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Move multilateration test code into mlat.py

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This commit is contained in:
Nick Foster 2012-06-18 18:43:53 -07:00
parent 8b747e23da
commit e3ac472a1a
2 changed files with 26 additions and 27 deletions
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27
python/mlat-test.py
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@ -1,27 +0,0 @@
#!/usr/bin/python
import mlat
import numpy
#here's some test data to validate the algorithm
teststations = [[37.76225, -122.44254, 100], [37.680016,-121.772461, 100], [37.385844,-122.083082, 100], [37.701207,-122.309418, 100]]
testalt = 8000
testplane = numpy.array(mlat.llh2ecef([37.617175,-122.400843, testalt]))
testme = mlat.llh2geoid(teststations[0])
teststamps = [10,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[1]))) / mlat.c,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[2]))) / mlat.c,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[3]))) / mlat.c,
]
print teststamps
replies = []
for i in range(0, len(teststations)):
replies.append((teststations[i], teststamps[i]))
ans = mlat.mlat(replies, testalt)
error = numpy.linalg.norm(numpy.array(mlat.llh2ecef(ans))-numpy.array(testplane))
range = numpy.linalg.norm(mlat.llh2geoid(ans)-numpy.array(testme))
print testplane-testme
print ans
print "Error: %.2fm" % (error)
print "Range: %.2fkm (from first station in list)" % (range/1000)

26
python/mlat.py
View File

@ -171,3 +171,29 @@ def mlat(replies, altitude):
#the diagonal elements of doparray will be the x, y, z DOPs. #the diagonal elements of doparray will be the x, y, z DOPs.
return llhpos return llhpos
if __name__ == '__main__':
#here's some test data to validate the algorithm
teststations = [[37.76225, -122.44254, 100], [37.680016,-121.772461, 100], [37.385844,-122.083082, 100], [37.701207,-122.309418, 100]]
testalt = 8000
testplane = numpy.array(llh2ecef([37.617175,-122.400843, testalt]))
testme = llh2geoid(teststations[0])
teststamps = [10,
10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[1]))) / c,
10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[2]))) / c,
10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[3]))) / c,
]
print teststamps
replies = []
for i in range(0, len(teststations)):
replies.append((teststations[i], teststamps[i]))
ans = mlat(replies, testalt)
error = numpy.linalg.norm(numpy.array(llh2ecef(ans))-numpy.array(testplane))
range = numpy.linalg.norm(llh2geoid(ans)-numpy.array(testme))
print testplane-testme
print ans
print "Error: %.2fm" % (error)
print "Range: %.2fkm (from first station in list)" % (range/1000)