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

【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 re

utctime = ''
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 = 1
    if temp_data < 0:
        symbol = -1
    degree = 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_degree
    else:
        result = degree - f_degree
    return result


def GPS_read():
        global utctime
        global lat
        global ulat
        global lon
        global ulon
        global numSv
        global msl
        global cogt
        global cogm
        global sog
        global kph
        global gps_t
        if 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 = 0
                                                    return 0
                                                else:
                                                    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 = 1
                                                    return 1
                            elif 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')
        #time.sleep(0.01)
    t2=time.time()
    print((t2-t1)/10)
    ser.close()