tasgnss 0.1.0

A Python package for GNSS positioning and processing by TASLAB

TAS-GNSS Python Package

A Python package for GNSS positioning and processing by Trustworthy AI and Autonomous Systems (TAS) Laboratory, The Hong Kong Polytechnic Univerisity.

Installation

Install the package using pip online:

pip install tasgnss

or install by github clone:

git clone https://github.com/PolyU-TASLAB/TASGNSS.git
cd TASGNSS && pip install .

Usage

After installation, you can import and use the package:

import tasgnss as tas

obs,nav,sta = tas.read_obs('data/20210610/test.obs','data/20210610/sta/hksc161d.21*')
obss = tas.split_obs(obs,False)
obss = tas.filter_obs(obss,1623296137.0,1623296340.0)
print("total epochs:",len(obss))
for o in obss:
    print(f"Epoch: {tas.obs2utc(o.data[0].time)}")
    sol_wls = tas.wls_pnt_pos(o,nav)
    print(sol_wls)

You can try to run the example:

cd example && python3 example.py

ROS Wrapper Usage

The ros_wrapper package provides a ROS node that processes GNSS data and publishes ROS messages. To use it:

1. Make sure you have ROS installed and sourced.

2. Build the package:

   cd /path/to/your/ros/workspace
   catkin_make
   source devel/setup.bash
   

3. Run the ROS wrapper node:

   rosrun ros_wrapper ros_wrapper_node.py
   

   You can specify the observation and navigation files, as well as the UTC time range using ROS parameters:

   rosrun ros_wrapper ros_wrapper_node.py _obs_file:='data/20210610/test.obs' _nav_file:='data/20210610/sta/hksc161d.21*' _start_utc:=1623296137.0 _end_utc:=1623296340.0
   

   The node will publish the following topics:

   • /gnss_observations: GNSS observation data
   • /gnss_ephemeris: GNSS ephemeris data
   • /gnss_processed_data: Processed GNSS data

Documentation

For detailed documentation, please visit: http://120.76.229.59/