{
 "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",
    "\n",
    "To generate realistic noise, we used an approach described in [Ripley (2009)] and also employed in [Ménéroux (2022)]: \n",
    "\n",
    "With a random generator, we sampled $N$ i.i.d. unit-variance and zero-mean gaussian values, compiled in a vector $\\mathbf{x}$. It can easily be shown that, for any positive-definite matrix $\\mathbf{\\Sigma} \\in \\mathbb{R}^{n \\times n}$, the random vector $\\mathbf{y} = \\mathbf{Ax}$ where $\\mathbf{A}$ is a Cholesky factor of $\\mathbf{\\Sigma}$, is a realization of a correlated random vector $\\mathbf{Y}$ having covariance matrix $\\Sigma$. The covariance matrix $\\mathbf{\\Sigma}$ is formed with a (stationary) covariance kernel with three parameters:\n",
    "\n",
    "* The **type of kernel**: exponential, gaussian, and triangular models are used.\n",
    "* The **amplitude** of noise: is between 0 and 5 meters, as it is quite uncommon to find building databases with more than 5 m error amplitude. If necessary, the output tables could be extended to handle large errors.\n",
    "* The correlation **scope** of the noise which roughly speaking describes how far apart two errors would remain correlated (in both amplitude and direction): between 1 m (white noise) and 1000 m (global translation).\n",
    "\n",
    "<br/>\n",
    "In Tracklib, you need to create a kernel with a scope and then apply the noise method to a track by configure the amplitude:\n",
    "<br/>\n",
    "<div class=\"alert alert-block alert-info\" style=\"padding:1em\">\n",
    "    \n",
    "```python\n",
    "  kernel = tkl.GaussianKernel(50)\n",
    "  amplitude = 2\n",
    "  noised_track = track.noise(amplitude, kernel)\n",
    "```\n",
    "</div>\n",
    "<br/>\n",
    "<div>\n",
    "<b>References:</b><ul>\n",
    "<li>[Ripley (2009)] - Ripley, B.D., 2009. Stochastic simulation. vol. 316. Hoboken, NJ: John Wiley & Sons.</li>\n",
    "<li>[Ménéroux (2022)] - Méneroux, Y., Maidaneh Abdi, I., Le Guilcher, A., & Olteanu-Raimond, A. M. (2022). Is the radial distance really a distance? An analysis of its properties and interest for the matching of polygon features. International Journal of Geographical Information Science, 37(2), 438–475. https://doi.org/10.1080/13658816.2022.2123487</li>\n",
    "</ul>    \n",
    "</div>\n",
    "<br/>"
   ]
  },
  {
   "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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",
      "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",
    "chemin.scale(3)\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(20))\n",
    "\n",
    "bruit3 = chemin.copy()\n",
    "bruit3 = bruit3.noise(1, 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=\"blue\")\n",
    "    ax.plot(chemin.getX(), chemin.getY(), color=\"royalblue\", linestyle='--')\n",
    "    ax.set_title(title)\n",
    "    ax.set_xlim([-20,50]); ax.set_xticks([])\n",
    "    ax.set_ylim([-25,50]); 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(20))\n",
    "synthetic = synthetic.noise(1, 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([-10,60]); plt.xticks([])\n",
    "plt.ylim([-25,50]); 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
}
