- added samples for OSNMA, QZNMA.

samples/test_osnma.py

@@ -0,0 +1,92 @@
+"""
+test script for Galileo OSNMA
+
+@author Rui Hirokawa
+
+"""
+
+import numpy as np
+import cssrlib.osnma as om
+from binascii import unhexlify, hexlify
+import matplotlib.pyplot as plt
+
+tofst = -2  # time offset to syncronize tow
+
+nma = om.osnma()
+
+nma.flg_slowmac = True
+
+file_galinav = '../data/doy2024-305/305a_galinav.txt'
+doy = 305
+
+dtype_ = [('tow', 'i8'), ('wn', 'i8'), ('prn', 'i8'),
+          ('mt', 'i8'), ('k', 'i8'), ('nma', 'S10'),
+          ('wt', 'i8'), ('nav', 'S32')]
+
+dtype_ = [('wn', 'int'), ('tow', 'float'), ('prn', 'int'),
+          ('type', 'int'), ('len', 'int'), ('nav', 'S512')]
+
+v = np.genfromtxt(file_galinav, dtype=dtype_)
+
+i = 0
+
+v = v[v['type'] == 0]  # E1 only
+tow = np.unique(v['tow'])
+ntow = len(tow)
+nsat = np.zeros((ntow, 2), dtype=int)
+vstatus = np.zeros(ntow, dtype=int)
+
+# nep = 90
+# nep = 180
+nep = 300
+
+for i, t in enumerate(tow[0:nep]):
+    vi = v[v['tow'] == t]
+    for vn in vi:
+        tow_ = int(vn['tow'])+tofst
+        prn = int(vn['prn'])
+        nma.prn_a = prn
+        msg = unhexlify(vn['nav'])  # I/NAV (120bit+120bit)
+        nav, nma_b = nma.load_inav(msg)
+        nma.load_nav(nav, prn, tow_)
+        if nma_b[0] != 0:  # for connected satellite
+            nma.decode(nma_b, int(vn['wn']), tow_, prn)
+
+    nsat[i, 0] = len(vi)
+    nsat[i, 1] = nma.nsat
+    vstatus[i] = nma.status
+
+
+if True:
+
+    tmax = 240
+
+    fig, ax = plt.subplots()
+    plt.plot(tow-tow[0], nsat[:, 0], label='tracked')
+    plt.plot(tow-tow[0], nsat[:, 1], label='authenticated')
+    plt.grid()
+    plt.legend()
+    plt.xlim([0, tmax])
+    ax.set_xticks(np.arange(0, 300, 30))
+    plt.ylabel('number of satellites')
+    plt.xlabel('time [s]')
+    plt.savefig('osnma-{0:d}-nsat-{1:d}.png'.format(doy, tmax))
+    plt.show()
+
+    y = np.ones(ntow)
+    lbl_t = ['rootkey-loaded', 'rootkey-verified', 'keychain-verified',
+             'utc-verified', 'auth-position']
+    fig, ax = plt.subplots()
+    for k in range(5):
+        idx = np.where(vstatus & (1 << k))
+        plt.plot(tow[idx]-tow[0], y[idx]*(k+1), '.', label=lbl_t[k])
+    plt.grid()
+    ax.set_yticks(np.arange(0, 6))
+    ax.set_xticks(np.arange(0, 300, 30))
+    plt.legend()
+    plt.ylim([0, 6])
+    plt.xlim([0, 240])
+    plt.ylabel('status')
+    plt.xlabel('time [s]')
+    plt.savefig('osnma-{0:d}-status.png'.format(doy))
+    plt.show()

samples/test_qznma.py

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+"""
+sample for QZNMA
+
+@author Rui Hirokawa
+
+"""
+
+from binascii import unhexlify
+import numpy as np
+from cssrlib.qznma import qznma
+import matplotlib.pyplot as plt
+
+prn_ref = 199
+navmode = 4  # 1:LNAV, 2:CNAV, 3:CNAV2, 4:L6
+doy = 305
+
+qz = qznma(prn_ref=prn_ref)
+
+if navmode == 1:
+    navfile = '../data/doy2024-305/305a_qzslnav.txt'
+elif navmode == 2:
+    navfile = '../data/doy2024-305/305a_qzscnav.txt'
+elif navmode == 3:
+    navfile = '../data/doy2024-305/305a_qzscnav2.txt'
+elif navmode == 4:
+    navfile = '../data/doy2024-305/305a_qzsl6.txt'
+    navfile_gpslnav = '../data/doy2024-305/305a_gpslnav.txt'
+    navfile_gpscnav = '../data/doy2024-305/305a_gpscnav.txt'
+    # navfile_gpscnav2 = '../data/doy2024-305/305a_gpscnav2.txt'
+    navfile_galinav = '../data/doy2024-305/305a_galinav.txt'
+    navfile_galfnav = '../data/doy2024-305/305a_galfnav.txt'
+
+    # load navigation message
+    qz.load_navmsg_lnav(navfile_gpslnav)
+    qz.load_navmsg_cnav(navfile_gpscnav)
+    qz.load_navmsg_inav(navfile_galinav)
+    qz.load_navmsg_fnav(navfile_galfnav)
+
+dtype = [('wn', 'int'), ('tow', 'float'), ('prn', 'int'),
+         ('type', 'int'), ('len', 'int'), ('nav', 'S512')]
+v = np.genfromtxt(navfile, dtype=dtype)
+
+tow_ = np.unique(v['tow'])
+nep = len(tow_)
+# nep = 1200
+
+nsat = np.zeros((nep, 2), dtype=int)
+vstatus = np.zeros(nep, dtype=int)
+
+for k in range(nep):
+    if navmode != 4:
+        vi = v[(v['tow'] == tow_[k]) & (v['prn'] == prn_ref)]
+    else:  # L6E
+        vi = v[(v['tow'] == tow_[k]) &
+               (v['prn'] == prn_ref) & (v['type'] == 1)]
+    if len(vi) == 0:
+        qz.flag_e = 0
+        continue
+    msg = unhexlify(vi['nav'][0])
+    prn = vi['prn'][0]
+    tow = vi['tow'][0]
+
+    qz.decode(tow, msg, navmode)
+
+    nsat[k, 0] = qz.count_tracked_sat(tow)
+    nsat[k, 1] = qz.nsat
+
+if True:
+
+    tmax = 900
+
+    fig, ax = plt.subplots()
+    plt.plot(tow_-tow_[0], nsat[:, 0], label='tracked')
+    plt.plot(tow_-tow_[0], nsat[:, 1], label='authenticated')
+    plt.grid()
+    plt.legend()
+    plt.xlim([0, tmax])
+    # ax.set_xticks(np.arange(0, 300, 30))
+    plt.ylabel('number of satellites')
+    plt.xlabel('time [s]')
+    # plt.savefig('qznma-{0:d}-nsat-{1:d}.png'.format(doy, tmax))
+    plt.show()