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Initial tutorial
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‎gnss_lib_py/utils/metrics.py‎

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@@ -52,10 +52,6 @@ def get_dop(navdata, **which_dop):
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'dop_matrix': False}
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# This syntax allows for the user to override the default values.
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which_dop = {**default_which_dop, **which_dop}
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print("HERE #############################################")
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print(f"which_dop = {which_dop}")
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print("THERE #############################################")
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# Initialize the gps_millis to output
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times = []

‎notebooks/tutorials/utils/metrics.ipynb‎

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{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# DOP Metrics\n",
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"\n",
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"Dillution of Precision (DOP) describes the effect of satellite geometry on the \n",
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"user's positioning accuracy. \n",
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"DOP can refer to multiple ideas:\n",
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"1. The full DOP matrix (or tensor),\n",
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"2. DOP in the horizontal or vertical direction,\n",
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"3. DOP on the time uncertainty, or\n",
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"4. DOP in a particular direction.\n",
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"\n",
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"Here we show how to make use of existing functionality."
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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": 1,
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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": "markdown",
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"metadata": {},
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"source": [
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"As an example, we can load in data from the 2022 Google Smartphone Decimeter \n",
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"Challenge"
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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": 2,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"'wget' is not recognized as an internal or external command,\n",
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"operable program or batch file.\n"
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]
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},
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{
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"ename": "FileNotFoundError",
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"evalue": "[Errno ../data/device_gnss.csv] file not found",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mFileNotFoundError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[2], line 3\u001b[0m\n\u001b[0;32m 1\u001b[0m glp\u001b[38;5;241m.\u001b[39mmake_dir(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m../data\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 2\u001b[0m get_ipython()\u001b[38;5;241m.\u001b[39msystem(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mwget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/google_decimeter_2022/device_gnss.csv --quiet -nc -O \u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m../data/device_gnss.csv\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[1;32m----> 3\u001b[0m navdata \u001b[38;5;241m=\u001b[39m \u001b[43mglp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mAndroidDerived2022\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m../data/device_gnss.csv\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m)\u001b[49m\n",
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"File \u001b[1;32m~\\Desktop\\GitHub\\gnss_lib_py\\gnss_lib_py\\parsers\\google_decimeter.py:152\u001b[0m, in \u001b[0;36mAndroidDerived2022.__init__\u001b[1;34m(self, input_path, **kwargs)\u001b[0m\n\u001b[0;32m 151\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m__init__\u001b[39m(\u001b[38;5;28mself\u001b[39m, input_path, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs):\n\u001b[1;32m--> 152\u001b[0m \u001b[38;5;28;43msuper\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[38;5;21;43m__init__\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43mcsv_path\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43minput_path\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
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"File \u001b[1;32m~\\Desktop\\GitHub\\gnss_lib_py\\gnss_lib_py\\navdata\\navdata.py:76\u001b[0m, in \u001b[0;36mNavData.__init__\u001b[1;34m(self, csv_path, pandas_df, numpy_array, **kwargs)\u001b[0m\n\u001b[0;32m 73\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mnum_cols \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m0\u001b[39m\n\u001b[0;32m 75\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m csv_path \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m---> 76\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mfrom_csv_path\u001b[49m\u001b[43m(\u001b[49m\u001b[43mcsv_path\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[0;32m 77\u001b[0m \u001b[38;5;28;01melif\u001b[39;00m pandas_df \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[0;32m 78\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfrom_pandas_df(pandas_df)\n",
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"File \u001b[1;32m~\\Desktop\\GitHub\\gnss_lib_py\\gnss_lib_py\\navdata\\navdata.py:109\u001b[0m, in \u001b[0;36mNavData.from_csv_path\u001b[1;34m(self, csv_path, **kwargs)\u001b[0m\n\u001b[0;32m 107\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mTypeError\u001b[39;00m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mcsv_path must be string or path-like\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 108\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mexists(csv_path):\n\u001b[1;32m--> 109\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mFileNotFoundError\u001b[39;00m(csv_path,\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mfile not found\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 111\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_build_navdata()\n\u001b[0;32m 113\u001b[0m pandas_df \u001b[38;5;241m=\u001b[39m pd\u001b[38;5;241m.\u001b[39mread_csv(csv_path, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs)\n",
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"\u001b[1;31mFileNotFoundError\u001b[0m: [Errno ../data/device_gnss.csv] file not found"
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]
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}
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],
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"source": [
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"glp.make_dir(\"../data\")\n",
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"!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/google_decimeter_2022/device_gnss.csv --quiet -nc -O \"../data/device_gnss.csv\"\n",
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"navdata = glp.AndroidDerived2022(\"../data/device_gnss.csv\")"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Since we already have elevation and azimuth data available to us, we can simply\n",
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"call the `get_dop` function."
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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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"metadata": {},
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"outputs": [],
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"source": [
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"dop_navdata = glp.get_dop(navdata)\n",
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"print(dop_navdata)"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "gnss-lib-py-FzLQXRBT-py3.11",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.11.7"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2
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}

‎tests/utils/test_metrics.py‎

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from gnss_lib_py.navdata.navdata import NavData
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from gnss_lib_py.utils.metrics import \
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get_dop, calculate_dop, calculate_enu_unit_vectors, calculate_enut_matrix
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# from gnss_lib_py.navdata.operations import loop_time
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from gnss_lib_py.parsers.google_decimeter import AndroidDerived2022
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#####################################################################
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# NEW FIXTURES AND TESTS
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@pytest.fixture(name="simple_sat_scenario")

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