Merge branch 'smoothing-experimental' of https://github.com/4Subsea/smsfusion-python into smoothing-experimental

Author: ali-cetin-4ss

.github/pull_request_template.md

@@ -1,5 +1,3 @@
-### This PR is related to user story DLAB-
-
 ## Description
 Provide a short description about the work that has been done.
 

.github/workflows/ci.yaml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-latest]
-        python-version: ["3.10", "3.11"] 
+        python-version: ["3.11", "3.12", "3.13"]
 
     steps:
       - uses: actions/checkout@v4
@@ -36,4 +36,4 @@ jobs:
 
       - name: Build documentation
         run: hatch run docs:build
-        if: ${{ (matrix.python-version == '3.10') && (matrix.os == 'ubuntu-latest')}}
+        if: ${{ (matrix.python-version == '3.12') && (matrix.os == 'ubuntu-latest')}}

.github/workflows/deploy_public.yaml

@@ -35,10 +35,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: "3.10"
+          python-version: "3.12"
 
       - name: Install dependencies
         run: |

pyproject.toml

@@ -9,10 +9,11 @@ authors = [
 ]
 description = "Sensor fusion algorithms and utilities for SMS Motion"
 readme = "README.md"
-requires-python = ">=3.10"
+requires-python = ">=3.11"
 classifiers = [
-    "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
     "License :: OSI Approved :: MIT License",
     "Operating System :: OS Independent",
 ]

src/smsfusion/_ins.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import Any
+from typing import Any, Self
 
 import numpy as np
 from numba import njit
@@ -451,7 +451,7 @@ def update(
         f_imu: ArrayLike,
         w_imu: ArrayLike,
         degrees: bool = False,
-    ) -> "StrapdownINS":  # TODO: Replace with ``typing.Self`` when Python > 3.11:
+    ) -> Self:
         """
         Update the INS states by integrating the *strapdown navigation equations*.
 
@@ -956,7 +956,7 @@ def update(
         head_degrees: bool = True,
         g_ref: bool = False,
         g_var: ArrayLike | None = None,
-    ) -> "AidedINS":  # TODO: Replace with ``typing.Self`` when Python > 3.11
+    ) -> Self:
         """
         Update/correct the AINS' state estimate with aiding measurements, and project
         ahead using IMU measurements.
@@ -1198,7 +1198,7 @@ def update(
         degrees: bool = False,
         pos_var: ArrayLike = np.array([1e6, 1e6, 1e6]),
         vel_var: ArrayLike = np.array([1e2, 1e2, 1e2]),
-    ) -> "VRU":  # TODO: Replace with ``typing.Self`` when Python > 3.11
+    ) -> Self:
         """
         Update/correct the VRU's state estimate with pseudo aiding measurements
         (i.e., zero velocity and zero position with corresponding variances), and
@@ -1333,7 +1333,7 @@ def update(
         head_degrees: bool = True,
         pos_var: ArrayLike = np.array([1e6, 1e6, 1e6]),
         vel_var: ArrayLike = np.array([1e2, 1e2, 1e2]),
-    ) -> "AHRS":  # TODO: Replace with ``typing.Self`` when Python > 3.11
+    ) -> Self:
         """
         Update/correct the AHRS' state estimate with pseudo aiding measurements
         (i.e., zero velocity and zero position with corresponding variances), and

src/smsfusion/benchmark/_benchmark.py

@@ -351,7 +351,7 @@ def benchmark_pure_attitude_beat_202311A(
     Generate a benchmark with pure attitude for performance testing of INS/AHRS/VRU
     sensor fusion algorithms.
 
-    The benchmark scenario is 20 minutes long. It generates Euler angles
+    The benchmark scenario is 30 minutes long. It generates Euler angles
     (roll, pitch, and yaw), and the corresponding accelerometer and
     gyroscope signals. Note that the generated motion is pure rotations.
 
@@ -395,7 +395,7 @@ def benchmark_pure_attitude_beat_202311A(
     Passive rotations mean that the frame itself is rotating, not the object
     within the frame.
     """
-    duration = 1200.0  # 20 minutes
+    duration = 1800.0  # 30 minutes
     amplitude = np.radians(np.array([0.0, 0.0, 0.0, 5.0, 5.0, 5.0]))
     mean = np.radians(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
     phase = np.radians(np.array([0.0, 0.0, 0.0, 0.0, 45.0, 90.0]))
@@ -418,7 +418,7 @@ def benchmark_pure_attitude_chirp_202311A(
     Generate a benchmark with pure attitude for performance testing of INS/AHRS/VRU
     sensor fusion algorithms.
 
-    The benchmark scenario is 20 minutes long. It generates Euler angles
+    The benchmark scenario is 30 minutes long. It generates Euler angles
     (roll, pitch, and yaw), and the corresponding accelerometer and
     gyroscope signals. Note that the generated motion is pure rotations.
 
@@ -463,7 +463,7 @@ def benchmark_pure_attitude_chirp_202311A(
     Passive rotations mean that the frame itself is rotating, not the object
     within the frame.
     """
-    duration = 1200.0  # 20 minutes
+    duration = 1800.0  # 30 minutes
     amplitude = np.radians(np.array([0.0, 0.0, 0.0, 5.0, 5.0, 5.0]))
     mean = np.radians(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
     phase = np.radians(np.array([0.0, 0.0, 0.0, 0.0, 45.0, 90.0]))

src/smsfusion/constants/__init__.py

@@ -1,15 +1,11 @@
 from ._constants import (
-    ERR_ACC_MOTION1,
     ERR_ACC_MOTION2,
-    ERR_GYRO_MOTION1,
     ERR_GYRO_MOTION2,
     P0,
 )
 
 __all__ = [
-    "ERR_ACC_MOTION1",
     "ERR_ACC_MOTION2",
-    "ERR_GYRO_MOTION1",
     "ERR_GYRO_MOTION2",
     "P0",
 ]

src/smsfusion/constants/_constants.py

@@ -1,17 +1,8 @@
 import numpy as np
 
-ERR_ACC_MOTION1 = {
-    "N": 0.004,  # (m/s^2)/sqrt(Hz)
-    "B": 0.0007,  # m/s^2
-    "tau_cb": 50.0,  # s
-}
-
-ERR_GYRO_MOTION1 = {
-    "N": 0.00009,  # (rad/s)/sqrt(Hz)
-    "B": 0.00003,  # rad/s
-    "tau_cb": 50.0,  # s
-}
+P0 = np.eye(12) * 1e-6
 
+# Noise and bias parameters for SMS Motion Gen 2
 ERR_ACC_MOTION2 = {
     "N": 0.0007,  # (m/s^2)/sqrt(Hz)
     "B": 0.0005,  # m/s^2
@@ -20,8 +11,6 @@
 
 ERR_GYRO_MOTION2 = {
     "N": 0.00005,  # (rad/s)/sqrt(Hz)
-    "B": 0.00003,  # rad/s
+    "B": 0.00005,  # rad/s
     "tau_cb": 50.0,  # s
 }
-
-P0 = np.eye(12) * 1e-6

tests/test_benchmark.py

@@ -302,12 +302,12 @@ def test_pure_translation(self):
 
 def test_benchmark_pure_attitude_beat_202311A():
     signature_signal, _, _ = benchmark.BeatSignal(0.1, 0.01)(
-        np.arange(0.0, 1200.0, 1.0 / 10.24)
+        np.arange(0.0, 1800.0, 1.0 / 10.24)
     )
 
     t, euler, acc, gyro = benchmark.benchmark_pure_attitude_beat_202311A()
 
-    assert len(t) == int(1200 * 10.24)
+    assert len(t) == int(1800 * 10.24)
     assert euler.shape == (len(t), 3)
     assert acc.shape == (len(t), 3)
     assert gyro.shape == (len(t), 3)
@@ -317,12 +317,12 @@ def test_benchmark_pure_attitude_beat_202311A():
 
 def test_benchmark_pure_attitude_chirp_202311A():
     signature_signal, _, _ = benchmark.ChirpSignal(0.25, 0.01)(
-        np.arange(0.0, 1200.0, 1.0 / 10.24)
+        np.arange(0.0, 1800.0, 1.0 / 10.24)
     )
 
     t, euler, acc, gyro = benchmark.benchmark_pure_attitude_chirp_202311A()
 
-    assert len(t) == int(1200 * 10.24)
+    assert len(t) == int(1800 * 10.24)
     assert euler.shape == (len(t), 3)
     assert acc.shape == (len(t), 3)
     assert gyro.shape == (len(t), 3)

tests/test_constants.py

@@ -4,36 +4,6 @@
 from smsfusion import constants
 
 
-def test_ERR_ACC_MOTION1():
-    err_expect = {
-        "N": 0.004,
-        "B": 0.0007,
-        "tau_cb": 50.0,
-    }
-
-    err_out = constants.ERR_ACC_MOTION1
-
-    assert set(err_out.keys()) == set(err_expect.keys())
-
-    for key_i in err_expect:
-        assert err_out[key_i] == approx(err_expect[key_i])
-
-
-def test_ERR_GYRO_MOTION1():
-    err_expect = {
-        "N": 0.00009,
-        "B": 0.00003,
-        "tau_cb": 50.0,
-    }
-
-    err_out = constants.ERR_GYRO_MOTION1
-
-    assert set(err_out.keys()) == set(err_expect.keys())
-
-    for key_i in err_expect:
-        assert err_out[key_i] == approx(err_expect[key_i])
-
-
 def test_ERR_ACC_MOTION2():
     err_expect = {
         "N": 0.0007,
@@ -52,7 +22,7 @@ def test_ERR_ACC_MOTION2():
 def test_ERR_GYRO_MOTION2():
     err_expect = {
         "N": 0.00005,
-        "B": 0.00003,
+        "B": 0.00005,
         "tau_cb": 50.0,
     }