20 lines
685 B
Python
20 lines
685 B
Python
import numpy as np
|
|
from laika.raw_gnss import GNSSMeasurement
|
|
|
|
def parse_prr(m):
|
|
sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
|
|
m[GNSSMeasurement.SAT_VEL]))
|
|
R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
|
|
z_i = m[GNSSMeasurement.PRR]
|
|
return z_i, R_i, sat_pos_vel_i
|
|
|
|
def parse_pr(m):
|
|
pseudorange = m[GNSSMeasurement.PR]
|
|
pseudorange_stdev = m[GNSSMeasurement.PR_STD]
|
|
sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
|
|
np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
|
|
z_i = np.atleast_1d(pseudorange)
|
|
R_i = np.atleast_2d(pseudorange_stdev**2)
|
|
return z_i, R_i, sat_pos_freq_i
|
|
|