gnatss.posfilter.posfilter module

gnatss.posfilter.posfilter.kalman_filtering(inspvaa_df: DataFrame, insstdeva_df: DataFrame, gps_df: DataFrame, twtt_df: DataFrame, gnss_pos_psd=3.125e-05, vel_psd=0.0025, cov_err=0.25, start_dt=0.05, full_result: bool = False) → DataFrame

Performs Kalman filtering of the GPS_GEOCENTRIC and GPS_COV_DIAG fields

Parameters:

inspvaa_dfpd.DataFrame

Pandas Dataframe containing Antenna enu directions Novatel Level-1 data

insstdeva_dfpd.DataFrame

Pandas Dataframe containing Antenna enu directions std deviation Novatel Level-1 data

gps_dfpd.DataFrame

Pandas Dataframe containing GPS solutions Novatel Level-1 data

twtt_dfpd.DataFrame

Pandas Dataframe containing two way travel time data

gnss_pos_psdfloat

GNSS Position Estimation Noise for creating Q Matrix

vel_psdfloat

Velocity Estimation Noise for creating Q Matrix

cov_errfloat

Initial state error covariance values for creating P Matrix

start_dtfloat

Initial time step for creating F Matrix

full_resultbool

If True, returns the full result of the Kalman filter simulation rather than just data from the two way travel time timestamps

Returns:

pos_twttpd.DataFrame

Pandas Dataframe containing the resulting antenna positions, covariance, and standard deviation

gnatss.posfilter.posfilter.rotation(pos_twtt: pd.DataFrame, cov_rph_twtt: pd.DataFrame, atd_offsets: AtdOffset | NDArray[Shape[3], Float], array_center: ArrayCenter) → pd.DataFrame

Calculate GNSS antenna eastward, northward, and upward position columns,and add to input dataframe.

Parameters:

pos_twttpd.DataFrame

Pandas Dataframe containing positioning data as result from the kalman filtering process

cov_rph_twttpd.DataFrame

Pandas Dataframe containing INS RPH data, including the covariance data from the spline interpolation process

atd_offsetsNDArray[Shape[“3”], Float]

Forward, Rightward, and Downward antenna transducer offset values

array_centerArrayCenter

Array center base model containing Latitude, Longitude and Altitude

Returns:

pos_freed_trans_twttpd.DataFrame

Modified positioning data that includes rotation

gnatss.posfilter.posfilter.spline_interpolate(inspvaa_df: DataFrame, insstdeva_df: DataFrame, twtt_df: DataFrame, full_result: bool = False) → DataFrame

Interpolate the INS RPH data and the covariance data to the travel times data

Parameters:

inspvaa_dfDataFrame

Pandas Dataframe containing Antenna enu directions Novatel Level-1 data

insstdeva_dfDataFrame

Pandas Dataframe containing Antenna enu directions std deviation Novatel Level-1 data

twtt_dfpd.DataFrame

The travel times data

full_resultbool

TODO: Add description

Returns:

cov_rph_twttpd.DataFrame

The interpolated data