Merge pull request #39 from hirokawa/devel

Prepare for v1.0.0

CHANGELOG.md

@@ -0,0 +1,74 @@
+# Changelog
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+
+
+# [1.0.0] 2024-01-01
+
+### Added
+New integrated class structure (PPPOS) for PPP/PPP-RTK/RTK processing
+
+Support for RTCM3 (Galileo HAS IDD)
+
+Decoder for Septentrio receiver
+
+Parser for RTCM3, L5 SBAS
+
+Experimental support for PPP via SouthPAN (PVS)
+
+New solid Earth tides model using PySolid (2010 IERS Conventions) 
+
+### Changed
+
+Improved documentation
+
+Sign of SSR satellite signal code/phase bias align with RTCM 3 convention
+
+PPPIGS was integrated into PPPOS and removed
+
+### Fixed
+
+Link for cssrlib-data
+
+### Deprecated
+### Removed
+Function based PPP/PPP-RTK/RTK processing
+### Security
+
+# [0.8.0] 2023-09-09
+
+### Added
+New signal structure
+
+Support for open PPP services: Galileo HAS (SIS), BDS PPP, QZSS MADOCA-PPP
+
+Support for IGS (SP3+BIAS)
+
+Parser for SP3, ANTEX, BIAS files
+
+Support for PPP-AR
+
+Jupyter notebook with examples
+
+### Changed
+
+Improved documentation
+
+Added link for Google Colab
+
+### Fixed
+### Deprecated
+### Removed
+### Security
+
+# [0.3.0] 2022-03-01
+
+### Added
+Initial version for PPP-RTK (QZSS CLAS) and RTK
+
+### Changed
+### Fixed
+### Deprecated
+### Removed
+### Security

README.md

@@ -15,7 +15,6 @@ It supports the following open format:
 ************************************************
 Click this button for a quick demo in Google Colab
 
-
 <a target="_blank" href="https://colab.research.google.com/github/hirokawa/cssrlib/blob/main/tutorials/cssrlib.ipynb">
   <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
 </a>
@@ -27,14 +26,14 @@ Prerequisites
 Additional python packages are required as prerequisites and can be installed via the following commands
 
 ```
-pip install bitstruct galois crccheck
+pip install bitstruct galois crccheck pysolid
 pip install notebook numpy matplotlib
 ```
 
-Optionally, on linux, users can install the `cartopy` package
+Optionally, on linux, users can install the `cartopy` package and the `PySolid` package
 
 ```
-pip install cartopy
+pip install cartopy pysolid
 ```
 
 If the installation of `cartopy` fails, try installing `libgeos++-dev` first.
@@ -75,9 +74,14 @@ 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 :
+Other samples with dataset are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including :
+
+- Galileo-HAS PPP (SIS/IDD) processing example
+- BDS-PPP processing example
+- QZSS MADOCA-PPP processing example
+- QZSS CLAS PPP-RTK processing example
+- IGS (SP3+BIAS) PPP-AR processing example
+- (experimental) PPP via SouthPAN (PVS) processing example
+- Binary message parser for Septentrio receiver (Mosaic/PolaRX5)
 
-- Galileo-HAS decoder
-- BDS-PPP decoder
-- Jupyter-Notebook including samples for RTK/PPP-RTK.
 

setup.cfg

@@ -1,9 +1,8 @@
 [metadata]
 name = cssrlib
-version = 0.8.0
 author = Rui Hirokawa
 author_email = rui.hirokawa@gmail.com
-description = Compact SSR Library for PPP/PPP-RTK
+description = Python Toolkit for PPP/PPP-RTK positioning
 long_description = file: README.md
 long_description_content_type = text/markdown
 url = https://github.com/hirokawa/cssrlib

src/cssrlib/cssr_bds.py

@@ -156,24 +156,24 @@ def decode_cssr_mask(self, msg, i):
             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.lc[inet].dclk = {}
+            self.lc[inet].dorb = {}
+            self.lc[inet].iode = {}
+            self.lc[inet].iodc = {}
+            self.lc[inet].iodc_c = {}
+            self.lc[inet].cbias = {}
             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)
+            self.sig_n = {}
+            self.ura = {}
 
             # 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.lc[inet].dclk_p = {}
+            self.lc[inet].iodc_c_p = {}
 
         self.iodssr = head['iodssr']
 
         self.lc[0].cstat |= (1 << sCType.MASK)
-        self.lc[0].t0[sCType.MASK] = self.time
+        # self.lc[0].t0[0][sCType.MASK] = self.time
         return i
 
     def decode_cssr_orb_sat(self, msg, i, inet, sat_n):
@@ -186,17 +186,24 @@ def decode_cssr_orb_sat(self, msg, i, inet, sat_n):
         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)
+        dorb = np.zeros(3)
+        dorb[0] = self.sval(dx, 15, self.dorb_scl[0])
+        dorb[1] = self.sval(dy, 13, self.dorb_scl[1])
+        dorb[2] = self.sval(dz, 13, self.dorb_scl[2])
+
+        self.lc[inet].iode[sat] = iodn
+        self.lc[inet].iodc[sat] = iodc
+        self.lc[inet].dorb[sat] = dorb
+        self.ura[sat] = self.quality_idx(ucls, uval)
+
+        if sat not in self.lc[inet].t0:
+            self.lc[inet].t0[sat] = {}
+
+        self.lc[inet].t0[sat][sCType.ORBIT] = self.time
         return i
 
     def decode_cssr_orb(self, msg, i, inet=0):
@@ -212,7 +219,7 @@ def decode_cssr_orb(self, msg, i, inet=0):
 
         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
 
@@ -233,30 +240,36 @@ def decode_cssr_cbias(self, msg, i, inet=0):
             i += 13
             sys, prn = self.slot2prn(slot)
             sat = prn2sat(sys, prn)
-            idx = np.where(sat == sat_n)[0]
-            if len(idx) == 0:
+            if sat not in sat_n:
                 continue
+            if sat not in self.lc[inet].t0:
+                self.lc[inet].t0[sat] = {}
+            self.lc[inet].t0[sat][sCType.CBIAS] = self.time
+
+            self.lc[inet].cbias[sat] = {}
             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)
+                sig_ = self.ssig2rsig(sys, uTYP.C, sig)
+                self.lc[inet].cbias[sat][sig_] = 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):
+    def decode_cssr_clk_sat(self, msg, i, inet, sat):
         """ 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
+
+        if sat in self.lc[inet].iodc_c.keys() and \
+                iodc != self.lc[inet].iodc_c[sat]:
+            self.lc[inet].iodc_c_p[sat] = self.lc[inet].iodc_c[sat]
+            self.lc[inet].dclk_p[sat] = self.lc[inet].dclk[sat]
+        self.lc[inet].iodc_c[sat] = iodc
         # note: the sign of the clock correction reversed
-        self.lc[inet].dclk[idx] = -self.sval(dclk, 15, self.dclk_scl)
+        self.lc[inet].dclk[sat] = -self.sval(dclk, 15, self.dclk_scl)
         return i
 
     def decode_cssr_clk(self, msg, i, inet=0):
@@ -273,11 +286,15 @@ def decode_cssr_clk(self, msg, i, inet=0):
         for k in range(23):
             idx = st1*23+k
             if idx < self.nsat_n:
-                i = self.decode_cssr_clk_sat(msg, i, inet, idx)
+                sat = self.sat_n[idx]
+                i = self.decode_cssr_clk_sat(msg, i, inet, sat)
+                if sat not in self.lc[inet].t0:
+                    self.lc[inet].t0[sat] = {}
+                self.lc[inet].t0[sat][sCType.CLOCK] = self.time
 
         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
 
@@ -295,10 +312,11 @@ def decode_cssr_ura(self, msg, i):
             i += 6
             idx = st2*70+k
             if idx < self.nsat_n:
-                self.ura[idx] = self.quality_idx(v['class'], v['val'])
+                sat = self.sat_n[idx]
+                self.ura[sat] = self.quality_idx(v['class'], v['val'])
 
         self.lc[0].cstat |= (1 << sCType.URA)
-        self.lc[0].t0[sCType.URA] = self.time
+        # self.lc[0].t0[0][sCType.URA] = self.time
         return i
 
     def decode_cssr_comb1(self, msg, i, inet=0):
@@ -312,7 +330,8 @@ def decode_cssr_comb1(self, msg, i, inet=0):
             i += 36
             for k in range(numc):
                 idx = slot_s+k
-                i = self.decode_cssr_clk_sat(msg, i, inet, idx)
+                sat = self.sat_n[idx]
+                i = self.decode_cssr_clk_sat(msg, i, inet, sat)
 
         if numo > 0:
             tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)
@@ -335,8 +354,7 @@ def decode_cssr_comb2(self, msg, i, inet=0):
                 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)
+                i = self.decode_cssr_clk_sat(msg, i, inet, sat)
 
         if numo > 0:
             tod, _, iodssr = bs.unpack_from('u17u4u2', msg, i)