shipgrav 1.0.0__py2.py3-none-any.whl

shipgrav/nav.py

@@ -0,0 +1,91 @@
+import numpy as np
+
+# impulse response of 10th order Taylor series differentiator
+tay10 = [1/1260, -5/504, 5/84, -5/21, 5/6,
+         0, -5/6, 5/21, -5/84, 5/504, -1/1260]
+
+
+def latlon_to_EN(lon, lat, freq=1):
+    """ Convert a time series of geographic position to E/N velocities.
+
+    Coordinate time series should be at a constant sampling rate. The first and last five 
+    values of the output arrays will be filled with Nan because the differencing scheme
+    has some edge effects.
+
+    :param lon: longitude points, decimal degrees
+    :type lon: ndarray
+    :param lat: latitude points, decimal degrees
+    :type lat: ndarray
+    :param freq: frequency of the position data, Hz (default: 1 Hz)
+    :type freq: float
+
+    :return:
+        - **vn** (*ndarray*) - north velocities, m/s
+        - **ve** (*ndarray*) - east velocities, m/s
+    """
+
+    assert hasattr(lon, '__len__') and hasattr(
+        lat, '__len__'), 'lon and lat must be lists or arrays'
+    assert len(lon) == len(lat), 'lon and lat must be the same length'
+    assert len(lon) > 10, 'at least 11 data points required'
+
+    a = 6378137.0       # WGS84 semi-major
+    b = 6356752.3142451  # WGS84 semi-minor
+    e2 = 1 - b**2/a**2  # ellipticity**2
+
+    # constants for radii of curvature
+    sin2lat = np.sin(np.deg2rad(lat))**2
+    e2term = np.sqrt(1 - e2*sin2lat)
+
+    # differentiate lat and lon using 10th order Taylor
+    dlat = np.deg2rad(np.convolve(lat, tay10, 'same'))
+    dlon = np.deg2rad(np.convolve(lon, tay10, 'same'))
+
+    # convert dlon/dlat to east and north velocity, scaled by sampling frequency
+    vn = a*(1 - e2)*(dlat/(e2term**3))*freq
+    ve = a*dlon*(np.cos(np.deg2rad(lat))/e2term)*freq
+
+    # Nan the edges bc they are unreliable
+    vn[:5] = np.nan
+    vn[-5:] = np.nan
+    ve[:5] = np.nan
+    ve[-5:] = np.nan
+
+    return vn, ve
+
+
+def ENvel_to_course_heading(ve, vn):
+    """Calculate velocity and heading from east and north velocities.
+
+    :param ve: east velocity, m/s
+    :type ve: ndarray
+    :param vn: north velocity, m/s
+    :type vn: ndarray
+
+    :return:
+        - **heading** (*ndarray*) - track heading in degrees clockwise from N
+        - **vel** (*ndarray*) - velocity amplitude, m/s
+
+    """
+    heading = np.rad2deg(np.arctan2(ve, vn))
+    vel = np.sqrt(ve**2 + vn**2)
+    return heading, vel
+
+
+def rotate_acceleration_EN_to_cl(heading, accE, accN):
+    """Rotate acceleration from East/North to Cross/Long reference frame.
+
+    :param heading: heading, in degrees clockwise from N
+    :type heading: ndarray
+    :param accE: east acceleration
+    :type accE: ndarray
+    :param accN: north acceleration
+    :type accN: ndarray
+
+    :return: **ac, al** (*ndarrays*) - cross and long accelerations
+    """
+    cosa = np.cos(np.deg2rad(heading))
+    sina = np.sin(np.deg2rad(heading))
+    ac = (accE*cosa) - (accN*sina)
+    al = (accE*sina) + (accN*cosa)
+    return ac, al

shipgrav/tests/__init__.py

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+"""
+Tests for shipgrav
+"""
+
+from pkg_resources import resource_filename
+import sys
+import unittest
+
+
+def run():
+    loader = unittest.TestLoader()
+    test_dir = resource_filename('shipgrav', 'tests')
+    suite = loader.discover(test_dir)
+    runner = unittest.runner.TextTestRunner()  # verbosity=2)
+    ret = not runner.run(suite).wasSuccessful()
+    sys.exit(ret)

shipgrav/tests/__main__.py

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+from shipgrav.tests import run
+
+run()

shipgrav/tests/ex_files/AT05_01_bgm.RGS

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+RGS 2022/07/01 00:00:00.445 980329.272 24980 1656633600.445 4.994070552 855577.390 BGM3 S210 GPS: 41.523386 -70.671852 1656633599.533 0 0 UNKNOWN_SRC 0.010 135.000 DEPTH: -999 -999 NONE HDG: 243.380 1656633599.855 SRC_GYRO NO_DNV_ERROR 1656633600.445 -999
+
+RGS 2022/07/01 00:00:01.445 980284.326 24971 1656633601.445 4.994070552 855577.390 BGM3 S210 GPS: 41.523386 -70.671852 1656633600.536 0 0 UNKNOWN_SRC 0.010 18.400 DEPTH: -999 -999 NONE HDG: 243.370 1656633600.855 SRC_GYRO NO_DNV_ERROR 1656633601.445 -999
+