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add sp3, clk tutorials
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‎notebooks/tutorials/parsers.ipynb‎

Lines changed: 197 additions & 59 deletions
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"gt_data.rows"
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]
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},
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{
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"cell_type": "markdown",
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"id": "95e58b71",
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"metadata": {},
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"source": [
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"# TU Chemnitz SmartLoc\n",
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"This tutorial shows how to load data from TU Chemnitz's [smartLoc GNSS Dataset](https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Datasets)."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "714dbb21",
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"metadata": {},
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"outputs": [],
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"source": [
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"import gnss_lib_py as glp"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "b369035d",
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"metadata": {},
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"outputs": [],
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"source": [
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"# download cropped SmartLoc data file\n",
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"!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/smartloc/tu_chemnitz_berlin_1_raw.csv --quiet -O \"smartloc.csv\"\n",
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" \n",
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"# load smartLoc data into NavData object\n",
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"smartloc_data = glp.SmartLocRaw(\"smartloc.csv\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "4dd67679",
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"metadata": {},
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"outputs": [],
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"source": [
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"# plot the pseudorange over time of each individual satellite\n",
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"# SBAS 120 is the outlier with its larger orbit\n",
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"fig = glp.plot_metric(smartloc_data, \"gps_millis\",\"raw_pr_m\", groupby=\"sv_id\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "fe8d92d7",
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"metadata": {
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"scrolled": true
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},
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"outputs": [],
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"source": [
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"# show the ground truth smartLoc data on a map\n",
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"fig = glp.plot_map(smartloc_data)\n",
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"fig.show()"
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]
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},
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{
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"cell_type": "markdown",
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"id": "1c7b4ed3",
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"metadata": {},
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"source": [
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"# SP3 File Parsing"
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]
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},
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{
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"cell_type": "markdown",
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"id": "9777add4",
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"metadata": {},
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"source": [
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"This tutorial shows how to load SP3 files."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "72f716de",
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"metadata": {},
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"outputs": [],
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"source": [
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"# download an example .sp3 data file\n",
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"!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/sp3/COD0MGXFIN_20211180000_01D_05M_ORB.SP3 --quiet -O \"COD0MGXFIN_20211180000_01D_05M_ORB.SP3\"\n",
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"# Specify .sp3 file path to extract precise ephemerides\n",
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"sp3_path = \"COD0MGXFIN_20211180000_01D_05M_ORB.SP3\""
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]
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},
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{
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"cell_type": "markdown",
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"id": "ef1ffeca",
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"metadata": {},
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"source": [
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"Use the SP3 class loader to load in the SP3 file. The class can also optionally take multiple files as a list."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "2f3d2d21",
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"metadata": {},
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"outputs": [],
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"source": [
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"sp3 = glp.Sp3(sp3_path)\n",
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"sp3"
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]
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},
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{
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"cell_type": "markdown",
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"id": "95e38bf1",
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"metadata": {},
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"source": [
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"To visualize the results, we'll plot the ECEF x position of the first 10 GPS satellites."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "6ffa98ab",
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"metadata": {
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"scrolled": false
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},
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"outputs": [],
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"source": [
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"sp3_first_ten_gps = sp3.where(\"gnss_id\",\"gps\").where(\"sv_id\",10,\"leq\")\n",
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"fig = glp.plot_metric_by_constellation(sp3_first_ten_gps,\"gps_millis\",\"x_sv_m\")"
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]
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},
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{
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"cell_type": "markdown",
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"id": "a8756760",
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"metadata": {},
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"source": [
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"# CLK File Parsing"
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]
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},
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{
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"cell_type": "markdown",
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"id": "7ca096db",
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"metadata": {},
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"source": [
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"This tutorial shows how to load CLK files."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "e0b24834",
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"metadata": {},
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"outputs": [],
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"source": [
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"# download an example .clk data file\n",
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"!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/clk/COD0MGXFIN_20211180000_01D_30S_CLK.CLK --quiet -O \"COD0MGXFIN_20211180000_01D_30S_CLK.CLK\"\n",
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"# Specify .clk file path to extract precise ephemerides\n",
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"clk_path = \"COD0MGXFIN_20211180000_01D_30S_CLK.CLK\""
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]
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},
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{
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"cell_type": "markdown",
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"id": "4213e749",
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"metadata": {},
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"source": [
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"Use the Clk class loader to load in the CLK file. The class can also optionally take multiple files as a list."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "52199b26",
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"metadata": {},
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"outputs": [],
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"source": [
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"clk = glp.Clk(clk_path)\n",
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"clk"
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]
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},
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{
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"cell_type": "markdown",
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"id": "72b2e23d",
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"metadata": {},
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"source": [
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"To visualize the results, we'll plot the clock bias of the first BeiDou satellites."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "147cdf01",
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"metadata": {
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"scrolled": true
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},
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"outputs": [],
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"source": [
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"clk_first_beidou = clk.where(\"gnss_id\",\"beidou\").where(\"sv_id\",16,\"leq\")\n",
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"fig = glp.plot_metric_by_constellation(clk_first_beidou,\"b_sv_m\")"
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]
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},
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{
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"cell_type": "markdown",
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"id": "b0a917b6",
@@ -436,65 +633,6 @@
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" rinex_obs_3.where('gps_millis', rinex_obs_3['gps_millis', 0], 'eq'))"
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]
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},
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{
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"cell_type": "markdown",
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"id": "95e58b71",
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"metadata": {},
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"source": [
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"# TU Chemnitz SmartLoc\n",
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"This tutorial shows how to load data from TU Chemnitz's [smartLoc GNSS Dataset](https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Datasets)."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "714dbb21",
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"metadata": {},
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"outputs": [],
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"source": [
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"import gnss_lib_py as glp"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "b369035d",
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"metadata": {},
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"outputs": [],
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"source": [
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"# download cropped SmartLoc data file\n",
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"!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/smartloc/tu_chemnitz_berlin_1_raw.csv --quiet -O \"smartloc.csv\"\n",
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" \n",
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"# load smartLoc data into NavData object\n",
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"smartloc_data = glp.SmartLocRaw(\"smartloc.csv\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "4dd67679",
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"metadata": {},
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"outputs": [],
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"source": [
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"# plot the pseudorange over time of each individual satellite\n",
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"# SBAS 120 is the outlier with its larger orbit\n",
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"fig = glp.plot_metric(smartloc_data, \"gps_millis\",\"raw_pr_m\", groupby=\"sv_id\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "fe8d92d7",
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"metadata": {
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"scrolled": true
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},
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"outputs": [],
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"source": [
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"# show the ground truth smartLoc data on a map\n",
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"fig = glp.plot_map(smartloc_data)\n",
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"fig.show()"
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]
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},
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{
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"cell_type": "markdown",
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"id": "eb016e74",

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