test_gnss_filters module

Test for GNSS filtering algorithms.

test_gnss_filters.gnss_init_params()

Testing parameters for GNSS-only EKF

Returns:

init_dict – Dictionary with KF initialization parameters

Return type:

dict

test_gnss_filters.gnss_run_params()

Run time parameters for GNSS-only EKF test

Returns:

params_dict – Dicitonary with satellite positions, delta_t and measure type

Return type:

dict

test_gnss_filters.test_solve_gnss_ekf(derived_2021)

Test that solving for GNSS EKF doesn’t fail

Parameters:

derived_2021 (AndroidDerived2021) – Instance of AndroidDerived2021 for testing.

test_gnss_filters.test_solve_gnss_ekf_fails(derived_2021)

Test expected fails for the GNSS EKF.

Parameters:

derived_2021 (AndroidDerived2021) – Instance of AndroidDerived2021 for testing

test_gnss_filters.test_stationary_filter(init_dict, params_dict, motion_type)

Test if solution of EKF with small measurement noise is submeter close to truth

Parameters:

• init_dict (dict) – Dictionary of initialization parameters

• params_dict (dict) – Dictionary of run-time parameters for GNSS-only EKF

• motion_type (string) – Stationary or constant velocity