{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "c0dabf94-1e34-4e3f-bedc-4dfc767834c6",
   "metadata": {},
   "source": [
    "# Create realistic synthetic track\n",
    "\n",
    "This tutorial is going to show how generate noise simulation to create realistic synthetic tracks.\n",
    "<br/>\n",
    "<div class=\"alert alert-block alert-info\" style=\"padding:1em\">\n",
    "    \n",
    "```python\n",
    "  amplitude = 2\n",
    "  kernel = tkl.GaussianKernel(50)\n",
    "  noised_track = track.noise(amplitude, kernel)\n",
    "```\n",
    "\n",
    "</div>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c335f58f-c030-46f3-ad1e-ec4a32c81d50",
   "metadata": {},
   "source": [
    "## As usual, let's start by defining our environment\n",
    "\n",
    "The first task is only useful for the online notebook and import the local tracklib code source. It's not necessary if tracklib is installed from PyPI."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "0cfd2094-7ae0-4aa4-9a3f-107b93c3fbca",
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "import os.path\n",
    "import sys\n",
    "\n",
    "#-------------------------------------------------------\n",
    "# Import de tracklib\n",
    "module_path = os.path.abspath(os.path.join('../../..'))\n",
    "if module_path not in sys.path:\n",
    "    sys.path.append(module_path)\n",
    "\n",
    "import tracklib as tkl"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "84b26768-e79f-4073-8a4c-3355035680cc",
   "metadata": {},
   "source": [
    "The following two imports are necessary for the tutorial:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "2f6a8595-8005-400b-8547-8940126f692f",
   "metadata": {
    "editable": true,
    "slideshow": {
     "slide_type": ""
    },
    "tags": []
   },
   "outputs": [],
   "source": [
    "import math\n",
    "import matplotlib.pyplot as plt\n",
    "from random import random, randint"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "470e5af1-7444-435e-b28a-df59c7837953",
   "metadata": {
    "editable": true,
    "slideshow": {
     "slide_type": ""
    },
    "tags": []
   },
   "source": [
    "## First : how to create Synthetic Trajectories"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "03b74b9a-79f4-40ff-bc55-b783728ae411",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Generated track from 05/02/2042 00:44:56 to 05/02/2042 01:44:56 [360 pts, 70.36m]\n"
     ]
    },
    {
     "data": {
      "image/png": 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CDMPooenccHkxhfmJMatNuC5fUMi44en89qG9NLdYr7NJPpYQD9CuqgBbd6bW4u8Z6cLXPlVEVU2QB5+zXmeTfCwhHqB//KuOq3+5h+bW1KopHT4+k9OPy+XlN5toDyTfUCOT2pK3azSKAkHlxbVNzJySTXZm6n2nXP3JgWSkYdc4m6STep/mCFizuYXahhCnHpv8nSndyc/xkZnho7UtxPY9NpmsSR6WEA/Aq+ubyc4Upk1K7cHKP7iriu/cXklbuzWdTXKwhHgA1m1p5cgJmSnfZDz/1Hx2VgZ4NAmv4zapyc4hHoDbvzGEWptRmmMnZTNrSjZ/fbaOOcflUlJobyeT2KyGeACys3wMHWQffoCrLhhIMKjctbDG61CMCZslxH56YHEtj79Q73UYcWN4cRoXzilgz96gnUs0Cc+qOf0QCikLX6yndFIWkO91OHHj0nkD+OwCZ/kBYxKZ1RD74YNd7dQ0hBJ+3ZRIS08TRIS9dUHWvtPidTjGHDBLiP2wZrPzYZ9qCbFbv31oLzfeXUVtQ9DrUIw5IJYQ+2Ht5hbGDE2z3tQefP7sATQ0h7j3n7Veh2LMAelzQhSRe0WkQkQ2dNpWJCJLReQ99/fAHv52roi8IyJbROT6SATuhcwMYcaU1Lw6pS/GDc/g3BPzeGp5A+/tSK2JL0xy6E8N8T5gbpdt1wPPq+oE4Hn3/seIiB+4DZgHTAIuFpFJBxStx350RQlXnFvodRhx7fIFhRTk+rj17/tQtV5nk1j6nBBVdRmwt8vmc4D73dv3A+d286fTgC2qulVV24BH3L9LKIGgfbj7Ii/HxxfOKWRwkZ+WJFx4yyS3cE+GDVHVcgBVLReRwd3sMwLY0el+GXBcmOXG3Fdv3sOoIel889JBXocS9+bPymP+rDyvwzCm32LRqdLd4LQeqw4icoWIrBaR1ZWVlVEMq+8amkNs+qCNksLUmBk7UrbsaOO1jbbcgEkc4SbEPSIyDMD9XdHNPmXAqE73RwK7ejqgqt6lqqWqWlpSUhJmeJGx7t0WQmrDbfrrD3/fx6/+utcWuTcJI9yEuAi4zL19GfBkN/u8DkwQkXEikgFc5P5dwlizuYWsDGHSuEyvQ0konz1rANW1QRa93OB1KMb0SX+G3TwMvAocKiJlIvJ54CZgjoi8B8xx7yMiw0VkMYCqBoBrgOeATcDfVXVjZJ9GdK3d3MIUm+6r3446JItjDsvi4efqbFEqkxD63Kmiqhf38NDsbvbdBczvdH8xsLjf0cUBVeUTp+Tb+cMD9LmzBnD1r/bw2Av1XDJvgNfhGNMru+RiP0SEc060iRwO1MRxmZxamoPProkyCcAS4n58sKuNzAwfw4vtpTpQ3/nsIJsJxyQE+97ejzsX1vD9O+Jj+E+iEhFUlVffaqam3iZ+MPHLEuJ+vF/WzsGjMrwOI+GVVwf53h2VPLzE1l8x8csSYi/21gWprg1y0Mh0r0NJeMOL05hzXC5PLmugqibgdTjGdMsSYi/eL3NmbJlgNcSI+Mz8AQSDyoPPWi3RxCdLiL3omMLq4JGWECNhWHEa82fl8fSKBnZXWy3RxB/rOu3F6cflMm54Bnk59r0RKZfMK2Dt5hbKqwK2cqGJO/aO7EVxYRrFNjt2RJUUpnH/D4bh89kwHBN/rOrTg+bWEI+/UG9Nuyjw+YT2gNpMOCbuWELswftl7dz6j31s3WlT4UfDP56v4/rbKj/quDImHlhC7MEW62GOqrNOyCc3W/jzU7YglYkflhB7sGVHGwW5PoptUoeoyM/xceFpBbyyvplN21q9DscYwBJij7aUtXPwyHS7BjeKzjsln7xs4W9LbVyiiQ+WELsRDCofltsle9GWk+VjwfF57NkbpD1gC1IZ70k8LxVZWlqqq1ev9qTs5pYQbQFlQJ41maOprV1JT8Nq4iamRGSNqpZ23W6D7HqQneUj2+sgUkBGupMI65tCpPkhO9MaLcY79u7rxtMrGnhgsfV+xkplTYALv7OTp1fY2ivGW5YQu/H8642s3GCDhmOlpDCNCSMzePyFeoKh+D2FY5KfJcQuVJUtO9psQocYu2B2Prurg6xYZ19ExjuWELuo2BekoVltDsQYmzklm2HFafzjeRuCY7xjCbGLsgrn2uUxQy0hxpLfJ5x/Sj4bt7bxYXm71+GYFBV2L7OIHAr8rdOm8cD3VfWWTvucjLOI/QfupsdV9cZwy46G+qYQednCiMHWAR9rc2fkcvShmYwZZl9Gxhthf+pV9R3gKAAR8QM7gYXd7Pqyqi4It7xoO3lqDicdbQNuvJCT5WPccOfcrara2EQTc5FuMs8G3lfVDyN83JgSEfsweiQUUn52XxX3LLJhTyb2Ip0QLwIe7uGxGSKyTkSeEZHDI1xuxHzvzkoef6He6zBSls8nBALw5LJ6mltCXodjUkzEEqKIZABnA//o5uG1wBhVPRL4A/BEL8e5QkRWi8jqysrYrofcHlBeXd9MbYOtHeylT87Op7FZeebVRq9DMSkmkjXEecBaVd3T9QFVrVPVBvf2YiBdRIq7O4iq3qWqpapaWlJSEsHw9q+8KkBIYeRgO6nvpYnjMpk0LoPHbKC2ibFIJsSL6aG5LCJDxT0pJyLT3HKrI1h2ROyocIZ7jBxiPcxeu2B2AeVVAV5dbwO1TexE5JMvIjnAHOCLnbZdCaCqdwAXAFeJSABoBi7SOJxmp2yPMwbRaojeO+HIbD67YACHjrUrhkzsRCQhqmoTMKjLtjs63b4VuDUSZUVTdqYw5eBM8m3ZUc/5/cKl8wd4HYZJMdY27OTsE/M5+8R8r8MwnazZ3MJ7O9q4aE6B16GYFGBVIRPXVm5o5p4na6jcZ8vBmuizhOhqbglxwfVlLFllQz3iyXkn56MKC1+yuRJN9FlCdJVVBthbFyIrw65QiSfDitOYOSWbxSsaaG2zgdomuiwhusr2uENubFKHuPOJk/Opawzx7zVNXodikpwlRFfHtF8jSiwhxpujDslk2uFZpPms9m6iyz79rh0V7Qwu8pOZYd8R8UZEuOnqwV6HYVKAJUTXoaMzGFJkL0c8aw8om7e1csTBWV6HYpKUZQDX+afaOLd495ena3lkaR0P/2Q4xYX21jWRZ+1DIBhU2trj7kpC08XcmbmEFJ5abkNwTHRYQgQ2bWtj3ld2sHZzi9ehmF6MKEnnuMOz+OfyBtoD9gVmIs8SIrCzsh1VGFzk9zoUsx/nnpTPvroQL621ITgm8iwh4syDKIJ1qiSA0olZjBycxmtv27RgJvIsA+AkxJJCP+lpNs4t3vl8ws1fHUJRgX2Xm8izdxWwuzrI0EH23ZAoBg3wIyIEgnYe0USWJURgznG5zJ+Z63UYph+WvdHE/9ywk331tv6NiRxLiMCC4/M4fXqe12GYfhg7LJ2ahhCLV9gQHBM5KZ8Qm1tD7KoKELTmV0IZPTSdYw7LYtGyBvvfmYhJ+YS44f1WLvn+LjZsbfU6FNNP556cR2VNkOXrrMfZREbKJ8Td1c4sN8OsUyXhTJ+czdBBfha+WO91KCZJpHwWKK8OkuaHQYU2KDvR+H3CVy4qojDf/ncmMlI+Ie6uCjB0UBp+m2svIU07PNvrEEwSiUiTWUS2ichbIvKmiKzu5nERkd+LyBYRWS8iUyNRbiSUVwdsDGKC21nRzq8eqKau0YbgmPBEMhOcoqpVPTw2D5jg/hwH/NH97blL5hWQ7rfaYSJraVOeebWR0UPTudCWKzVhiFWnyjnAX9SxEigUkWExKrtXs6bkWLMrwR00MoMpB2ey6OUGQiEbgmMOXKQSogJLRGSNiFzRzeMjgB2d7pe52zxV1xhk3XstNLfYam6J7sxZeZRXBVi/xYZPmQMXqYQ4S1Wn4jSNrxaRE7s83l2btNuvchG5QkRWi8jqysrKCIXXvbfeb+WrN1ewbXd7VMsx0Xfi0dnkZguLX7ErV8yBi0hCVNVd7u8KYCEwrcsuZcCoTvdHArt6ONZdqlqqqqUlJSWRCK9Hu6tsDGKyyMzwce6J+ZTY0gImDGG/e0QkF/Cpar17+3Tgxi67LQKuEZFHcDpTalW1PNyyw1VeHSQrUxiQl/Lj05PC588p9DoEk+Ai8XU6BFgoIh3He0hVnxWRKwFU9Q5gMTAf2AI0AZ+NQLlh210dYNigNNzYTRIIhZR3Pmxj4rhMr0MxCSjshKiqW4Eju9l+R6fbClwdblmR1jEo2ySPxa808tuH9nL3d4YyfkSG1+GYBJPSbcXrLiniM/Nt3FoyOeGobNLT4JlXG70OxSSglE6IE8dmcugYa1olkwF5fmZOyWHpqkZbmc/0W8omxMqaAEtXNVLbYJd7JZt5M3KpawzxynqbFsz0T8omxE0ftPHz+6up2GcJMdkcMzGLkkI/y96wpUpN/6Rsj0LlPmcM4uCBNnVUsvH7hF/932CGl6Ts29scoJR9x1TVBElPg4LclK0kJ7XRQ9O9DsEkoJTNBpU1QYoLbQxiMluysoGv3bzHJnwwfZbSCbHEZslOaiLCm++12oQPps9SNiF+93ODuO7TRV6HYaKoY8KHZ2zCB9NHKZsQSwrTGDXEzjMls8wMH6eW5rLsjWYamm2KN7N/KZkQG5tDPPRcLdtt2q+kN29GLq3tygur7coVs38pmRDLqwLc/WQt28otISa7Q8dkcP6p+Ywbbtc1m/1LyWE3lTXOYGzrVEl+IsLVFwz0OgyTIFKyhlhV4wzKLraEmDLKKtpZ+ZZdymd6l5IJsbImiE+gqMASYqq4Z1EtN/2l2iZ8ML1KyYRYVRNkYIEfvy0/mjI6JnxYYRM+mF6k5DnEr32qiLpGG4aRSo6ZmMXggX6eXt7AyVNzvA7HxKmUrCGm+cWayynG7xPmz8pjzeYWdrmLixnTVUomxNsf3cfqTdZ0SjXzZuSSlSG8s80u5TPdS7kmc1NLiEf/XU9RgZ/Sidleh2NiqGRgGo/9YgTZmSlZDzB9kHLvjKqOMYg2D2JK6kiGrW12Dtn8t5RLiB2DsosHWEJMVT/8UyU/uKvK6zBMHAo7IYrIKBF5QUQ2ichGEbm2m31OFpFaEXnT/fl+uOUeqI8GZVsNMWWNHZbO65ta2F1tnSvm4yJRQwwA16nqRGA6cLWITOpmv5dV9Sj358YIlHtA6ptC+MSZ7cakpnkz8wBsWjDzX8JOiKparqpr3dv1wCZgRLjHjZYLTi3g2d+PIiPdBmWnqiFFaUyblMXiVxoJBu3KFfMfET2HKCJjgaOBVd08PENE1onIMyJyeCTL7a80u0Il5S04Po/q2iCrNtrwK/MfEUuIIpIHPAZ8RVXrujy8FhijqkcCfwCe6OU4V4jIahFZXVlZGanwPvKLv1SzZJXNjZfqpk/O5uufLuLICVleh2LiSEQSooik4yTDB1X18a6Pq2qdqja4txcD6SJS3N2xVPUuVS1V1dKSkpJIhPeRtnZlyapGdlXaPIipzu93rlzJzU65gRamF5HoZRbgHmCTqv62h32GuvshItPccqvDLbu/yiraUbUlKs1/LFpWz+IV1rliHJHoap0FXAq8JSJvutu+DYwGUNU7gAuAq0QkADQDF6lqzM9m79jjDLOwtVRMh+Xrmtm+u50zZuTi99m55VQXdkJU1eVAr+8kVb0VuDXcssK1Y4/TVB452IbcGMeC4/P44Z+qeP3tFqZPtks5U13KnUA5ZHSGXctqPjJzSjYDC3w8vdyazSbFEuIl8wZwx/VDvQ7DxJE0v3DG9Dxe3dD80VVMJjHUN4XYWRHZDtKUSojGdOfMmblMGpdJbYNN+JBInnixnstuLKdyX+S+yFImIVbXBvnfn5TbQFzzX0YMTuf31w3hoJG2VGmiaG0LsfDFeo6dmEXJwMj1CaRMQty+u52tu9rtKhXTo9qGoM2mnSCWrGqkpiHEhXMKInrclEmIHT3Mo6yH2XQjFFK+8LPd3PHYPq9DMfsRDCl//1c9h47O4MgJmRE9dsokxO17AmRliq3FbLrl8wknTc1h1cZmmlrsXGI827qznYp9AS6ck497vUfEpExCLNvTzsjBafhs8K3pwfFHZtMegNfebvE6FNOLCaMyePjHIzjhqMivnpgyCXHMsHQbeGt6NXl8JgW5Pl5Z1+R1KKYHHUs/FA2IzrrqKXNC7arzB3odgolzfr8w44hsVqxrIhjUqHzgTHh+cm81InDjFyM78UuHlKghhkKKB5dOmwR0ydwC7rxhmCXDOLR9TzuvvNXM+BHRm4sgJRLisjebOefrZZRFeFS7ST4jBqczrDhlGk4J5R//qiM9TTj3pPyolZESCXHH7nYamtV6mE2fvPluC795sNpaFXFkb22QJasaOWN6LoX50fscp0ZC3NPO4CI/WRkp8XRNmMqrAjy9opEtZdaiiBeLXq4nEIRPzo5e7RBSpFNl+54Ao20ORNNH04/IRgRWrGtiwii7nC8eXHhaAYeOyWTk4Oh+jlOiyrRnb4Bhg1Ii95sIGJjvZ/L4TFast+ve40V2lo8ZR0R/2FzSJ0RVZe70XEon2WJCpu9mTsnm/bJ2W8zeY8Gg8s0/VLDyrdh8OSV9QhQRvnjewKiMajfJ6/gjsxkzLJ2qmqDXoaS0F9c2sXpTC8FQbDq4kr4d2doWIhRyqtzG9NWIwen8+XvDvA4jpakqjyytY8zQtJg0lyEFaogr1jdz5tfK2FZuPYam/9ralbZ2G37jhdffbuH9snYunFMQszkIkj4hdjR5igfYGETTP7uqApz3rTJeXGvXNnvhkaV1lBT6mX1sbszKTPomc1VNkKwMITfbLsUy/TO0yE92po9X1jdx+nGx+1Aap7l81vF5KJCeFrvPbkRqiCIyV0TeEZEtInJ9N4+LiPzefXy9iEyNRLl9UVUTpLjQH/F500zy8/mEmVOyee3tFms2x5iIcEppLqeWxvaLKOyEKCJ+4DZgHjAJuFhEJnXZbR4wwf25AvhjuOX2VVVt0JrL5oDNmpJNS6uydrPNkRgrZRXt/PWZWhqbYz9RbyRqiNOALaq6VVXbgEeAc7rscw7wF3WsBApFJCZdeAtm5bLghLxYFGWS0FGHZJGTJSxfb+cRY+VvS+t44JlaWj2olUfiHOIIYEen+2XAcX3YZwRQHoHye3X6dEuG5sBlpAtfuaiIUUOS/nR7XKh2J3GYOz2PooLYt+wi8V/u7uRc19Tel32cHUWuwGlWM3r06LACa2tXyqsCDB3kJ9MmdjAH6LRp1qESK4+94Ezi8D+nRXcSh55EIkuUAaM63R8J7DqAfQBQ1btUtVRVS0tKwpsVd8eedj7743JWbbTzPyY8G95v5dlXG7wOI6k1Nof457J6TjgqmxFRnsShJ5FIiK8DE0RknIhkABcBi7rsswj4jNvbPB2oVdWoN5cr97ljEG0eRBOmxa80cOs/9tHcaivyRUt9U4jDx2dy8emRXWu5P8JOiKoaAK4BngM2AX9X1Y0icqWIXOnuthjYCmwB/gR8Kdxy+6Kq1gZlm8iYOyOXphbl5TescyVahg5K46ZrBnPomMiutdwfETlTrKqLcZJe5213dLqtwNWRKKs/qmoCiDgrdBkTjiMOymRESRrPvNpoHXVRsHFrK4MG+Bnq8TR9Sd3TUFUTZGC+jzRbMMiESUSYNyOXde+1srPSrouPpFBI+eUD1fzo7iqvQ0nuhDh3Rh5fusCWHzWRMWd6LkUFPsoqbI7ESFq5oZkdewJRXx6gL5J6cNXkgzIB785HmORSUpjG3342An+MZl5JFU8tb2DQAD8nHe39nKVJW0N8d3sbK99qJhi0a1BN5Ph9Qiik1DdZb3MkVO4L8NrGFuZOz42LtbCTNiE++u86fn5/dfejv405QKrK1b/cw80P7fU6lKTw9gdt+P0wb1Z8dFQlZZO5PaC8+lYzxx+ZYx0qJqJEhMMPyuSfL9dT1xikINdGMITjpKk5HDNxJHnZ8VE3i48oImztOy00NisnxsE5CZN85s3IpT0Az79uYxLD0R5w2m/xkgwhSRPiy280kZMlHHOYrbRnIu+gkRlMGJXOM3YpX1huur+a791R6XUYH5N0CVFVeXd7G9MnZ5ORbs1lEx3zZuaxZUc7W3a0eR1KQqptCLJ8XRND4my99PiKJgJEhDuuH0pTi3WnmOiZfWwuQ4rSGDfcm0kIEt2SVY20B2D+zPiaSSjpEiI4U7/n5Vjt0ERPfo4vZktjJhtVZfErjUwcm8H4ERleh/MxSdVkDoWUK2/azdMr7NyOib6WthD3LKph5YZmr0NJKG9/0MaH5e3Mj5OhNp0lVUJ8+4M23t3eRlaG1Q5N9KWnCUtXNfLEi/Veh5JQxgxL59oLB3LKMfE3CiSpEuKyN5pIT4Ppk60pY6LP7xPOmJ7L65taqNxn1zf3VV62j3NOyicnK/7ST/xFdIBUlZffbOKYw7LIjaNxTSa5nTEjD1Wnk8Ds34p1TTy1vIFgKD47PZMmc7y7vY09e4M2GNvE1PDiNI6akMmzrzbiTPtpevPXZ+tY+GI98To/RtIkxOxMH2fOymXmFGsum9g68/g8DhqZTqMN9erVlh1tvPNhG/Nn5iISnxkxaYbdjB6aznWfHuR1GCYFzT42l9nHxtd4unj0yNI6sjOFOcfF72uVNDVEY7y2fU+7LULVg50V7by4pomzT8iL6wkxLCEaEwFbdrRx+Y/KeWmtTfjQnYbmEJPGZ/LJ2d6tqNcXlhCNiYCDRqYzcnAaz75qvc3dOXRMJr+/bkjcL/hmCdGYCBAR5k7PZf0WW4Sqq1Ubm6lrDHodRp+ElRBF5FcisllE1ovIQhEp7GG/bSLyloi8KSKrwynTmHg1Z3ouPoHnVlotscPeuiA/uKuKe56s9TqUPgm3hrgUmKyqU4B3gRt62fcUVT1KVUvDLNOYuFRSmEbpxCxeXNNkYxJdjz5fRyCgfPI071fU64uwht2o6pJOd1cCF4QXjjGJ7cv/M5CCPH/cjrOLpbrGIE8ua+CkY3IYOTgxpkmL5DnEzwHP9PCYAktEZI2IXBHBMo2JKyMGp5OfY6fmARa+2EBzq/LpM+K7Z7mz/f7nRORfIrKhm59zOu3zHSAAPNjDYWap6lRgHnC1iJzYS3lXiMhqEVldWRlf04sb0xfrt7Rw7W/30JDiS5WWVwWYNSU77uY87M1+m8yqelpvj4vIZcACYLb2cOJEVXe5vytEZCEwDVjWw753AXcBlJaW2okYk3CyMny8taWVf69u5OwTE+PcWTRcf9mgjxaSShTh9jLPBb4FnK2q3Y5IFZFcEcnvuA2cDmwIp1xj4tmEUemMH57Osyna29zaFvpo6FF6WmKdSw33ZMetQD6w1B1ScweAiAwXkcXuPkOA5SKyDngNeFpVnw2zXGPilohwxoxcNm9rY1t56o1JXPxKI5f9sJztuxPvuYfby3xwD9t3AfPd21uBI8Mpx5hEM2daLnctrOHZVxu48ryBXocTM23tyt+W1jFpfCajhiTe3DHWHWZMFBTm+znvlHwOH5/pdSgx9dBztVTsC3L5ggEJOfQo8VK4MQniqvNTp2YIUFbRzsNL6ji1NIeph2Z5Hc4BsRqiMVHU3BrioWdrqdib/GuuvP1BG7lZPr6UwF8EVkM0JopqG0Lcv7iWnZUBvnFpck9gfPpxuZxwVDbZmYlbz0rcyI1JAEMHpXHuSfk8t7IxaXucG5tDvP62szZ1IidDsIRoTNR96owCsjOFe56s8TqUqPjzU7Vcf1slZRWJn/AtIRoTZQPy/Fw4p4AV65vZ8H6r1+FE1Hs72njixXrOOj4vYSZw6I2dQzQmBs4/NZ8tZW1kZSTeUJSehELKLQ/vZUCej/89p9DrcCLCEqIxMZCd6eOHXyjxOoyIenpFA5u2tXHDZYPIS5IZfpLjWRiTIKpqAtz3VA3BUGJNetCd7EwfJx6dzWnTcrwOJWKshmhMDL21pZW/LK5jeHEap0/P8zqcsJw2LZfTpsXvGssHwmqIxsTQSVNzOGR0Bn9+qpa29sSsJa7f0sKTy+qTopbblSVEY2LI5xO+cG4he/YGWfRyvdfh9FswqPzukX08sqQu4eY67AtLiMbE2DGHZXHMYVn89Zk6GpoTa1btxa808MGudq48byBZGcmXPpLvGRmTAL5wbiHHHZ5FIIFqWQ3NIf78z1qOODiTE4/O9jqcqLBOFWM8cMjoDG64vNjrMPrloWdrqW0McdMFAxNyaq++sIRojIe27Ghj9aYWLjo9/lemm3pYFlmZPg4ZnTiLRvWXJURjPPTym0088EwdR07IZOK4+J5MtnRiNqUTk7Op3MHOIRrjoYvmFFBU4OP2x/bRw6KVnlv3Xgt3Pr6P5pbE6gA6EJYQjfFQdpaPz51VyMatbbz0RrPX4fyXYEi57dF9vLCmCUmBbJECT9GY+HbGjFzGj0jnTwv3xd1g7SWrGtmyo50vnFuYlMNsurJziMZ4zO8TvnT+QNa91+I2m+OjB7e5JcQ9T9YwaVwGp5Ymz/XKvQl3ofofishOd03mN0Vkfg/7zRWRd0Rki4hcH06ZxiSjqYdl8dmzCsmMo1rYQ0vq2FsX4ktJPMymq0jUEG9W1V/39KCI+IHbgDlAGfC6iCxS1bcjULYxSeWV9U18uDvAxXEwDGfezDyyM4RJcd77HUmx+DqaBmxR1a2q2gY8ApwTg3KNSTivv93CPYtqPF1/pWJvAFVleHEan5o7wLM4vBCJhHiNiKwXkXtFpLv1B0cAOzrdL3O3GWO6uOzMAeTn+PjuHZXsqw/GvPyKvQGu+uVu7lxYE/Oy48F+E6KI/EtENnTzcw7wR+Ag4CigHPhNd4foZluPXWkicoWIrBaR1ZWVlX17FsYkicJ8Pz+9qoTqmiDfvr0ypmP/mltDfPeOStralLkzEnuuxgO134Soqqep6uRufp5U1T2qGlTVEPAnnOZxV2XAqE73RwK7einvLlUtVdXSkpLkmnLdmL6YNC6T731+EO9tb2Ppa40xKTMUUn5+XzVbd7bz3c8XM3ZY4i8YdSDC6lQRkWGqWu7e/QSwoZvdXgcmiMg4YCdwEfCpcMo1JtnNnJLDH68fysEjY5OY7nu6luXrmvnSBYUcd3hyX57Xm3B7mX8pIkfhNIG3AV8EEJHhwN2qOl9VAyJyDfAc4AfuVdWNYZZrTNKbMMqZRGFbeTurNzVzwanR63k+6pAsWtuU80/Jj1oZiSCshKiql/awfRcwv9P9xcDicMoyJlU9tbyBx1+oJzNdOOuEyCasypoAJYVpTD00i6mHZkX02IkofkaBGmO6deV5zmSyv3tkHyvWN0XsuCvfaubSH5Tz/OuxOU+ZCCwhGhPn0vzC9/+3mAmjM/jxPdWse68l7GO+sLqR791Zydhh6ZROtJphB0uIxiSA7EwfP/tSCUOK/Dz6fHiLUy1e0cBP/lzNpPGZ/ObawQzI80coysRnkzsYkyAG5vu5+atDyMlyhvaqar+vMd66s41fP7iXYydl8aMrilNiBpv+sFfDmARSVOAnK8NHY3OIr/++grXv9K353DH57PgRGdx4RTE//mKJJcNu2CtiTAJqDyg19SG+fXsli1c08MGuNlrbur+qZdO2Vr54027e2uIkz+OPyiEjPTVmr+kvazIbk4AK8/385trBfOMPFfz6wb0A5GQJ//zNSESEpasaqW8KsaOinUXLGigq8NPSFl+Tz8YjS4jGJKjCfD+3f3MoH+xqZ8eedhqbQx+dU1yyqpE1m1sQgXNPyuNzZxWSm20Nwv2xhGhMAktPEw4ZnfFfS4P+8ssl1DSECASVkkL7mPeVvVLGJCERYWC+DafpL6tDG2OMyxKiMca4LCEaY4zLEqIxxrgsIRpjjMsSojHGuCwhGmOMyxKiMca4LCEaY4zLEqIxxrikY560eCQilcCHUTp8MVAVpWNb+YkRQ6qXHw8xeFX+GFX9r4Xf4zohRpOIrFbVUivfO17HkOrlx0MMXpfflTWZjTHGZQnRGGNcqZwQ77LyPed1DKlePngfg9flf0zKnkM0xpiuUrmGaIwxH5NyCVFE5orIOyKyRUSu96D8USLygohsEpGNInJtrGNw4/CLyBsi8pQHZReKyKMistl9HWZ4EMNX3dd/g4g8LCJZUS7vXhGpEJENnbYVichSEXnP/T0wxuX/yv0frBeRhSJSGK3ye4qh02NfFxEVkeJoxrA/KZUQRcQP3AbMAyYBF4vIpBiHEQCuU9WJwHTgag9iALgW2ORBuQC/A55V1cOAI2Mdh4iMAP4PKFXVyYAfuCjKxd4HzO2y7XrgeVWdADzv3o9l+UuByao6BXgXuCGK5fcUAyIyCpgDbI9y+fuVUgkRmAZsUdWtqtoGPAKcE8sAVLVcVde6t+txksGIWMYgIiOBM4G7Y1muW3YBcCJwD4CqtqlqTazjwFlPKFtE0oAcYFc0C1PVZcDeLpvPAe53b98PnBvL8lV1iaoG3LsrgZHRKr+nGFw3A98EPO/QSLWEOALY0el+GTFORp2JyFjgaGBVjIu+BecN2P3K5tE1HqgE/uw22e8WkdxYBqCqO4Ff49RIyoFaVV0SyxhcQ1S13I2pHBjsQQwdPgc8E+tCReRsYKeqrot12d1JtYQo3Wzz5FtJRPKAx4CvqGpdDMtdAFSo6ppYldlFGjAV+KOqHg00Et2m4n9xz9WdA4wDhgO5InJJLGOIJyLyHZxTOQ/GuNwc4DvA92NZbm9SLSGWAaM63R9JlJtK3RGRdJxk+KCqPh7j4mcBZ4vINpxTBqeKyF9jWH4ZUKaqHbXiR3ESZCydBnygqpWq2g48DsyMcQwAe0RkGID7uyLWAYjIZcAC4NMa+zF4B+F8Ka1z348jgbUiMjTGcXwk1RLi68AEERknIhk4J9IXxTIAERGc82ebVPW3sSwbQFVvUNWRqjoW5/n/W1VjVjtS1d3ADhE51N00G3g7VuW7tgPTRSTH/X/MxpsOpkXAZe7ty4AnY1m4iMwFvgWcrapNsSwbQFXfUtXBqjrWfT+WAVPd94gnUiohuieQrwGew/kA/F1VN8Y4jFnApTg1szfdn/kxjsFrXwYeFJH1wFHAz2JZuFs7fRRYC7yF8zmI6hUTIvIw8CpwqIiUicjngZuAOSLyHk4v600xLv9WIB9Y6r4P74hW+b3EEFfsShVjjHGlVA3RGGN6YwnRGGNclhCNMcZlCdEYY1yWEI0xxmUJ0RhjXJYQjTHGZQnRGGNc/w+kwE5AOJ9aQgAAAABJRU5ErkJggg==",
      "text/plain": [
       "<Figure size 360x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "tkl.seed(123)\n",
    "\n",
    "base_lacets = tkl.generate(0.4, dt=10)\n",
    "chemin = tkl.noise(base_lacets, 20, tkl.SincKernel(20), direction=tkl.MODE_DIRECTION_ORTHO)[::3]\n",
    "chemin = chemin[80:250]\n",
    "\n",
    "plt.figure(figsize=(5, 5))\n",
    "plt.plot(chemin.getX(), chemin.getY(), color=\"royalblue\", linestyle='--')\n",
    "plt.title('Synthetic GNSS trajectory')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "65b581ae-a004-45b7-b1dc-a38f9ec2c2f1",
   "metadata": {},
   "source": [
    "## Second : add some noise simulation\n",
    "\n",
    "1. Coordinate system errors or referencing errors with a Gaussian Kernel\n",
    "2. GNSS observation errors (auto-correlated in space and time) with a Exponential Kernel\n",
    "3. White noise process (*e.g.* heat, vibrations, electronic noise) with a DiracKernel which have no scope by definition "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "6f3a59f9-1a35-431a-8f34-9fdcaff6a1f0",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 1080x288 with 3 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "bruit1 = chemin.copy()\n",
    "bruit1 = bruit1.noise(0.5, tkl.GaussianKernel(100))\n",
    "\n",
    "bruit2 = chemin.copy()\n",
    "bruit2 = bruit2.noise(3, tkl.ExponentialKernel(50))\n",
    "\n",
    "bruit3 = chemin.copy()\n",
    "bruit3 = bruit3.noise(0.5, tkl.DiracKernel())\n",
    "\n",
    "# ----------------------------------------------------------\n",
    "#   PLOT\n",
    "def plotNoise(track, i, title):\n",
    "    ax = plt.subplot2grid((1, 3), (0, i))\n",
    "    ax.plot(track.getX(), track.getY(), color=\"red\")\n",
    "    ax.plot(chemin.getX(), chemin.getY(), color=\"royalblue\", linestyle='--')\n",
    "    ax.set_title(title)\n",
    "    ax.set_xlim([-5,25]); ax.set_xticks([])\n",
    "    ax.set_ylim([-10,20]); ax.set_yticks([])\n",
    "\n",
    "plt.figure(figsize=(15, 4))\n",
    "plotNoise(bruit1, 0, 'Coordinate system')\n",
    "plotNoise(bruit2, 1, 'GNSS error')\n",
    "plotNoise(bruit3, 2, 'White noise')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1a2a8328-b7a9-4972-af8a-7bffc70977a8",
   "metadata": {},
   "source": [
    "## Combine the three error components in the GNSS track"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "58d2a228-bbb5-46bc-904d-29476acad0c3",
   "metadata": {
    "editable": true,
    "slideshow": {
     "slide_type": ""
    },
    "tags": [
     "nbsphinx-thumbnail"
    ]
   },
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 576x432 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Combine the  errors\n",
    "synthetic = chemin.copy()\n",
    "synthetic = synthetic.noise(0.5, tkl.GaussianKernel(100))\n",
    "synthetic = synthetic.noise(3, tkl.ExponentialKernel(50))\n",
    "synthetic = synthetic.noise(0.5, tkl.DiracKernel())\n",
    "\n",
    "# ----------------------------------------------------------\n",
    "plt.figure(figsize=(8, 6))\n",
    "\n",
    "# Synthetic GNSS trajectory\n",
    "plt.plot(bruit1.getX(), bruit1.getY(), color=\"lightseagreen\", label='Coordinate System Error', linestyle='--')\n",
    "plt.plot(bruit2.getX(), bruit2.getY(), color=\"lightgreen\",    label='GNSS Error',              linestyle='--')\n",
    "plt.plot(bruit3.getX(), bruit3.getY(), color=\"limegreen\",     label='White noise Error',       linestyle='--')\n",
    "plt.plot(synthetic.getX(), synthetic.getY(), color=\"red\",     label='Realistic',               linestyle='-')\n",
    "plt.plot(chemin.getX(), chemin.getY(), color=\"royalblue\",     label='Raw track',               linestyle='-')\n",
    "plt.title('realistic synthetic GNSS trajectory')\n",
    "plt.xlim([-5,25]); plt.xticks([])\n",
    "plt.ylim([-10,20]); plt.yticks([])\n",
    "plt.legend()\n",
    "plt.show()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
