commaai / laika Goto Github PK

Could you please explain why in the read_raw_ublox function of raw_gnss.py you calculate the C1C standard deviation according to the transcript below?

observables_std['C1C'] = np.sqrt(i.pseudorangeStdev)*10

Why not just use i.pseudorangeStdev?

Best regards,
Giovanni.

Please excuse the lack of expertise. I have been trying to get Laika working and ran in to an error while going through the walkthrough. Details of my system are below. Digging down into what is going on, the issue is the function https_download_file which is failing. Specifically, the setting

crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')

causes crl.perform() to fail with the error

pycurl.error: (59, 'failed setting cipher list: DEFAULT@SECLEVEL=1')

This results in the error RuntimeError: No orbit data found on either servers from get_orbit_data. The fix for me was to change the setting to

crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT')

I guess this is due to the version of openssl that I have installed, and I have no idea what implications the above change has, but nonetheless thought it was a good idea to report the issue and what got it working.

Hardware: MacBook Pro with M1 chip
OS: MacOS 11.6
Python: 3.9.7 (installed with pyenv)
OpenSSL: 2.8.3 (installed with homebrew)
PycURL: 7.44.1 (compiled against the above library)

Happy to dig further into my setup to find the issue if it is helpful. Otherwise hopefully this helps if anyone else has the same issue.

Hi, I'm trying to modify laika to create an ad-hoc DGPS system from Android phones via their Raw GNSS API. I have been experimenting with GNSS Logger app/library from Google [1]. I was trying to use this output as input to your library to measure GPS first, and then extend it to a functioning DGPS solution.

1. I'm having trouble with providing inputs to laika. The documentation mentions there are 8 values per row (in the comma2k19 dataset repository here), but the numpy arrays (raw_gnss_ublox) contains 10 values (and laika expects 10 values as input). The following is my current understanding (I calculated gpsWeek, gpsSecondsOfWeek, pseudorange using [2], from what I got out of comma2k19 dataset docs.)

return np.array([
        svid, # PRN
        gpsWeek, # week of gps_time of reception (gps_week),
        gpsSecondsOfWeek, # time pf week of gps_time of reception (s),
        np.nan, # GLONASS channel, as GPS, it's nan
        pseudorange, # calculated via the android params
        -1, # pseudorange_std, if it's uncertainty, is there a reference to see how it's calculated?
        pseudorangeRateMetersPerSecond,
        pseudorange_rate_std, # pseudorangeRateUncertaintyMetersPerSecond from android API?
        -1, #  S1C --> Signal Strength ??
        -1, # L1C --> Carrier Cycles ??
    ])

(a) What expected as input for pseudorange_std and pseudorange_rate_std parameters? Is it uncertainty (I assumed as std could mean standard deviation? If so, is there are reference where I can see this and thus implement it?
(b) Are the last two values necessary? I couldn't find any indication what they are, apart from digging in the library and figuring out the keys, which when I read the RINEX documentation.

2. I'm trying to understand dgps.py. I'm trying to replace ground station data with GNSS data (that I understand is downloaded from the internet) from a different source. I want to know what exactly is being sent to AstroDog so that I can compute this via the ad-hoc ground station?

I understand the principles of DGPS, however, the design is bit unclear (from reading parse_dgps). From what I understand, sending back a good DGPSDelay object is all need to do. What would that entail? Is there any other class I should be looking at?

[1] The outputs of the GNSSLogger library are as follows,

ElapsedRealtimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount,Svid,TimeOffsetNanos,State,ReceivedSvTimeNanos,ReceivedSvTimeUncertaintyNanos,Cn0DbHz,PseudorangeRateMetersPerSecond,PseudorangeRateUncertaintyMetersPerSecond,AccumulatedDeltaRangeState,AccumulatedDeltaRangeMeters,AccumulatedDeltaRangeUncertaintyMeters,CarrierFrequencyHz,CarrierCycles,CarrierPhase,CarrierPhaseUncertainty,MultipathIndicator,SnrInDb,ConstellationType,AgcDb,CarrierFrequencyHz

[2] This is my pseudorange code. raw is the GNSS output from the Android API.

WEEKSEC = 604800
SPEED_OF_LIGHT = 2.99792458e8
def compute_gps_times_and_pseudorange_vals(raw):
    # from https://www.gsa.europa.eu/system/files/reports/gnss_raw_measurement_web_0.pdf
    tRx_GNSS = float(raw['TimeNanos']) - (float(raw['FullBiasNanos']) + float(raw['BiasNanos'])) 
    gps_week = tRx_GNSS // (WEEKSEC*1e9)
    tRx = np.mod(tRx_GNSS,WEEKSEC*1e9)
    gps_seconds_of_week = np.round(tRx * 1e-9)
    tTx = float(raw['ReceivedSvTimeNanos']) + float(raw['TimeOffsetNanos'])
    pr =  (tRx - tTx) * SPEED_OF_LIGHT * 1e-9
    return pr, gps_week, gps_seconds_of_week

Currently, the frequency is set to np.nan in raw_gnss.py but None would be better since the type can then be Optional[Int] in GnssMeasurements.
The function read_raw_qcom is used in a private repo. Need to verify it correctly works there too.

Hi, I've heard a lot of recommendation about your library but I'm having a bit of a hard time operating it. I'm trying to do a coordinate correction experiment on the DGPS method. Can you please give me some examples of a simple use of the DGPS functionality?
Thanks.

Is get_all_sat_info() capable of returning sat states for multiple epochs at once? I am looking to develop a GNSS simulation and couldn't figure out a way to do so (other than a list comprehension).

I may have overlooked something in the examples.

There seems to no good concurrency handling in laika downloads.

This is how it's done in panda: https://github.com/commaai/panda/blob/bdf39a451ed983417a73724e40b9aca944a1f629/python/__init__.py#L23

This is a pretty simple issue at first glance.

You have a missing dependency in setup.py for the library atomicwrites. The actual library calls are in downloader.py, for example:

This means that any project that uses laika as a dependency itself will fail unless it explicitly knows to install atomicwrites itself. But on the project homepage, the author of that package recommends its deprecation:

I thought it'd be a good time to deprecate this package. Python 3 has os.replace and os.rename which probably do well enough of a job for most usecases.

So, what's the need for that atomic_write function? Could it not be simply replaced by a basic wrapper using native library calls?

Ultra Rapid Orbits filenames changed to more descriptive names
Long_Product_Filenames_v1.0.pdf

Will Laika support RTCM correction data? Would be really nice to have, and perhaps not to difficult to add.

If pull_orbit is set to False then Laika fetch sat info only for GPS and GLONASS. But user doesn't have any information that it fails for other constellations. Maybe Laika should throw exception (NotImplemented) when user creates AstroDog instance with pull_orbit=False and not supported constellations?

Thanks for the great work!

In this issue, #4, anuragxel recommend M8T.
does any one have test neo m8t with Laika lib?
how about the performance?
Beside M8T, is there any other good and cheap device from ublox(should be compatible with Laika) ？
Thanks

The satellite elevation angle converted to degrees is [14.94730363 49.66439056 13.87421893 23.14734976 76.25142363 24.01437015 25.70185652 51.42118927 48.50592112].I may be mistaken, but I think there may be something wrong with the picture below.

Thanks for sharing this good package. Currently, can this package support the integration of the pseudorange and Doppler measurements using the EKF?

Best,
Weisong.

The function download_and_cache_file_return_first_success accepts an array of url_bases and hands them off to download_and_cache_file, which expects just a single url_base. This causes the url concatenation to fail in download_file.

To fix this, I'd suggest something like this in download_and_cache_file_return_first_success:

if not os.path.isfile(filepath) or overwrite:
  for url_base in url_bases: # <-- critical that we iterate over these somehow
    try:
      data_zipped = download_file(url_base, folder_path, filename_zipped)
      break
    except (DownloadFailed, pycurl.error, socket.timeout):
      data_zipped = None

  if data_zipped is None:
    unix_time = time.time()
    os.makedirs(folder_path_abs, exist_ok=True)
    with atomic_write(filepath_attempt, mode='w', overwrite=True) as wf:
      wf.write(str(unix_time))
    raise DownloadFailed(f"Could not download {folder_path + filename_zipped} from {url_bases} ")

I can put up a PR if you want; just not sure what the contribution guidelines are. Thanks!

Hi,

I think you have made a typo here.

This is located in class GPSEphemeris(Ephemeris):, def get_sat_info(self, time):
You do :

...
tdiff = time - eph['toe']  # Time of clock
clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2'])
clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2']
# Orbit propagation
tdiff = time - eph['toe']  # Time of ephemeris (might be different from time of clock)

Shouldn't it be :

...
tdiff = time - eph['toc']  # Time of clock
...

instead ?

It would make more sense (to use Toc instead of Toe to compute the clock_error) and would fit with the comments you have made.

Thanks,
Emilien

You changed the ConstellationID but did not import it in the walkthrough notebook, therefore the walkthrough crashes on the second cell already.

Hi!

I think my question may be a little be bit stupid, but still I am wondering if I can use this library for live data?

I have ublox F9P and kind of raspberry pi, and I want to get better results with gps data, however all examples are dealing with binary files. If I want to use it with device, I should just read from serial, instead of file, is it that straightforward? Or I should consider other approach?

Thanks in advance.

Hi authors,

Thank you for your awesome, I am trying to run from scratch all tutorials but I cannot download gnss data in kalman.ipynb tutorial.

Thank you

I'm using Laika to obtain satellite positions in the sky at different times, but I was comparing data from Laika with real measurements and for one of the tests, G28 is offline (sensor doesn't show it, and almanac I use with another similar tool to Laika, also don't report it), but Laika does report it. Is there a way to get Laika to report whether the satellite is online or not? I dug through the code a bit and I can look at the healthy attribute from the PolyEphemeris, but that one still seems to be set to True regardless. Not sure if it's a bug or not, just hoping to get some help so I can use Laika to estimate satellite positions.

Thanks in advance!

First time user who gets runtime error on trying the Walkthrough jupyter notebook:

---------------------------------------------------------------------------
RuntimeError                              Traceback (most recent call last)
Cell In[4], line 11
      9 # We use RINEX3 PRNs to identify satellites
     10 sat_prn = 'G07'
---> 11 sat_pos, sat_vel, sat_clock_err, sat_clock_drift, ephemeris = dog.get_sat_info(sat_prn, time)
     12 print("Satellite's position in ECEF (m) : \n", sat_pos, '\n')
     13 print("Satellite's velocity in ECEF (m/s) : \n", sat_vel, '\n')

File ~/opt/anaconda3/envs/missile-tid/lib/python3.10/site-packages/laika/astro_dog.py:265, in AstroDog.get_sat_info(self, prn, time)
    263 eph = None
    264 if self.pull_orbit:
--> 265   eph = self.get_orbit(prn, time)
    266 if not eph and self.pull_nav:
    267   eph = self.get_nav(prn, time)

File ~/opt/anaconda3/envs/missile-tid/lib/python3.10/site-packages/laika/astro_dog.py:106, in AstroDog.get_orbit(self, prn, time)
    104 def get_orbit(self, prn: str, time: GPSTime):
    105   skip_download = time in self.orbit_fetched_times
--> 106   orbit = self._get_latest_valid_data(self.orbits[prn], self.cached_orbit[prn], self.get_orbit_data, time, skip_download)
    107   if orbit is not None:
    108     self.cached_orbit[prn] = orbit

File ~/opt/anaconda3/envs/missile-tid/lib/python3.10/site-packages/laika/astro_dog.py:363, in AstroDog._get_latest_valid_data(self, data, latest_data, download_data_func, time, skip_download, recv_pos)
    361   download_data_func(time, recv_pos)
    362 else:
--> 363   download_data_func(time)
    364 latest_data = get_closest(time, data, recv_pos=recv_pos)
    365 if is_valid(latest_data):

File ~/opt/anaconda3/envs/missile-tid/lib/python3.10/site-packages/laika/astro_dog.py:211, in AstroDog.get_orbit_data(self, time, only_predictions)
    209   ephems_sp3 = self.download_parse_orbit(time)
    210 if sum([len(v) for v in ephems_sp3.values()]) < 5:
--> 211   raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}')
    213 self.add_orbits(ephems_sp3)

RuntimeError: No orbit data found. For Time 2018-01-07 00:00:00 constellations ['GPS', 'GLONASS'] valid ephem types (<EphemerisType.FINAL_ORBIT: 1>, <EphemerisType.RAPID_ORBIT: 2>, <EphemerisType.ULTRA_RAPID_ORBIT: 3>)

Output of this code block:

# For example if we want the position and speed of satellite 7 (a GPS sat)
# at the start of January 7th 2018. Laika's custom GPSTime object is used throughout
# and can be initialized from python's datetime.

from datetime import datetime
from laika.gps_time import GPSTime
time = GPSTime.from_datetime(datetime(2018, 1, 7))

# We use RINEX3 PRNs to identify satellites
sat_prn = 'G07'
sat_pos, sat_vel, sat_clock_err, sat_clock_drift, ephemeris = dog.get_sat_info(sat_prn, time)
print("Satellite's position in ECEF (m) : \n", sat_pos, '\n')
print("Satellite's velocity in ECEF (m/s) : \n", sat_vel, '\n')
print("Satellite's clock error (s) : \n", sat_clock_err, '\n\n')

# we can also get the pseudorange delay (tropo delay + iono delay + DCB correction)
# in the San Francisco area
receiver_position = [-2702584.60036925, -4325039.45362552, 3817393.16034817]
delay = dog.get_delay(sat_prn, time, receiver_position)
print("Satellite's delay correction (m) in San Fransisco \n", delay)

Which prints out:

Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18006/final/Sta19826.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18008/final/Sta19831.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18007/final/Sta19830.sp3
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igs19826.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igs19830.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igs19831.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igr19826.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igr19831.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igr19830.sp3.Z
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18007/rapid/Sta19830.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18008/rapid/Sta19831.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18006/rapid/Sta19826.sp3
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19831_18.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igu19826_18.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19830_18.sp3.Z
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18006/ultra/Sta19826.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18007/ultra/Sta19830.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/18008/ultra/Sta19831.sp3
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19831_12.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igu19826_12.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19830_12.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19831_06.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19831_00.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igu19826_06.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19830_06.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1983/igu19830_00.sp3.Z
Downloading https://github.com/commaai/gnss-data/raw/master/gnss/products/1982/igu19826_00.sp3.Z

I tried signing up for an Earthdata account and installing laika from source with a .netrc file in the root folder with python setup.py install. Also tried wiping the cache, which is at /tmp/gnss. Cache looks like this:

 ls /tmp/gnss
cddis_products   russian_products

ls /tmp/gnss/cddis_products
1982 1983

ls /tmp/gnss/cddis_products/1982
igr19826.sp3.attempt_time    igs19826.sp3.attempt_time    igu19826_00.sp3.attempt_time igu19826_06.sp3.attempt_time igu19826_12.sp3.attempt_time igu19826_18.sp3.attempt_time

Running on a Mac with python 3.10.

On NASA CDDIS page you have information:

On 31 October 2020, anonymous ftp access will officially be discontinued at CDDIS. CDDIS is STRONGLY recommending all users begin to transition to using alternate method of access to the CDDIS archive. Examples of alternate methods can be found at: https://cddis.nasa.gov/Data_and_Derived_Products/CDDIS_Archive_Access.html.

Do you plan to support other method of access to CDDIS in Laika?

Hi,

First of all thank you for the awesome repo. I would like to help solving the following issue

Simple code to reproduce

import laika
from laika import AstroDog
from laika.lib.coordinates import geodetic2ecef
from laika.gps_time import GPSTime
import datetime

constellations = ['GPS', 'GLONASS', 'GALILEO']
dog = AstroDog(valid_const=constellations, dgps=True)
prn ="G07"
pos_ecef = geodetic2ecef([46, 6, 123])
gps_time = GPSTime.from_datetime(datetime.datetime(2022, 11, 25, 9, 43, 6))

delay = dog.get_delay(prn, gps_time, pos_ecef)

print(delay)

Result :

Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/22328/rapid/Sta22374.sp3
Downloading https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/22329/rapid/Sta22375.sp3
...
pulling from https://geodesy.noaa.gov/corsdata/coord/coord_14/ to /tmp/gnss/cors_coord/zsu4_14.coord.txt
pulling from https://geodesy.noaa.gov/corsdata/coord/coord_14/ to /tmp/gnss/cors_coord/ztl4_14.coord.txt
...
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/dgps.py", line 31, in download_and_parse_station_postions
    with open(coord_file_path, 'r+') as coord_file:
FileNotFoundError: [Errno 2] No such file or directory: '/tmp/gnss/cors_coord/ab27_14.coord.txt'

(Let's download it manually : cd /tmp/gnss/cors_coord && wget https://geodesy.noaa.gov/corsdata/coord/coord_14/ab49_14.coord.txt )
Then, relaunching the same code now gives :

Traceback (most recent call last):
  File "/tmp/test_laika.py", line 14, in <module>
    delay = dog.get_delay(prn, gps_time, pos_ecef)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/astro_dog.py", line 325, in get_delay
    return self._get_delay_dgps(prn, rcv_pos, time)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/astro_dog.py", line 340, in _get_delay_dgps
    dgps_corrections = self.get_dgps_corrections(time, rcv_pos)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/astro_dog.py", line 124, in get_dgps_corrections
    latest_data = self._get_latest_valid_data(self.dgps_delays, self.cached_dgps, self.get_dgps_data, time, recv_pos=recv_pos)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/astro_dog.py", line 361, in _get_latest_valid_data
    download_data_func(time, recv_pos)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/astro_dog.py", line 239, in get_dgps_data
    station_names = get_closest_station_names(recv_pos, k=8, max_distance=MAX_DGPS_DISTANCE, cache_dir=self.cache_dir)
  File "/home/jonathan/Desktop/cloud_locate/laika/laika/dgps.py", line 65, in get_closest_station_names
    return np.array(station_ids)[idxs]
IndexError: index 4 is out of bounds for axis 0 with size 4

Any suggestion on why this happens and how to solve it ?

Hello, can I predict GPS satellites visibility with this software??

Hi there,

I'm just getting started to understand, how things done with this library, but especially the KF and DGPS things are interesting to me. Unfortunately the Notebook for KF isn't working, because of the missing laika_repo. You can also see this in the notebook on github in the 8th cell.

Best regards,
J.

When I execute code:

dog = AstroDog(valid_const=["QZNSS"])
time = datetime.datetime(2020, 5, 1)
sat_info = dog.get_sat_info("J01", time)

I got:

File "/home/lv/Projects/magisterka/src/sources/laika.py", line 26, in source
    sat_info = dog.get_sat_info(sat_prn, time)
  File "/home/lv/Projects/magisterka/src/.env/src/laika/laika/astro_dog.py", line 233, in get_sat_info
    eph = self.get_orbit(prn, time)
  File "/home/lv/Projects/magisterka/src/.env/src/laika/laika/astro_dog.py", line 95, in get_orbit
    self.get_orbit_data(time)
  File "/home/lv/Projects/magisterka/src/.env/src/laika/laika/astro_dog.py", line 174, in get_orbit_data
    self.add_ephem(ephem, self.orbits)
  File "/home/lv/Projects/magisterka/src/.env/src/laika/laika/astro_dog.py", line 143, in add_ephem
    ephems[prn].append(new_ephem)
KeyError: 'J07'

After execute this code from get_orbit_data from astro_dog.py:

file_paths_sp3_ru = download_orbits_russia(time, cache_dir=self.cache_dir)
ephems_sp3_ru = parse_sp3_orbits(file_paths_sp3_ru, self.valid_const)

then it returns items with prns: ['J01', 'J02', 'J03', 'J07'].
Laika's code expects that prn numbers are continuous and throws KeyError when it try to add "J07" ephemeris.

Another situation is when you try to fetch BeiDou satellite info. Laika has hardcoded BeiDou size equals 14, but now we have 48 satellites in constellation.
When I fetch orbits using Laika then I get prns: [ C01, C03, C05, C06, C08, C09, C10, C11, C12, C13, C14, C16, C19, C20, C21, C22, C23, C24, C25, C26, C27, C28, C29, C30, C32, C33, C34, C35, C36, C37].

As temporary solution you can increase constellation sizes. But I think that it should be refactored. Now Laika crashes after launch next satellite. If you want I can help you with that.

If laika fails to download all orbits with "RuntimeError: No orbit data found on either servers" then there is no printout of what actually went wrong.

Within in the given Kalman filter example (Jupyter notebook), the following error occurs:

ModuleNotFoundError                       Traceback (most recent call last)
<ipython-input-2-744c422db1fc> in <module>
      3 from laika_repo.examples.kalman.gnss_kf import GNSSKalman
      4 from laika_repo.examples.kalman.kalman_helpers import run_car_ekf_offline, ObservationKind
----> 5 ekf = GNSSKalman()
      6 init_state = ekf.x
      7 init_state[:3] = est_pos

~/one/laika_repo/examples/kalman/gnss_kf.py in __init__(self, N, max_tracks)
     60     name = 'gnss'
     61     # init filter
---> 62     self.filter = EKF_sym(name, Q, x_initial, P_initial, self.dim_state, self.dim_state, maha_test_kinds=maha_test_kinds)
     63 
     64   @property

~/one/laika_repo/examples/kalman/ekf_sym.py in __init__(self, name, Q, x_initial, P_initial, dim_main, dim_main_err, N, dim_augment, dim_augment_err, maha_test_kinds)
    177     self.init_state(x_initial, P_initial, None)
    178 
--> 179     ffi, lib = wrap_compiled(name, EXTERNAL_PATH)
    180     kinds, self.feature_track_kinds = [], []
    181     for func in dir(lib):

~/one/laika_repo/examples/kalman/ffi_wrapper.py in wrap_compiled(name, directory)
     39 def wrap_compiled(name, directory):
     40   sys.path.append(directory)
---> 41   mod = __import__(name)
     42   return mod.ffi, mod.lib

ModuleNotFoundError: No module named 'gnss'

Even when I executed the code locally, without the Jupyter notebook but with a common Python script containing the same code, the error occurred. When going through the code, I found out that the EKF_sym object instantiates a filter object when instantiated. The filter relies on the EKF code written in C. This code is not manually written but assembled inside the gen_code function.

During the example, the compiled code is wrapped without existing since the code generation function, the code compiling function and the FFI wrapper are not called during the EKF_sym object instantiation (or before). Hence, the compiled C code with the name gnss cannot be found.

Since the code structure is not clear, I struggle with fixing this myself. Feel free to help me.
In my view, the error should occur in anybody's attempt to run the Kalman example.

Hi,
in the Compute_station_pos notebook there is an error. In cell [6] the line
fix, _ = raw.calc_pos_fix(corr)
will fail with the message that raw_gnss.py doesn't contain calc_pos_fix(). What would be the recommended workaround here?

Best regards
Axel

as far as i know gps adds noise to its signal. is it theoretically possible to use glonass, galileo and beidou data to get more precise data? if yes, does laika do this?

rt.
Thanks

I just installed laika library, and everything looks ok but I'm getting an error:
No orbit data found. For Time 2018-01-07 00:00:00 constellations ['GPS', 'GLONASS'] valid ephem types (<EphemerisType.FINAL_ORBIT: 1>, <EphemerisType.RAPID_ORBIT: 2>, <EphemerisType.ULTRA_RAPID_ORBIT: 3>)

even when I'm using excactly the same code that is provided in Walktrough. I must say that I'm getting this error for any consellation and time I use. I tried with python 3.11 and 3,8.0

Hi,

Im having trouble finding which file im supposed to modify, if i want to run laika on real time data captured by a software defined radio. Any help on this?
If that is possible, what are the laika requirements in order to run on real time SDR data from an SDR front end connected to host PC via USB. Im using the ADALM Pluto SDR which has a python host API (PyADI) .... so in theory there must be a way to run laika right????

If no ephemeris are fetched then Laika throws RuntimeException. It is confused for me, because in other cases if AstroDog doesn't found sat info then it returns None.
No ephemeris are fetched for example when you call for data from future (for example next monts/years).

Maybe user should have a possibility to check if any data is available? We have a few different cases when it may to occur:

• Before launch satellite
• During mission - satellite may be nonoperational or connection loses
• User call for data from future and it doesn't exist

Probably Laika shouldn't recognize cause why data isn't available. It isn't its task. But in first case we return None (or throw RuntimeException before first satellite launch date) in second return None and in third throw RuntimeException.

I think that it should be unified or Laika should throw a custom exception.

This will remove the need for generating a .netrc file before using this library

see python example for ftp-ssl here:
https://cddis.nasa.gov/Data_and_Derived_Products/CDDIS_Archive_Access.html

from ftplib import FTP_TLS
import sys

email = sys.argv[1]
directory = sys.argv[2]
filename = sys.argv[3]

ftps = FTP_TLS(host = 'gdc.cddis.eosdis.nasa.gov')
ftps.login(user='anonymous', passwd=email)
ftps.prot_p()
ftps.cwd(directory)
ftps.retrbinary("RETR " + filename, open(filename, 'wb').write)

should be easy to add since ftplib is already used for normal ftp (and the API looks identical)

Hi!
Really cool library! Would it be possible to have a script to dump Ublox raw data (ubx-raw/x) to laika format? I had a look at the 2k19 repo and it seems possible. Would you be able to share a script for that?

Thanks!