test_coordinates module

Tests for coordinate transformations.

test_coordinates.fixture_expected_elaz()

Set the expected elevation and azimuth from sample positions.

Returns:

expect_elaz – Array containing 6 el/az pairs for testing elaz function

Return type:

np.ndarray

test_coordinates.fixture_local_ecef()

Return ECEF origin for local NED frame of reference

Returns:

local_ecef – 3x1 array containing ECEF coordinates of NED origin [m , m, m]

Return type:

np.ndarray

test_coordinates.fixture_local_lla()

Return LLA origin for local NED frame of reference

Returns:

local_lla – 3x1 array containing LLA coordinates of NED origin [deg, deg, m]

Return type:

np.ndarray

test_coordinates.fixture_local_reference(local_lla)

Return NED local frame of reference

Parameters:

local_lla (np.ndarray) – LLA coordinates of NED origin 3x1 [deg, deg, m]

Returns:

local_frame – NED local frame of reference with given LLA as origin

Return type:

gnss_lib_py.utils.coordinates.LocalCoord

test_coordinates.fixture_set_rx_pos()

Set the sample reciever position for computing elaz.

Returns:

rx_pos – Array containing 6 satellite x, y, z coordinates

Return type:

np.ndarray

test_coordinates.fixture_set_sv_pos()

Set the sample satellite positions for computing elevation and azimuth.

Returns:

sv_pos – Array containing 6 satellite x, y, z coordinates

Return type:

np.ndarray

test_coordinates.fixture_simple_sat_expected_enu_unit_vectors()

The expected ENU unit vectors for the simple satellite scenario.

test_coordinates.fixture_simple_sat_scenario()

A simple set of satellites for DOP calculation.

test_coordinates.test_add_el_az(navdata)

Test for plotting skyplot.

Parameters:

navdata (AndroidDerived) – Instance of AndroidDerived for testing.

test_coordinates.test_android_ecef_to_el_az(navdata)

Test for plotting skyplot.

Parameters:

navdata (AndroidDerived) – Instance of AndroidDerived for testing.

test_coordinates.test_ecef2geodetic(ecef, exp_lla)

Test ECEF to LLA (in WGS-84 reference ellipsoid) conversion

Parameters:

• ecef (np.ndarray) – ECEF test coordinates, shape: 3x1, units: [m, m, m]

• exp_lla (np.ndarray) – Expected LLA values (obtained using MATLAB’s equivalent function)

test_coordinates.test_ecef_to_el_az(expected_elaz, set_sv_pos, set_rx_pos)

Test receiver to satellite azimuth and elevation calculation.

Parameters:

• expected_elaz (fixture) – Expected elevation and azimuth angles generated by the given satellite and receiver positions.

• set_sv_pos (fixture) – Satellite position setter

• set_rx_pos (fixture) – Receiver position setter

test_coordinates.test_ecef_to_el_az_fails(set_sv_pos, set_rx_pos)

Test conditions that should fail.

Parameters:

• set_sv_pos (fixture) – Satellite positions.

• set_rx_pos (fixture) – Receiver position.

test_coordinates.test_el_az_to_enu_unit_vector(navdata, expected_los_vectors)

Test the conversion from elevation and azimuth to ENU unit vectors.

Parameters:

• navdata (NavData) – The input NavData instance.

• expected_los_vectors (np.ndarray) – The expected ENU unit vectors.

test_coordinates.test_geodetic_to_ecef(lla, exp_ecef)

Test LLA (in WGS-84 reference ellipsoid) to ECEF conversion

Parameters:

• lla (np.ndarray) – LLA test coordinates, shape: 3x1, units: [deg, deg, m]

• exp_ecef (np.ndarray) – Expected ECEF values (obtained using MATLAB’s equivalent function)

test_coordinates.test_geodetic_to_ned(local_frame)

Test conversion from NED to geodetic and back for given NED frame

Parameters:

local_frame (gnss_lib_py.utils.coordinates.LocalCoord) – NED frame of reference initialized at local_lla

test_coordinates.test_local_frame(local_ecef, local_lla)

Test equivalent initializations for local frame

Parameters:

• local_ecef (np.ndarray) – 3x1 shaped ECEF coordinates of NED frame origin

• local_lla (np.ndarray) – 3x1 shaped LLA (WGS-84) coordinates of NED frame origin

test_coordinates.test_ned_conversions(local_frame, ned, exp_ecef)

Test NED to ECEF position conversions (and ECEF to NED for same values)

Parameters:

• local_frame (gnss_lib_py.utils.coordinates.LocalCoord) – NED local frame of reference initialized for local_lla position

• ned (np.ndarray) – Input NED coordinates

• exp_ecef (np.ndarray) – Expected ECEF values for reference local frame

test_coordinates.test_ned_vector_conversions(local_frame, nedv, exp_ecefv)

Test NED to ECEF conversions for vectors (and ECEF to NED for same values)

Parameters:

• local_frame (gnss_lib_py.utils.coordinates.LocalCoord) – NED local frame of reference initialized for local_lla position

• nedv (np.ndarray) – Input NED vector values

• exp_ecef (np.ndarray) – Expected ECEF vector values for given reference local frame

test_coordinates.test_wrap_0_to_2pi()

Test wrapping.