Skip to content

Devel #49

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
hirokawa merged 2 commits into from
Oct 13, 2025
Merged

Devel #49

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4f8b354
- simplify plot.
hirokawa Oct 13, 2025
cc42168
- rename obs.
hirokawa Oct 13, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
0 data/doy2025-233/3034233H.25o → data/doy2025-233/3034233h.25o
View file
Open in desktop
File renamed without changes.
53 changes: 3 additions & 50 deletions samples/test_pppbds.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
from binascii import unhexlify
from copy import deepcopy
import matplotlib.pyplot as plt
import matplotlib.dates as md
import numpy as np
from sys import exit as sys_exit
from sys import stdout
Expand All @@ -18,7 +17,7 @@
from cssrlib.cssr_bds import cssr_bds
from cssrlib.pppssr import pppos
from cssrlib.rinex import rnxdec

from cssrlib.plot import plot_enu

# Select test case
#
Expand Down Expand Up @@ -271,57 +270,11 @@
nav.fout.close()

fig_type = 1
ylim = 1.0

idx4 = np.where(smode == 4)[0]
idx5 = np.where(smode == 5)[0]
idx0 = np.where(smode == 0)[0]

fig = plt.figure(figsize=[7, 9])
fig.set_rasterized(True)

fmt = '%H:%M'

if fig_type == 1:

lbl_t = ['East [m]', 'North [m]', 'Up [m]']

for k in range(3):
plt.subplot(4, 1, k+1)
plt.plot(t[idx0], enu[idx0, k], 'r.')
plt.plot(t[idx5], enu[idx5, k], 'y.')
plt.plot(t[idx4], enu[idx4, k], 'g.')

plt.ylabel(lbl_t[k])
plt.grid()
plt.ylim([-ylim, ylim])
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.subplot(4, 1, 4)
plt.plot(t[idx0], ztd[idx0]*1e2, 'r.', markersize=8, label='none')
plt.plot(t[idx5], ztd[idx5]*1e2, 'y.', markersize=8, label='float')
plt.plot(t[idx4], ztd[idx4]*1e2, 'g.', markersize=8, label='fix')
plt.ylabel('ZTD [cm]')
plt.grid()
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.xlabel('Time [HH:MM]')
plt.legend()

plot_enu(t, enu, smode, ztd)
elif fig_type == 2:

ax = fig.add_subplot(111)

plt.plot(enu[idx0, 0], enu[idx0, 1], 'r.', label='none')
plt.plot(enu[idx5, 0], enu[idx5, 1], 'y.', label='float')
plt.plot(enu[idx4, 0], enu[idx4, 1], 'g.', label='fix')

plt.xlabel('Easting [m]')
plt.ylabel('Northing [m]')
plt.grid()
plt.axis('equal')
plt.legend()
# ax.set(xlim=(-ylim, ylim), ylim=(-ylim, ylim))
plot_enu(t, enu, smode, figtype=fig_type)

plotFileFormat = 'eps'
plotFileName = '.'.join(('test_pppbds', plotFileFormat))
Expand Down
121 changes: 14 additions & 107 deletions samples/test_ppphas.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,8 @@
static test for PPP (Galileo HAS SIS)
"""

from binascii import unhexlify
import bitstruct as bs
from copy import deepcopy
import matplotlib.pyplot as plt
import matplotlib.dates as md
import numpy as np
from sys import exit as sys_exit
from sys import stdout
Expand All @@ -17,9 +14,10 @@
from cssrlib.gnss import rSigRnx, prn2sat, uGNSS
from cssrlib.gnss import sys2str
from cssrlib.peph import atxdec, searchpcv
from cssrlib.cssr_has import cssr_has
from cssrlib.cssr_has import cssr_has, cnav_msg
from cssrlib.pppssr import pppos
from cssrlib.rinex import rnxdec
from cssrlib.plot import plot_enu


# Select test case
Expand Down Expand Up @@ -133,7 +131,10 @@
"""

file_gm = "Galileo-HAS-SIS-ICD_1.0_Annex_B_Reed_Solomon_Generator_Matrix.txt"
gMat = np.genfromtxt(file_gm, dtype="u1", delimiter=",")

# Galileo CNAV message parser
cnav = cnav_msg()
cnav.load_gmat(file_gm)

# Load ANTEX data for satellites and stations
#
Expand Down Expand Up @@ -220,13 +221,6 @@
nav.fout.write(txt+"\n")
nav.fout.write("\n")

mid_ = -1
ms_ = -1
icnt = 0
rec = []
mid_decoded = []
has_pages = np.zeros((255, 53), dtype=int)

# Skip epochs until start time
#
obs = rnx.decode_obs()
Expand All @@ -251,51 +245,11 @@
nav.time_p = t0

vi = v[v['tow'] == tow]
for vn in vi:
buff = unhexlify(vn['nav'])
i = 14
if bs.unpack_from('u24', buff, i)[0] == 0xaf3bc3:
continue
hass, res = bs.unpack_from('u2u2', buff, i)
i += 4
if hass >= 2: # 0:test,1:operational,2:res,3:dnu
continue
mt, mid, ms, pid = bs.unpack_from('u2u5u5u8', buff, i)

cs.msgtype = mt
ms += 1
i += 20

if mid_ == -1 and mid not in mid_decoded:
mid_ = mid
ms_ = ms
if mid == mid_ and pid-1 not in rec:
page = bs.unpack_from('u8'*53, buff, i)
rec += [pid-1]
has_pages[pid-1, :] = page

# print(f"{mt} {mid} {ms} {pid}")

if len(rec) >= ms_:
if cs.monlevel >= 2:
print(" data collected mid={:2d} ms={:2d} tow={:.0f}"
.format(mid_, ms_, tow))
HASmsg = cs.decode_has_page(rec, has_pages, gMat, ms_)
cs.decode_cssr(HASmsg)
rec = []

mid_decoded += [mid_]
mid_ = -1
if len(mid_decoded) > 10:
mid_decoded = mid_decoded[1:]
else:
icnt += 1
if icnt > 2*ms_ and mid_ != -1:
icnt = 0
if cs.monlevel >= 2:
print(f" reset mid={mid_} ms={ms_} tow={tow}")
rec = []
mid_ = -1

HASmsg = cnav.decode_cnav(tow, vi) # decode CNAV pages
if HASmsg is not None:
cs.msgtype = cnav.msgtype
cs.decode_cssr(HASmsg) # decode HAS messages

# Call PPP module with HAS corrections
#
Expand Down Expand Up @@ -350,60 +304,13 @@
nav.fout.close()

fig_type = 1
ylim = 1.0

idx4 = np.where(smode == 4)[0]
idx5 = np.where(smode == 5)[0]
idx0 = np.where(smode == 0)[0]

fig = plt.figure(figsize=[7, 9])
fig.set_rasterized(True)

fmt = '%H:%M'

if fig_type == 1:

lbl_t = ['East [m]', 'North [m]', 'Up [m]']

for k in range(3):
plt.subplot(4, 1, k+1)
plt.plot(t[idx0], enu[idx0, k], 'r.')
plt.plot(t[idx5], enu[idx5, k], 'y.')
plt.plot(t[idx4], enu[idx4, k], 'g.')

plt.ylabel(lbl_t[k])
plt.grid()
plt.ylim([-ylim, ylim])
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.subplot(4, 1, 4)
plt.plot(t[idx0], ztd[idx0]*1e2, 'r.', markersize=8, label='none')
plt.plot(t[idx5], ztd[idx5]*1e2, 'y.', markersize=8, label='float')
plt.plot(t[idx4], ztd[idx4]*1e2, 'g.', markersize=8, label='fix')
plt.ylabel('ZTD [cm]')
plt.grid()
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.xlabel('Time [HH:MM]')
plt.legend()

plot_enu(t, enu, smode, ztd)
elif fig_type == 2:
plot_enu(t, enu, smode, figtype=fig_type)

ax = fig.add_subplot(111)

plt.plot(enu[idx0, 0], enu[idx0, 1], 'r.', label='none')
plt.plot(enu[idx5, 0], enu[idx5, 1], 'y.', label='float')
plt.plot(enu[idx4, 0], enu[idx4, 1], 'g.', label='fix')

plt.xlabel('Easting [m]')
plt.ylabel('Northing [m]')
plt.grid()
plt.axis('equal')
plt.legend()
# ax.set(xlim=(-ylim, ylim), ylim=(-ylim, ylim))

plotFileFormat = 'eps'
plotFileFormat = 'eps' # 'eps' or 'png'
plotFileName = '.'.join(('test_ppphas', plotFileFormat))

plt.savefig(plotFileName, format=plotFileFormat, bbox_inches='tight', dpi=300)
# plt.show()
52 changes: 3 additions & 49 deletions samples/test_pppigs.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
"""
from copy import deepcopy
import matplotlib.pyplot as plt
import matplotlib.dates as md
import numpy as np
from sys import exit as sys_exit
from sys import stdout
Expand All @@ -17,6 +16,7 @@
from cssrlib.peph import peph, biasdec
from cssrlib.pppssr import pppos
from cssrlib.rinex import rnxdec
from cssrlib.plot import plot_enu

# Start epoch and number of epochs
#
Expand Down Expand Up @@ -294,57 +294,11 @@
nav.fout.close()

fig_type = 1
ylim = 1.0

idx4 = np.where(smode == 4)[0]
idx5 = np.where(smode == 5)[0]
idx0 = np.where(smode == 0)[0]

fig = plt.figure(figsize=[7, 9])
fig.set_rasterized(True)

fmt = '%H:%M'

if fig_type == 1:

lbl_t = ['East [m]', 'North [m]', 'Up [m]']

for k in range(3):
plt.subplot(4, 1, k+1)
plt.plot(t[idx0], enu[idx0, k], 'r.')
plt.plot(t[idx5], enu[idx5, k], 'y.')
plt.plot(t[idx4], enu[idx4, k], 'g.')

plt.ylabel(lbl_t[k])
plt.grid()
plt.ylim([-ylim, ylim])
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.subplot(4, 1, 4)
plt.plot(t[idx0], ztd[idx0]*1e2, 'r.', markersize=8, label='none')
plt.plot(t[idx5], ztd[idx5]*1e2, 'y.', markersize=8, label='float')
plt.plot(t[idx4], ztd[idx4]*1e2, 'g.', markersize=8, label='fix')
plt.ylabel('ZTD [cm]')
plt.grid()
plt.gca().xaxis.set_major_formatter(md.DateFormatter(fmt))

plt.xlabel('Time [HH:MM]')
plt.legend()

plot_enu(t, enu, smode, ztd)
elif fig_type == 2:

ax = fig.add_subplot(111)

# plt.plot(enu[idx0, 0], enu[idx0, 1], 'r.', label='stdpos')
plt.plot(enu[idx5, 0], enu[idx5, 1], 'y.', label='float')
plt.plot(enu[idx4, 0], enu[idx4, 1], 'g.', label='fix')

plt.xlabel('Easting [m]')
plt.ylabel('Northing [m]')
plt.grid()
plt.axis('equal')
plt.legend()
# ax.set(xlim=(-ylim, ylim), ylim=(-ylim, ylim))
plot_enu(t, enu, smode, figtype=fig_type)

plotFileFormat = 'eps'
plotFileName = '.'.join(('test_pppigs', plotFileFormat))
Expand Down
Loading
Loading