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