136 lines
4.6 KiB
Python
136 lines
4.6 KiB
Python
#!/usr/bin/env python
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'''
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calculate GPS CEP from DF or mavlink log for all present GPS modules
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This assumes the GPS modules were not moving during the test
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'''
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from builtins import range
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import os
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("logs", metavar="LOG", nargs="+")
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args = parser.parse_args()
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from pymavlink import mavutil
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from pymavlink.mavextra import *
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# full set of data, indexed by sysId and
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DATA = {}
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class Sample:
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def __init__(self, lat, lon, alt, fix_type):
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self.lat = lat
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self.lon = lon
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self.alt = alt
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self.fix_type = fix_type
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def add_data(sysid, gps_id, lat, lon, alt, fix_type):
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global DATA
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if not sysid in DATA:
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DATA[sysid] = {}
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if not gps_id in DATA[sysid]:
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DATA[sysid][gps_id] = []
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DATA[sysid][gps_id].append(Sample(lat, lon, alt, fix_type))
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def process_log(logfile):
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'''process GPS logs'''
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print("Processing log %s" % filename)
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mlog = mavutil.mavlink_connection(filename)
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while True:
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m = mlog.recv_match(type=['GPS', 'GPS2', 'GPS_RAW_INT', 'GPS2_RAW'])
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if m is None:
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break
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mtype = m.get_type()
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if mtype in ['GPS_RAW_INT', 'GPS2_RAW']:
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(lat, lon, alt, fix_type) = (m.lat*1.0e-7, m.lon*1.0e-7, m.alt*1.0e-3, m.fix_type)
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else:
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(lat, lon, alt, fix_type) = (m.Lat, m.Lng, m.Alt, m.Status)
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if fix_type < 3:
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continue
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if mtype in ['GPS', 'GPS_RAW_INT']:
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gps_id = 1
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else:
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gps_id = 2
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if hasattr(m, 'get_srcSystem'):
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sysid = m.get_srcSystem()
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else:
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sysid = int(mlog.params.get('SYSID_THISMAV',0))
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add_data(sysid, gps_id, lat, lon, alt, fix_type)
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for filename in args.logs:
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process_log(filename)
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def calc_cep(data, pct):
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'''calculate CEP horizontally and alt vertically'''
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# get median pos
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count = len(data)
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mid = count//2
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mid2 = count*pct//100
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median_lat = sorted(data, key=lambda x: x.lat)[mid].lat
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median_lon = sorted(data, key=lambda x: x.lon)[mid].lon
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median_alt = sorted(data, key=lambda x: x.alt)[mid].alt
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# find point that is half way through list sorted by distance from median pos
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d1 = sorted(data, key=lambda x: distance_lat_lon(x.lat, x.lon, median_lat, median_lon))[mid2]
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# find point that is half way through list sorted by alt from median alt
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d2 = sorted(data, key=lambda x: abs(x.alt-median_alt))[mid2]
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# cep is distance from median point to the point that 50% of points are within CEP
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cep = distance_lat_lon(d1.lat, d1.lon, median_lat, median_lon)
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# alt accuracy is alt difference from median alt to point where 50% of points are within accuracy
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hep = abs(d2.alt - median_alt)
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return (cep, hep)
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def process_CEP(sysid, gps_id, data):
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rtk5 = []
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rtk6 = []
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non_rtk = []
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for d in data:
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if d.fix_type >= 6:
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rtk6.append(d)
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elif d.fix_type == 5:
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rtk5.append(d)
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elif d.fix_type <= 4:
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non_rtk.append(d)
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# HEP50
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# CEP50
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# CEP99
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# HEP99
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# process if we have at least 100 points
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if len(rtk5) > 100:
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(cep50, hep50) = calc_cep(rtk5, 50)
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(cep99, hep99) = calc_cep(rtk5, 99)
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print("GPS-RTK5 %s:%u CEP50:%.3fm CEP99:%.2fm HEP50:%.3fm HEP99:%.3fm (%u points)" % (sysid, gps_id,
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cep50, cep99, hep50, hep99,
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len(rtk5)))
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if len(rtk6) > 100:
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(cep50, hep50) = calc_cep(rtk6, 50)
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(cep99, hep99) = calc_cep(rtk6, 99)
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print("GPS-RTK6 %s:%u CEP50:%.3fm CEP99:%.2fm HEP50:%.3fm HEP99:%.3fm (%u points)" % (sysid, gps_id,
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cep50, cep99, hep50, hep99,
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len(rtk6)))
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if len(non_rtk) > 100:
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(cep50, hep50) = calc_cep(non_rtk, 50)
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(cep99, hep99) = calc_cep(non_rtk, 99)
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print("GPS-NORM %s:%u CEP50:%.3fm CEP99:%.2fm HEP50:%.3fm HEP99:%.3fm (%u points)" % (sysid, gps_id,
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cep50, cep99, hep50, hep99,
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len(non_rtk)))
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for sysid in sorted(DATA.keys()):
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for gps_id in sorted(DATA[sysid].keys()):
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process_CEP(sysid, gps_id, DATA[sysid][gps_id])
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