residuals working for single sat case, better test, residuals to residuals_m

Author: betaBison

gnss_lib_py/algorithms/residuals.py

@@ -23,7 +23,7 @@ def solve_residuals(measurements, receiver_state, inplace=True):
         following rows: x_*_m, y_*_m, z_*_m, b_*_m.
     inplace : bool
         If False, will return new NavData instance with gps_millis and
-        reisuals. If True, will add a "residuals" rows in the
+        reisuals. If True, will add a "residuals_m" rows in the
         current NavData instance.
 
     Returns
@@ -63,6 +63,7 @@ def solve_residuals(measurements, receiver_state, inplace=True):
     for timestamp, _, measurement_subset in measurements.loop_time("gps_millis"):
 
         pos_sv_m = measurement_subset[["x_sv_m","y_sv_m","z_sv_m"]].T
+        pos_sv_m = np.atleast_2d(pos_sv_m)
 
         num_svs = pos_sv_m.shape[0]
 
@@ -74,26 +75,25 @@ def solve_residuals(measurements, receiver_state, inplace=True):
         rx_pos = receiver_state[[rx_idxs["x_*_m"],
                                  rx_idxs["y_*_m"],
                                  rx_idxs["z_*_m"]],
-                                 rx_t_idx].reshape(-1,1)
-        pos_rx_m = np.tile(rx_pos.T, (num_svs, 1))
+                                 rx_t_idx].reshape(1,-1)
+        pos_rx_m = np.tile(rx_pos, (num_svs, 1))
 
         gt_pr_m = np.linalg.norm(pos_rx_m - pos_sv_m, axis = 1,
                                  keepdims = True) \
                 + receiver_state[rx_idxs["b_*_m"],rx_t_idx]
 
         # calculate residual
         residuals_epoch = corr_pr_m - gt_pr_m
-
-        residuals += np.squeeze(residuals_epoch).tolist()
+        residuals += residuals_epoch.reshape(-1).tolist()
 
     if inplace:
         # add measurements to measurement class
-        measurements["residuals"] = residuals
+        measurements["residuals_m"] = residuals
         return None
 
     # if not inplace, create new NavData instance to return
     residual_navdata = NavData()
-    residual_navdata["residuals"] = residuals
+    residual_navdata["residuals_m"] = residuals
     residual_navdata["gps_millis"]= measurements["gps_millis"]
     for row in ["gnss_id","sv_id","signal_type"]:
         if row in measurements.rows:

notebooks/tutorials/algorithms.ipynb

@@ -15,9 +15,9 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from gnss_lib_py.algorithms.snapshot import solve_wls\n",
     "from gnss_lib_py.parsers.android import AndroidDerived2021\n",
-    "from gnss_lib_py.utils.visualizations import plot_metric"
+    "from gnss_lib_py.algorithms.snapshot import solve_wls\n",
+    "from gnss_lib_py.utils.visualizations import plot_map"
    ]
   },
   {
@@ -65,7 +65,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "fig = plot_metric(state, \"x_rx_m\", \"y_rx_m\", save=False)"
+    "plot_map(state)"
    ]
   },
   {
@@ -93,7 +93,7 @@
    "id": "a4ff4bdc",
    "metadata": {},
    "source": [
-    "Solve for residuals using the estimated state. A new \"residuals\" row is added to derived_data"
+    "Solve for residuals using the estimated state. A new \"residuals_m\" row is added to derived_data"
    ]
   },
   {
@@ -121,13 +121,13 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "figs = plot_metric_by_constellation(galileo_data, \"gps_millis\", \"residuals\", save=False)"
+    "figs = plot_metric_by_constellation(galileo_data, \"gps_millis\", \"residuals_m\")"
    ]
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "Python 3",
    "language": "python",
    "name": "python3"
   },

tests/algorithms/test_residuals.py

@@ -101,10 +101,13 @@ def test_residuals_inplace(derived):
     assert len(derived) == len(derived_original)
 
     # derived should include new residuals rows but not its copy
-    assert "residuals" in derived.rows
-    assert "residuals" not in derived_original.rows
+    assert "residuals_m" in derived.rows
+    assert "residuals_m" not in derived_original.rows
 
-    assert not np.any(np.isinf(derived["residuals"]))
+    assert not np.any(np.isinf(derived["residuals_m"]))
+
+    # max is 47.814594604074955
+    assert max(derived["residuals_m"]) < 50.
 
 def test_residuals(derived):
     """Test that solving for residuals doesn't fail
@@ -124,14 +127,17 @@ def test_residuals(derived):
     assert isinstance(residuals,type(NavData()))
 
     # derived should have one more row but same number of cols
-    for row in ["residuals","gps_millis","gnss_id","sv_id","signal_type"]:
+    for row in ["residuals_m","gps_millis","gnss_id","sv_id","signal_type"]:
         assert row in residuals.rows
     assert len(residuals) == len(derived)
 
     # derived should not include new residuals row
-    assert "residuals" not in derived.rows
+    assert "residuals_m" not in derived.rows
+
+    assert not np.any(np.isinf(residuals["residuals_m"]))
 
-    assert not np.any(np.isinf(residuals["residuals"]))
+    # max is 47.814594604074955
+    assert max(residuals["residuals_m"]) < 50.
 
 def test_residuals_fails(derived):
     """Test that solving for residuals fails when it should