哪个网站可以做鞋鉴定,黄骅港招聘最新招聘,青岛网页设计 学校,flash下载网站【Python】WHEELTEC惯导IMU主代码读取传感器数据代码 Windows系统#xff0c;直接输入串口号即可 读取设备的移动速度#xff08;km/h#xff09; 注#xff1a;该GPS传感器需要在室外条件运行#xff0c;室内可能接收不到信号。
# coding: utf-8
# last modified:202310…【Python】WHEELTEC惯导IMU主代码读取传感器数据代码 Windows系统直接输入串口号即可 读取设备的移动速度km/h 注该GPS传感器需要在室外条件运行室内可能接收不到信号。
# coding: utf-8
# last modified:20231031
import time
import serial
import reutctime
lat
ulat
lon
ulon
numSv
msl
cogt
cogm
sog
kph
gps_t 0#ser serial.Serial(/dev/wheeltec_gps, 9600)
ser serial.Serial(COM4, 9600)#Windows系统直接输入串口号即可if ser.isOpen():print(GPS Serial Opened! Baudrate9600)
else:print(GPS Serial Open Failed!)def Convert_to_degrees(in_data1, in_data2):len_data1 len(in_data1)str_data2 %05d % int(in_data2)temp_data int(in_data1)symbol 1if temp_data 0:symbol -1degree int(temp_data / 100.0)str_decimal str(in_data1[len_data1-2]) str(in_data1[len_data1-1]) str(str_data2)f_degree int(str_decimal)/60.0/100000.0# print(f_degree:, f_degree)if symbol 0:result degree f_degreeelse:result degree - f_degreereturn resultdef GPS_read():global utctimeglobal latglobal ulatglobal longlobal ulonglobal numSvglobal mslglobal cogtglobal cogmglobal sogglobal kphglobal gps_tif ser.inWaiting():if ser.read(1) bG:time.sleep(.05) if ser.inWaiting():if ser.read(1) bN:if ser.inWaiting():choice ser.read(1)if choice bG:if ser.inWaiting():if ser.read(1) bG:if ser.inWaiting():if ser.read(1) bA:#utctime ser.read(7)GGA ser.read(70)GGA_g re.findall(r\w(?,)|(?,)\w, str(GGA))# print(GGA_g)if len(GGA_g) 13:print(GPS no found)gps_t 0return 0else:utctime GGA_g[0]# lat GGA_g[2][0]GGA_g[2][1]°GGA_g[2][2]GGA_g[2][3].GGA_g[3]\lat %.8f % Convert_to_degrees(str(GGA_g[2]), str(GGA_g[3]))ulat GGA_g[4]# lon GGA_g[5][0]GGA_g[5][1]GGA_g[5][2]°GGA_g[5][3]GGA_g[5][4].GGA_g[6]\lon %.8f % Convert_to_degrees(str(GGA_g[5]), str(GGA_g[6]))ulon GGA_g[7]numSv GGA_g[9]msl GGA_g[12].GGA_g[13]GGA_g[14]#print(GGA_g)gps_t 1return 1elif choice bV:if ser.inWaiting():if ser.read(1) bT:if ser.inWaiting():if ser.read(1) bG:if gps_t 1:VTG ser.read(40)VTG_g re.findall(r\w(?,)|(?,)\w, str(VTG))cogt VTG_g[0].VTG_g[1]Tif VTG_g[3] M:cogm 0.00sog VTG_g[4].VTG_g[5]kph VTG_g[7].VTG_g[8]elif VTG_g[3] ! M:cogm VTG_g[3].VTG_g[4]sog VTG_g[6].VTG_g[7]kph VTG_g[9].VTG_g[10]#print(kph)
def GPS_test():try:while True:if GPS_read():print(*********************)print(UTC Time:utctime)print(Latitude:latulat)print(Longitude:lonulon)print(Number of satellites:numSv)print(Altitude:msl)print(True north heading:cogt°)print(Magnetic north heading:cogm°)print(Ground speed:sogKn)print(Ground speed:kphKm/h)print(*********************)return(kph)except KeyboardInterrupt:ser.close()print(GPS serial Close!)if __name__ __main__:t1time.time()for i in range(0,10):kphGPS_test()print(Ground speed:kphKm/h)t2time.time()print((t2-t1)/10)ser.close()
