/source/reference/parsers/modules.rst b/docs/source/reference/parsers/modules.rst
@@ -7,3 +7,4 @@ parsers
    android
    ephemeris
    navdata
+   precise_ephemerides
diff --git a/docs/source/reference/parsers/precise_ephemerides.rst b/docs/source/reference/parsers/precise_ephemerides.rst
@@ -0,0 +1,7 @@
+precise\_ephemerides module
+===========================
+
+.. automodule:: precise_ephemerides
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_parsers/modules.rst b/docs/source/reference/test_parsers/modules.rst
@@ -6,3 +6,4 @@ parsers
 
    test_android
    test_navdata
+   test_precise_ephemerides
diff --git a/docs/source/reference/test_parsers/test_precise_ephemerides.rst b/docs/source/reference/test_parsers/test_precise_ephemerides.rst
@@ -0,0 +1,7 @@
+test\_precise\_ephemerides module
+=================================
+
+.. automodule:: test_precise_ephemerides
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/requirements.txt b/docs/source/requirements.txt
@@ -102,7 +102,7 @@ requests==2.28.1; python_version >= "3.7" and python_version < "4"
 scipy==1.7.3; python_version >= "3.7" and python_version < "3.11"
 send2trash==1.8.0; python_version >= "3.7"
 setuptools-scm==6.4.2; python_version >= "3.7"
-six==1.16.0; python_full_version >= "3.7.1" and python_version >= "3.7"
+six==1.16.0; python_full_version >= "3.7.1" and python_version >= "3.7" and (python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.3.0" and python_version >= "3.7") and (python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.3.0")
 snowballstemmer==2.2.0; python_version >= "3.6"
 soupsieve==2.3.2.post1; python_full_version >= "3.6.0" and python_version >= "3.7"
 sphinx-rtd-theme==0.5.2
diff --git a/notebooks/tutorials/parsers.ipynb b/notebooks/tutorials/parsers.ipynb
@@ -266,6 +266,146 @@
     "gt_data.rows"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "id": "cf51b89e",
+   "metadata": {},
+   "source": [
+    "# Precise Ephemerides Processing"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "3c5de62f",
+   "metadata": {},
+   "source": [
+    "The data required to calculate with precise ephemerides uses .sp3 and .clk files, which can be downloaded from [CDDIS](https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/gnss_mgex.html) or [CORS](https://geodesy.noaa.gov/UFCORS/).\n",
+    "\n",
+    "The .sp3 files provide post-processed, accurate, and precise information regarding 3-D satellite position in the Earth-Centered Earth-Fixed (ECEF) frame at intervals of 15mins each.  \n",
+    "\n",
+    "Similarly, the .clk files provide post-processed, accurate and precise information on satellite clock errors at intervals of 30secs each.  \n",
+    "\n",
+    "These .sp3 and .clk files are available for any GNSS constellation, and hence, provide a common processing platform for applications that involve multi-GNSS satellite signals (without requiring to parse the broadcast ephemeris from each constellation separately one at a time). Also, unlike broadcast ephemeris that can suffer from signal-in-space anomalies, the .sp3 and .clk files are guaranteed to provide accurate satellite information. However, note that, these files are only available in a post-processed manner, and not in real-time"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "67fc4f2e",
+   "metadata": {},
+   "source": [
+    "We show how to analyze this precise ephemerides functionality for the Android derived dataset in the following cells, \n",
+    "\n",
+    "1. Load the derived data from AndroidDerived"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "364e7fb3",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from gnss_lib_py.parsers.precise_ephemerides import multi_gnss_from_precise_eph\n",
+    "import numpy as np\n",
+    "\n",
+    "# load Android Google Challenge data\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/android_2021/Pixel4_derived_clkdiscnt.csv --quiet -O \"Pixel4_derived_clkdiscnt.csv\"\n",
+    "derived_data = AndroidDerived2021(\"Pixel4_derived_clkdiscnt.csv\", remove_timing_outliers=False)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "4e4ee7c8",
+   "metadata": {},
+   "source": [
+    "2. Specify the paths to the .sp3 and .clk files, as well as the desired constellations from which one intends to extract satellite information"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "e62ed8ee",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# download .sp3 data file\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/precise_ephemeris/grg21553_short.sp3 --quiet -O \"grg21553_short.sp3\"\n",
+    "# Specify .sp3 file path to extract precise ephemerides\n",
+    "sp3_path = \"grg21553_short.sp3\"\n",
+    "\n",
+    "# download .clk data file\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/precise_ephemeris/grg21553_short.clk --quiet -O \"grg21553_short.clk\"\n",
+    "# Specify .clk file path to extract precise ephemerides\n",
+    "clk_path = \"grg21553_short.clk\"\n",
+    "\n",
+    "# Specify the GNSS constellations for which you want to extract precise ephemeris\n",
+    "gnss_constellations = {'gps', 'glonass'}"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "2567ff0f",
+   "metadata": {},
+   "source": [
+    "3. Remove the rows in NavData class that refer to satellite information (3-D satellite position, 3-D satellite velocity, clock bias and clock drift), \n",
+    "\n",
+    "    i.e., `SV_KEYS =['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']`"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "3761b169",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Define the keys relevant for satellite information, and remove the data within these fields\n",
+    "SV_KEYS = ['x_sv_m', 'y_sv_m', 'z_sv_m', \\\n",
+    "           'vx_sv_mps','vy_sv_mps','vz_sv_mps', \\\n",
+    "           'b_sv_m', 'b_dot_sv_mps']\n",
+    "\n",
+    "for sv in SV_KEYS:\n",
+    "    derived_data[sv] = 0"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "458b0a46",
+   "metadata": {},
+   "source": [
+    "4. Populate the columns of SV_KEYS with information extracted via precise ephemerides"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "f4e3f349",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Update derived_data class with satellite information computed via precise ephemerides\n",
+    "derived_multi_gnss = multi_gnss_from_precise_eph(derived_data, sp3_path, \\\n",
+    "                                                         clk_path, gnss_constellations, verbose = False)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "10563cec",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Check that all the desired fields related to satellite information have useful\n",
+    "# information, and norm of computed satellite position matches the altitude of GNSS constellation\n",
+    "sat_alt = np.linalg.norm(np.transpose([derived_multi_gnss[SV_KEYS[0]][0:2],\n",
+    "                                        derived_multi_gnss[SV_KEYS[1]][0:2], \n",
+    "                                        derived_multi_gnss[SV_KEYS[2]][0:2]]), axis=1)\n",
+    "print('Distance of two satellites from the center of the Earth (expected around 26000000 m):', derived_multi_gnss[\"gnss_id\"][0:2], sat_alt)\n",
+    "print(\"Extracted values for same satellites: \")\n",
+    "for sv in SV_KEYS:\n",
+    "    print(sv, ':', derived_multi_gnss[sv][0:2])"
+   ]
+  },
   {
    "cell_type": "markdown",
    "id": "eb016e74",
@@ -542,145 +682,6 @@
     "from gnss_lib_py.utils.visualizations import plot_metric\n",
     "fig = plot_metric(my_receiver_data,\"gps_millis\",\"corr_pr_m\",groupby=\"sv_id\")"
    ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "cf51b89e",
-   "metadata": {},
-   "source": [
-    "# Precise Ephemerides Processing"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "3c5de62f",
-   "metadata": {},
-   "source": [
-    "The data required to calculate with precise ephemerides uses .sp3 and .clk files, which can be downloaded from [CDDIS](https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/gnss_mgex.html) or [CORS](https://geodesy.noaa.gov/UFCORS/).\n",
-    "\n",
-    "The .sp3 files provide post-processed, accurate, and precise information regarding 3-D satellite position in the Earth-Centered Earth-Fixed (ECEF) frame at intervals of 15mins each.  \n",
-    "\n",
-    "Similarly, the .clk files provide post-processed, accurate and precise information on satellite clock errors at intervals of 30secs each.  \n",
-    "\n",
-    "These .sp3 and .clk files are available for any GNSS constellation, and hence, provide a common processing platform for applications that involve multi-GNSS satellite signals (without requiring to parse the broadcast ephemeris from each constellation separately one at a time). Also, unlike broadcast ephemeris that can suffer from signal-in-space anomalies, the .sp3 and .clk files are guaranteed to provide accurate satellite information. However, note that, these files are only available in a post-processed manner, and not in real-time"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "67fc4f2e",
-   "metadata": {},
-   "source": [
-    "We show how to analyze this precise ephemerides functionality for the Android derived dataset in the following cells, \n",
-    "1. Load the derived data from AndroidDerived"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "364e7fb3",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from gnss_lib_py.parsers.precise_ephemerides import multi_gnss_from_precise_eph\n",
-    "import numpy as np\n",
-    "\n",
-    "# load Android Google Challenge data\n",
-    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/ramya/multiGNSS_sp3/data/unit_test/android_2021/Pixel4_derived_clkdiscnt.csv --quiet -O \"Pixel4_derived_clkdiscnt.csv\"\n",
-    "derived_data = AndroidDerived2021(\"Pixel4_derived_clkdiscnt.csv\", remove_timing_outliers=False)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "4e4ee7c8",
-   "metadata": {},
-   "source": [
-    "2. Specify the paths to the .sp3 and .clk files, as well as the desired constellations from which one intends to extract satellite information"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "e62ed8ee",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# download .sp3 data file\n",
-    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/ramya/multiGNSS_sp3/data/unit_test/precise_ephemeris/grg21553_short.sp3 --quiet -O \"grg21553_short.sp3\"\n",
-    "# Specify .sp3 file path to extract precise ephemerides\n",
-    "sp3_path = \"grg21553_short.sp3\"\n",
-    "\n",
-    "# download .clk data file\n",
-    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/ramya/multiGNSS_sp3/data/unit_test/precise_ephemeris/grg21553_short.clk --quiet -O \"grg21553_short.clk\"\n",
-    "# Specify .clk file path to extract precise ephemerides\n",
-    "clk_path = \"grg21553_short.clk\"\n",
-    "\n",
-    "# Specify the GNSS constellations for which you want to extract precise ephemeris\n",
-    "gnss_constellations = {'gps', 'glonass'}"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "2567ff0f",
-   "metadata": {},
-   "source": [
-    "3. Remove the rows in NavData class that refer to satellite information (3-D satellite position, 3-D satellite velocity, clock bias and clock drift), \n",
-    "\n",
-    "    i.e., `SV_KEYS =['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']`"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "3761b169",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Define the keys relevant for satellite information, and remove the data within these fields\n",
-    "SV_KEYS = ['x_sv_m', 'y_sv_m', 'z_sv_m', \\\n",
-    "           'vx_sv_mps','vy_sv_mps','vz_sv_mps', \\\n",
-    "           'b_sv_m', 'b_dot_sv_mps']\n",
-    "\n",
-    "for sv in SV_KEYS:\n",
-    "    derived_data[sv] = 0"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "458b0a46",
-   "metadata": {},
-   "source": [
-    "4. Populate the columns of SV_KEYS with information extracted via precise ephemerides"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "f4e3f349",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Update derived_data class with satellite information computed via precise ephemerides\n",
-    "derived_multi_gnss = multi_gnss_from_precise_eph(derived_data, sp3_path, \\\n",
-    "                                                         clk_path, gnss_constellations, verbose = False)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "10563cec",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Check that all the desired fields related to satellite information have useful\n",
-    "# information, and norm of computed satellite position matches the altitude of GNSS constellation\n",
-    "sat_alt = np.linalg.norm(np.transpose([derived_multi_gnss[SV_KEYS[0]][0:2],\n",
-    "                                        derived_multi_gnss[SV_KEYS[1]][0:2], \n",
-    "                                        derived_multi_gnss[SV_KEYS[2]][0:2]]), axis=1)\n",
-    "print('Distance of two satellites from the center of the Earth (expected around 26000000 m):', derived_multi_gnss[\"gnss_id\"][0:2], sat_alt)\n",
-    "print(\"Extracted values for same satellites: \")\n",
-    "for sv in SV_KEYS:\n",
-    "    print(sv, ':', derived_multi_gnss[sv][0:2])"
-   ]
   }
  ],
  "metadata": {
diff --git a/requirements.txt b/requirements.txt
@@ -90,7 +90,7 @@ reindent==3.5.1
 scipy==1.7.3; python_version >= "3.7" and python_version < "3.11"
 send2trash==1.8.0; python_version >= "3.7"
 setuptools-scm==6.4.2; python_version >= "3.7"
-six==1.16.0; python_full_version >= "3.7.1" and python_version >= "3.7"
+six==1.16.0; python_full_version >= "3.7.1" and python_version >= "3.7" and (python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.3.0" and python_version >= "3.7")
 soupsieve==2.3.2.post1; python_full_version >= "3.6.0" and python_version >= "3.7"
 tenacity==8.0.1; python_version >= "3.6"
 terminado==0.15.0; python_version >= "3.7"

Original file line number	Diff line number	Diff line change
`@@ -6,3 +6,4 @@ parsers`
`6`	`6`
`7`	`7`	`test_android`
`8`	`8`	`test_navdata`
	`9`	`+ test_precise_ephemerides`