cssrlib 0.2.1__tar.gz → 0.8.0__tar.gz

{cssrlib-0.2.1 → cssrlib-0.8.0}/MANIFEST.in

@@ -1,13 +1,13 @@
-include src/cssrlib/data/*.21?
-include src/cssrlib/test/test*.py
-
-graft docs
-prune docs/build
-
-prune tests
-prune example
-prune .github
-
-global-exclude *.py[cod]
-global-exclude __pycache__
-global-exclude *.egg-info
+include src/cssrlib/data/*.21?
+include src/cssrlib/test/test*.py
+
+graft docs
+prune docs/build
+
+prune tests
+prune example
+prune .github
+
+global-exclude *.py[cod]
+global-exclude __pycache__
+global-exclude *.egg-info

cssrlib-0.8.0/PKG-INFO

@@ -0,0 +1,97 @@
+Metadata-Version: 2.1
+Name: cssrlib
+Version: 0.8.0
+Summary: Compact SSR Library for PPP/PPP-RTK
+Home-page: https://github.com/hirokawa/cssrlib
+Author: Rui Hirokawa
+Author-email: rui.hirokawa@gmail.com
+Project-URL: Bug Tracker, https://github.com/hirokawa/cssrlib/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+
+*************************
+CSSRlib - Toolkit for PPP-RTK/RTK in Python using Compact SSR
+*************************
+
+# What is CSSRlib?
+
+CSSRLIB is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
+
+It supports the following open format:
+
+- The observation data and ephemeris in RINEX
+- The PPP/PPP-RTK correction data in RTCM SSR, IGS SSR, Compact SSR, ...
+- The precise orbit/clock data in SP3 format.
+
+************************************************
+Click this button for a quick demo in Google Colab
+
+<a target="_blank" href="https://colab.research.google.com/github/rtklibexplorer/cssrlib/blob/new_sig/tutorials/cssrlib.ipynb">
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
+</a>
+
+************************************************     
+
+Prerequisites
+=============
+Additional python packages are required as prerequisites and can be installed via the following commands
+
+```
+pip install bitstruct galois crccheck
+pip install notebook numpy matplotlib
+```
+
+Optionally, on linux, users can install the `cartopy` package
+
+```
+pip install cartopy
+```
+
+If the installation of `cartopy` fails, try installing `libgeos++-dev` first.
+
+```
+sudo apt-get install libgeos++-dev
+```
+
+Install
+=======
+
+You can install the official version of CSSRlib using pip
+
+```
+pip install cssrlib
+```
+
+If you want to install the development version from this repository, first clone or download the sources and then run
+
+```
+pip install .
+```
+
+in the root directory, where the ``setup.cfg`` file is located.
+
+Testing
+=======
+
+Run orbit plot sample.
+
+```
+python test_eph.py
+```
+
+Run RTK sample.
+
+```
+ python test_rtk.py
+```
+
+Other samples are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including :
+
+- Galileo-HAS decoder
+- BDS-PPP decoder
+- Jupyter-Notebook including samples for RTK/PPP-RTK.
+

cssrlib-0.8.0/README.md

@@ -0,0 +1,82 @@
+*************************
+CSSRlib - Toolkit for PPP-RTK/RTK in Python using Compact SSR
+*************************
+
+# What is CSSRlib?
+
+CSSRLIB is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
+
+It supports the following open format:
+
+- The observation data and ephemeris in RINEX
+- The PPP/PPP-RTK correction data in RTCM SSR, IGS SSR, Compact SSR, ...
+- The precise orbit/clock data in SP3 format.
+
+************************************************
+Click this button for a quick demo in Google Colab
+
+<a target="_blank" href="https://colab.research.google.com/github/rtklibexplorer/cssrlib/blob/new_sig/tutorials/cssrlib.ipynb">
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
+</a>
+
+************************************************     
+
+Prerequisites
+=============
+Additional python packages are required as prerequisites and can be installed via the following commands
+
+```
+pip install bitstruct galois crccheck
+pip install notebook numpy matplotlib
+```
+
+Optionally, on linux, users can install the `cartopy` package
+
+```
+pip install cartopy
+```
+
+If the installation of `cartopy` fails, try installing `libgeos++-dev` first.
+
+```
+sudo apt-get install libgeos++-dev
+```
+
+Install
+=======
+
+You can install the official version of CSSRlib using pip
+
+```
+pip install cssrlib
+```
+
+If you want to install the development version from this repository, first clone or download the sources and then run
+
+```
+pip install .
+```
+
+in the root directory, where the ``setup.cfg`` file is located.
+
+Testing
+=======
+
+Run orbit plot sample.
+
+```
+python test_eph.py
+```
+
+Run RTK sample.
+
+```
+ python test_rtk.py
+```
+
+Other samples are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including :
+
+- Galileo-HAS decoder
+- BDS-PPP decoder
+- Jupyter-Notebook including samples for RTK/PPP-RTK.
+

{cssrlib-0.2.1 → cssrlib-0.8.0}/pyproject.toml

@@ -1,6 +1,6 @@
-[build-system]
-requires = [
-    "setuptools>=42",
-    "wheel"
-]
-build-backend = "setuptools.build_meta"
+[build-system]
+requires = [
+    "setuptools>=42",
+    "wheel"
+]
+build-backend = "setuptools.build_meta"

{cssrlib-0.2.1 → cssrlib-0.8.0}/setup.cfg

@@ -1,31 +1,31 @@
-[metadata]
-name = cssrlib
-version = 0.2.1
-author = Rui Hirokawa
-author_email = rui.hirokawa@gmail.com
-description = Compact SSR Library for PPP/PPP-RTK
-long_description = file: README.md
-long_description_content_type = text/markdown
-url = https://github.com/hirokawa/cssrlib
-project_urls = 
-	Bug Tracker = https://github.com/hirokawa/cssrlib/issues
-classifiers = 
-	Programming Language :: Python :: 3
-	License :: OSI Approved :: MIT License
-	Operating System :: OS Independent
-
-[options]
-zip_safe = False
-include_package_data = True
-package_dir = 
-	= src
-packages = find:
-python_requires = >=3.8
-
-[options.packages.find]
-where = src
-
-[egg_info]
-tag_build = 
-tag_date = 0
-
+[metadata]
+name = cssrlib
+version = 0.8.0
+author = Rui Hirokawa
+author_email = rui.hirokawa@gmail.com
+description = Compact SSR Library for PPP/PPP-RTK
+long_description = file: README.md
+long_description_content_type = text/markdown
+url = https://github.com/hirokawa/cssrlib
+project_urls = 
+	Bug Tracker = https://github.com/hirokawa/cssrlib/issues
+classifiers = 
+	Programming Language :: Python :: 3
+	License :: OSI Approved :: MIT License
+	Operating System :: OS Independent
+
+[options]
+zip_safe = False
+include_package_data = True
+package_dir = 
+	= src
+packages = find:
+python_requires = >=3.10
+
+[options.packages.find]
+where = src
+
+[egg_info]
+tag_build = 
+tag_date = 0
+

{cssrlib-0.2.1 → cssrlib-0.8.0}/src/cssrlib/__init__.py

@@ -1,8 +1,8 @@
-
-from cssrlib.gnss import (gpst2time,epoch2time,ecef2pos,
-                          prn2sat)
-from cssrlib.gnss import (rCST,uGNSS,uSIG,Eph,gtime_t)
-from cssrlib.rinex import (rnxdec)
-
-__version__ = '2021.08.21'
-__author__ = 'Rui Hirokawa'
+
+from cssrlib.gnss import (gpst2time,epoch2time,ecef2pos,
+                          prn2sat)
+from cssrlib.gnss import (rCST,uGNSS,uSIG,Eph,gtime_t)
+from cssrlib.rinex import (rnxdec)
+
+__version__ = '2021.08.21'
+__author__ = 'Rui Hirokawa'

cssrlib-0.8.0/src/cssrlib/cssr_bds.py

@@ -0,0 +1,380 @@
+"""
+BDS PPP correction data decoder
+
+[1] BeiDou Navigation Satellite System Signal In Space Interface Control Document
+Precise Point Positioning Service Signal PPP-B2b (Version 1.0), 2020
+"""
+
+import numpy as np
+import bitstruct as bs
+from cssrlib.cssrlib import cssr, sCSSR, sCSSRTYPE, sGNSS, prn2sat, sCType
+from cssrlib.gnss import bdt2time, bdt2gpst, uGNSS, uSIG, uTYP, rSigRnx
+
+
+class cssr_bds(cssr):
+    def __init__(self, foutname=None):
+        super().__init__(foutname)
+        self.MAXNET = 1
+        self.cssrmode = sCSSRTYPE.BDS_PPP
+        self.nsig_max = 8
+        self.iodp = -1
+        self.iodp_p = -1
+
+    def ssig2rsig(self, sys: sGNSS, utyp: uTYP, ssig):
+        gps_tbl = {
+            0: uSIG.L1C,
+            1: uSIG.L1P,
+            4: uSIG.L1L,
+            5: uSIG.L1X,
+            7: uSIG.L2L,
+            8: uSIG.L2X,
+            11: uSIG.L5I,
+            12: uSIG.L5Q,
+            13: uSIG.L5X,
+        }
+        glo_tbl = {
+            0: uSIG.L1C,
+            1: uSIG.L1P,
+            2: uSIG.L2C,
+        }
+
+        gal_tbl = {
+            1: uSIG.L1B,
+            2: uSIG.L1C,
+            4: uSIG.L5Q,
+            5: uSIG.L5I,
+            7: uSIG.L7I,
+            8: uSIG.L7Q,
+            11: uSIG.L6C,
+        }
+
+        bds_tbl = {
+            0: uSIG.L2I,
+            1: uSIG.L1D,
+            2: uSIG.L1P,
+            4: uSIG.L5D,
+            5: uSIG.L5P,
+            7: uSIG.L7D,
+            8: uSIG.L7P,
+            12: uSIG.L6I,
+        }
+
+        usig_tbl_ = {
+            uGNSS.GPS: gps_tbl,
+            uGNSS.GLO: glo_tbl,
+            uGNSS.GAL: gal_tbl,
+            uGNSS.BDS: bds_tbl,
+        }
+
+        usig_tbl = usig_tbl_[sys]
+        return rSigRnx(sys, utyp, usig_tbl[ssig])
+
+    def sval(self, u, n, scl):
+        """ calculate signed value based on n-bit int, lsb """
+        invalid = -2**(n-1)
+        dnu = -(2**(n-1)-1)  # this value seems to be invalid
+        y = np.nan if u == invalid or u == dnu else u*scl
+        return y
+
+    def slot2prn(self, slot):
+        prn = 0
+        sys = uGNSS.NONE
+        if slot >= 1 and slot <= 63:
+            prn = slot
+            sys = uGNSS.BDS
+        elif slot <= 100:
+            prn = slot-63
+            sys = uGNSS.GPS
+        elif slot <= 137:
+            prn = slot-100
+            sys = uGNSS.GAL
+        elif slot <= 174:
+            prn = slot-137
+            sys = uGNSS.GLO
+        return sys, prn
+
+    def decode_head(self, msg, i, st=-1):
+        self.tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)
+        i += 23
+
+        if st == sCSSR.MASK:
+            self.iodssr = iodssr
+
+        if self.tow0 >= 0:
+            self.tow = self.tow0+self.tod
+            if self.week >= 0:
+                self.time = bdt2gpst(bdt2time(self.week, self.tow))
+
+        head = {'uint': 0, 'mi': 0, 'iodssr': iodssr}
+        return head, i
+
+    def add_gnss(self, mask, blen, gnss):
+        prn, nsat = self.decode_mask(mask, blen)
+        self.nsat_g[gnss] = nsat
+        self.nsat_n += nsat
+        if nsat > 0:
+            self.ngnss += 1
+        sys = self.gnss2sys(gnss)
+        for k in range(0, nsat):
+            sat = prn2sat(sys, prn[k])
+            self.sys_n.append(sys)
+            self.sat_n.append(sat)
+            self.gnss_n.append(gnss)
+
+    def decode_cssr_mask(self, msg, i):
+        """decode MT1 Mask message """
+        head, i = self.decode_head(msg, i, sCSSR.MASK)
+
+        self.iodp = bs.unpack_from('u4', msg, i)[0]
+        i += 4
+
+        mask_bds, mask_gps, mask_gal, mask_glo = \
+            bs.unpack_from('u63u37u37u37', msg, i)
+        i += 174
+
+        if self.iodp != self.iodp_p:
+            self.sat_n_p = self.sat_n
+            self.iodssr_p = self.iodssr
+            self.sig_n_p = self.sig_n
+            self.iodp_p = self.iodp
+
+            self.nsat_n = 0
+            self.nsig_n = []
+            self.sys_n = []
+            self.gnss_n = []
+            self.sat_n = []
+            self.nsig_total = 0
+            self.sig_n = []
+            self.nm_idx = np.zeros(self.SYSMAX, dtype=int)
+            self.ngnss = 0
+            # self.gnss_idx = np.zeros(self.ngnss, dtype=int)
+            self.nsat_g = np.zeros(self.SYSMAX, dtype=int)
+
+            self.add_gnss(mask_bds, 63, sGNSS.BDS)
+            self.add_gnss(mask_gps, 37, sGNSS.GPS)
+            self.add_gnss(mask_gal, 37, sGNSS.GAL)
+            self.add_gnss(mask_glo, 37, sGNSS.GLO)
+
+            inet = 0
+            self.lc[inet].dclk = np.ones(self.nsat_n)*np.nan
+            self.lc[inet].dorb = np.ones((self.nsat_n, 3))*np.nan
+            self.lc[inet].iode = np.zeros(self.nsat_n, dtype=int)
+            self.lc[inet].iodc = np.zeros(self.nsat_n, dtype=int)
+            self.lc[inet].iodc_c = np.zeros(self.nsat_n, dtype=int)
+            self.lc[inet].cbias = np.ones((self.nsat_n, self.nsig_max))*np.nan
+            self.nsig_n = np.ones(self.nsat_n, dtype=int)*self.nsig_max
+            self.sig_n = -1*np.ones((self.nsat_n, self.nsig_max), dtype=int)
+            self.ura = np.zeros(self.nsat_n)
+
+            # fallback for inconsistent clock update
+            self.lc[inet].dclk_p = np.ones(self.nsat_n)*np.nan
+            self.lc[inet].iodc_c_p = np.zeros(self.nsat_n, dtype=int)
+
+        self.iodssr = head['iodssr']
+
+        self.lc[0].cstat |= (1 << sCType.MASK)
+        self.lc[0].t0[sCType.MASK] = self.time
+        return i
+
+    def decode_cssr_orb_sat(self, msg, i, inet, sat_n):
+        slot, iodn, iodc, dx, dy, dz, ucls, uval = \
+            bs.unpack_from('u9u10u3s15s13s13u3u3', msg, i)
+        i += 69
+        sys, prn = self.slot2prn(slot)
+        if sys == uGNSS.NONE:
+            return i
+        sat = prn2sat(sys, prn)
+        if sat not in sat_n:
+            return i
+        idx = np.where(sat == sat_n)[0][0]
+
+        if (sys == uGNSS.GPS) or (sys == uGNSS.BDS):
+            iodn = iodn & 0xff  # IODC -> IODE
+
+        self.lc[inet].iode[idx] = iodn
+        self.lc[inet].iodc[idx] = iodc
+        self.lc[inet].dorb[idx, 0] = self.sval(dx, 15, self.dorb_scl[0])
+        self.lc[inet].dorb[idx, 1] = self.sval(dy, 13, self.dorb_scl[1])
+        self.lc[inet].dorb[idx, 2] = self.sval(dz, 13, self.dorb_scl[2])
+        self.ura[idx] = self.quality_idx(ucls, uval)
+        return i
+
+    def decode_cssr_orb(self, msg, i, inet=0):
+        """decode MT2 orbit + URA message """
+        head, i = self.decode_head(msg, i)
+        sat_n = np.array(self.sat_n)
+
+        if self.iodssr != head['iodssr']:
+            return -1
+
+        for k in range(6):
+            i = self.decode_cssr_orb_sat(msg, i, inet, sat_n)
+
+        self.iodssr_c[sCType.ORBIT] = head['iodssr']
+        self.lc[inet].cstat |= (1 << sCType.ORBIT)
+        self.lc[inet].t0[sCType.ORBIT] = self.time
+        i += 19
+        return i
+
+    def decode_cssr_cbias(self, msg, i, inet=0):
+        """decode MT3 Code Bias Correction message """
+        head, i = self.decode_head(msg, i)
+        nsat = self.nsat_n
+        self.flg_net = False
+        if self.iodssr != head['iodssr']:
+            return -1
+
+        sat_n = np.array(self.sat_n)
+        nsat = bs.unpack_from('u5', msg, i)[0]
+        i += 5
+
+        for k in range(nsat):
+            slot, nsig = bs.unpack_from('u9u4', msg, i)
+            i += 13
+            sys, prn = self.slot2prn(slot)
+            sat = prn2sat(sys, prn)
+            idx = np.where(sat == sat_n)[0]
+            if len(idx) == 0:
+                continue
+            for j in range(0, nsig):
+                sig, cb = bs.unpack_from('u4s12', msg, i)
+                i += 16
+                self.sig_n[idx, j] = sig
+                self.lc[inet].cbias[idx, j] = self.sval(cb, 12, self.cb_scl)
+
+        self.iodssr_c[sCType.CBIAS] = head['iodssr']
+        self.lc[inet].cstat |= (1 << sCType.CBIAS)
+        self.lc[inet].t0[sCType.CBIAS] = self.time
+        return i
+
+    def decode_cssr_clk_sat(self, msg, i, inet, idx):
+        """ decode clock correction for satellite """
+        iodc, dclk = bs.unpack_from('u3s15', msg, i)
+        i += 18
+        if iodc != self.lc[inet].iodc_c[idx]:
+            self.lc[inet].iodc_c_p[idx] = self.lc[inet].iodc_c[idx]
+            self.lc[inet].dclk_p[idx] = self.lc[inet].dclk[idx]
+        self.lc[inet].iodc_c[idx] = iodc
+        # note: the sign of the clock correction reversed
+        self.lc[inet].dclk[idx] = -self.sval(dclk, 15, self.dclk_scl)
+        return i
+
+    def decode_cssr_clk(self, msg, i, inet=0):
+        """decode MT4 Clock Correction message """
+        head, i = self.decode_head(msg, i)
+        if self.iodssr != head['iodssr']:
+            return -1
+
+        iodp, st1 = bs.unpack_from('u4u5', msg, i)
+        i += 9
+        if iodp != self.iodp:
+            i += 23*18+10
+            return i
+        for k in range(23):
+            idx = st1*23+k
+            if idx < self.nsat_n:
+                i = self.decode_cssr_clk_sat(msg, i, inet, idx)
+
+        self.iodssr_c[sCType.CLOCK] = head['iodssr']
+        self.lc[inet].cstat |= (1 << sCType.CLOCK)
+        self.lc[inet].t0[sCType.CLOCK] = self.time
+        i += 10
+        return i
+
+    def decode_cssr_ura(self, msg, i):
+        """decode MT5 URA message """
+        head, i = self.decode_head(msg, i)
+        if self.iodssr != head['iodssr']:
+            return -1
+
+        iodp, st2 = bs.unpack_from('u4u3', msg, i)
+        i += 7
+
+        for k in range(70):
+            v = bs.unpack_from_dict('u3u3', ['class', 'val'], msg, i)
+            i += 6
+            idx = st2*70+k
+            if idx < self.nsat_n:
+                self.ura[idx] = self.quality_idx(v['class'], v['val'])
+
+        self.lc[0].cstat |= (1 << sCType.URA)
+        self.lc[0].t0[sCType.URA] = self.time
+        return i
+
+    def decode_cssr_comb1(self, msg, i, inet=0):
+        """decode MT6 combined message #1 """
+        numc, numo = bs.unpack_from('u5u3', msg, i)
+        sat_n = np.array(self.sat_n)
+
+        if numc > 0:
+            tod, _, iodssr, iodp, slot_s = \
+                bs.unpack_from('u17u4u2u4u9', msg, i)
+            i += 36
+            for k in range(numc):
+                idx = slot_s+k
+                i = self.decode_cssr_clk_sat(msg, i, inet, idx)
+
+        if numo > 0:
+            tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)
+            i += 23
+            for k in range(numo):
+                i = self.decode_cssr_orb_sat(msg, i, inet, sat_n)
+
+        return i
+
+    def decode_cssr_comb2(self, msg, i, inet=0):
+        """decode MT7 combined message #2 """
+        numc, numo = bs.unpack_from('u5u3', msg, i)
+        sat_n = np.array(self.sat_n)
+
+        if numc > 0:
+            tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)
+            i += 23
+            for k in range(numc):
+                slot = bs.unpack_from('u9', msg, i)
+                i += 9
+                sys, prn = self.slot2prn(slot)
+                sat = prn2sat(sys, prn)
+                idx = np.where(sat == sat_n)[0]
+                i = self.decode_cssr_clk_sat(msg, i, inet, idx)
+
+        if numo > 0:
+            tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)
+            i += 23
+            for k in range(numo):
+                i = self.decode_cssr_orb_sat(msg, i, inet, sat_n)
+
+        return i
+
+    def decode_cssr(self, msg, i=0):
+        mt = bs.unpack_from('u6', msg, i)[0]
+        i += 6
+
+        if mt == 1:
+            self.subtype = sCSSR.MASK
+            i = self.decode_cssr_mask(msg, i)
+        elif mt == 2:
+            self.subtype = sCSSR.ORBIT
+            i = self.decode_cssr_orb(msg, i)
+            if self.monlevel > 0 and self.fh is not None:
+                self.out_log()
+        elif mt == 3:
+            self.subtype = sCSSR.CBIAS
+            i = self.decode_cssr_cbias(msg, i)
+            if self.monlevel > 0 and self.fh is not None:
+                self.out_log()
+        elif mt == 4:
+            self.subtype = sCSSR.CLOCK
+            i = self.decode_cssr_clk(msg, i)
+            if self.monlevel > 0 and self.fh is not None:
+                self.out_log()
+        elif mt == 5:
+            self.subtype = sCSSR.URA
+            i = self.decode_cssr_ura(msg, i)
+        elif mt == 6:
+            i = self.decode_cssr_comb1(msg, i)
+        elif mt == 7:
+            i = self.decode_cssr_comb2(msg, i)
+
+        if self.monlevel > 0:
+            print(" mt={:2d} tow={:6.1f}".format(mt, self.tow))