pygnss 0.1.1__cp312-cp312-musllinux_1_2_i686.whl → 0.2.0__cp312-cp312-musllinux_1_2_i686.whl

pygnss/__init__.py

@@ -1 +1 @@
-__version__ = "0.1.1"
+__version__ = "0.2.0"

pygnss/filter/__init__.py

@@ -33,7 +33,7 @@ class Model(ABC):
         """
 
     @abstractmethod
-    def to_observations(self, state: np.array, compute_jacobian: bool = False) -> ModelObs:
+    def to_observations(self, state: np.array, compute_jacobian: bool = False, **kwargs) -> ModelObs:
         """
         Propagate a state to its corresponding modelled observations (i.e.
         compute expected observations/measurements for the input state)
@@ -56,7 +56,7 @@ class StateHandler(ABC):
     """
 
     @abstractmethod
-    def process_state(self, state: np.array, covariance_matrix: np.array):
+    def process_state(self, state: np.array, covariance_matrix: np.array, **kwargs):
         """
         Process the state and associated covariance_matrix
         """

pygnss/filter/ekf.py

@@ -36,7 +36,7 @@ class Ekf(object):
 
         self.L = len(self.x)
 
-    def process(self, y_k: np.array, R: np.array):
+    def process(self, y_k: np.array, R: np.array, **kwargs):
         """
         Process an observation batch
         """
@@ -45,7 +45,7 @@ class Ekf(object):
         x_m, P_m = self._time_update()
 
         # Measurement update ---------------------------------------------------
-        y_m, H = self.model.to_observations(x_m, compute_jacobian=True)
+        y_m, H = self.model.to_observations(x_m, compute_jacobian=True, **kwargs)
 
         P_yy = H @ P_m @ H.T + R
         P_xy = P_m @ H.T
@@ -62,7 +62,10 @@ class Ekf(object):
         except np.linalg.LinAlgError as e:
             self.logger.warning(f'Unable to compute state, keeping previous one. Error: {e}')
 
-        self.state_handler.process_state(self.x, self.P)
+        # Compute postfit residuals
+        r = y_k - self.model.to_observations(self.x, **kwargs).y_m
+
+        self.state_handler.process_state(self.x, self.P, postfits=r, **kwargs)
 
     def _time_update(self) -> Tuple[np.array, np.array]:
         """

pygnss/filter/ukf.py

@@ -60,7 +60,7 @@ class Ukf(object):
         self.w_m[0] = k
         self.w_c[0] = k + 1 - alpha2 + beta
 
-    def process(self, y_k: np.array, R: np.array):
+    def process(self, y_k: np.array, R: np.array, **kwargs):
         """
         Process an observation batch
 
@@ -85,7 +85,7 @@ class Ukf(object):
         P_m = self.Q + _weighted_average_of_outer_product(spread_chi_m, spread_chi_m, self.w_c)
 
         # Propagate the sigma points to the observation space (psi_m, $\mathcal{Y}_{k|k-1}$)
-        psi_m = np.array([self.model.to_observations(sigma_point).y_m for sigma_point in chi_m])
+        psi_m = np.array([self.model.to_observations(sigma_point, **kwargs).y_m for sigma_point in chi_m])
         n_dim = len(psi_m.shape)
         if n_dim == 1:
             raise ValueError(f'Unexpected size for sigma point propagation, got [ {n_dim} ], '
@@ -115,7 +115,10 @@ class Ukf(object):
         except np.linalg.LinAlgError as e:
             self.logger.warning(f'Unable to compute state, keeping previous one. Error: {e}')
 
-        self.state_handler.process_state(self.x, self.P)
+        # Compute postfit residuals
+        r = y_k - self.model.to_observations(self.x, **kwargs).y_m
+
+        self.state_handler.process_state(self.x, self.P, postfits=r, **kwargs)
 
     def _generate_sigma_points(self) -> np.array:
         """

{pygnss-0.1.1.dist-info → pygnss-0.2.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: pygnss
-Version: 0.1.1
+Version: 0.2.0
 Summary: Package with utilities and tools for GNSS data processing
 Author-email: Miquel Garcia-Fernandez <miquel@mgfernan.com>
 License: MIT

{pygnss-0.1.1.dist-info → pygnss-0.2.0.dist-info}/RECORD

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 pygnss/sinex.py,sha256=nErOmGCFFmGSnmWGNTJhaj3yZ6IIB8GgtW5WPypJc6U,3057
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 pygnss/filter/models.py,sha256=gXq7-YBcAoDq4-7Wr0ChNWxwXr9m1EEhUnlLtKVlsAQ,2165
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 pygnss/_c_ext/src/helpers.c,sha256=gINr73ktRgox_S7fYdFR58lLqAUACRpJfog4M5BW1-Q,364
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