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【Python】WHEELTEC GPS G60主代码读取传感器数据代码（Windows系统）

news 2025/7/12 12:25:24

【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! Baudrate=9600")
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) == b'G':time.sleep(.05) if ser.inWaiting():if ser.read(1) == b'N':if ser.inWaiting():choice = ser.read(1)if choice == b'G':if ser.inWaiting():if ser.read(1) == b'G':if ser.inWaiting():if ser.read(1) == b'A':#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 == b'V':if ser.inWaiting():if ser.read(1) == b'T':if ser.inWaiting():if ser.read(1) == b'G':if gps_t == 1:VTG = ser.read(40)VTG_g = re.findall(r"\w+(?=,)|(?<=,)\w+", str(VTG))cogt = VTG_g[0]+'.'+VTG_g[1]+'T'if VTG_g[3] == 'M':cogm = '0.00'sog = 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:'+lat+ulat)print('Longitude:'+lon+ulon)print('Number of satellites:'+numSv)print('Altitude:'+msl)print('True north heading:'+cogt+'°')print('Magnetic north heading:'+cogm+'°')print('Ground speed:'+sog+'Kn')print('Ground speed:'+kph+'Km/h')print("*********************")'''return(kph)except KeyboardInterrupt:ser.close()print("GPS serial Close!")if __name__ == "__main__":t1=time.time()for i in range(0,10):kph=GPS_test()print('Ground speed:'+kph+'Km/h')t2=time.time()print((t2-t1)/10)ser.close()