residuals module

Calculate residuals

residuals.solve_residuals(measurements, receiver_state, inplace=True)[source]

Calculates residuals given pseudoranges and receiver position.

Parameters:

  • measurements (gnss_lib_py.navdata.navdata.NavData) – Instance of the NavData class

  • receiver_state (gnss_lib_py.navdata.navdata.NavData) – Either estimated or ground truth receiver position in ECEF frame in meters and the estimated or ground truth receiver clock bias also in meters as an instance of the NavData class with the following rows: x_rx*_m, y_rx*_m, z_rx*_m, b_rx*_m.

  • inplace (bool) – If False, will return new NavData instance with gps_millis and reisuals. If True, will add a “residuals_m” rows in the current NavData instance.

Returns:

new_navdata – If inplace is False, returns new NavData instance containing “gps_millis” and residual rows. If inplace is True, returns None.

Return type:

gnss_lib_py.navdata.navdata.NavData or None