2017-04-12 15:04:51 +00:00
|
|
|
/*!
|
|
|
|
* \file hybrid_observables_test.cc
|
|
|
|
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
|
|
|
|
* implementation based on some input parameters.
|
|
|
|
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
|
|
|
*
|
|
|
|
*
|
|
|
|
* -------------------------------------------------------------------------
|
|
|
|
*
|
|
|
|
* Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
|
|
|
|
*
|
|
|
|
* GNSS-SDR is a software defined Global Navigation
|
|
|
|
* Satellite Systems receiver
|
|
|
|
*
|
|
|
|
* This file is part of GNSS-SDR.
|
|
|
|
*
|
|
|
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
|
|
* it under the terms of the GNU General Public License as published by
|
|
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
|
|
* (at your option) any later version.
|
|
|
|
*
|
|
|
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
* GNU General Public License for more details.
|
|
|
|
*
|
|
|
|
* You should have received a copy of the GNU General Public License
|
|
|
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
*
|
|
|
|
* -------------------------------------------------------------------------
|
|
|
|
*/
|
|
|
|
|
2017-08-10 13:34:38 +00:00
|
|
|
#include <unistd.h>
|
2017-08-11 03:18:38 +00:00
|
|
|
#include <chrono>
|
2017-08-10 13:34:38 +00:00
|
|
|
#include <exception>
|
2017-04-12 15:04:51 +00:00
|
|
|
#include <armadillo>
|
|
|
|
#include <gnuradio/top_block.h>
|
|
|
|
#include <gnuradio/blocks/file_source.h>
|
|
|
|
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
|
|
|
#include <gnuradio/blocks/null_sink.h>
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "GPS_L1_CA.h"
|
|
|
|
#include "gnss_satellite.h"
|
|
|
|
#include "gnss_block_factory.h"
|
|
|
|
#include "gnss_block_interface.h"
|
|
|
|
#include "tracking_interface.h"
|
|
|
|
#include "telemetry_decoder_interface.h"
|
|
|
|
#include "in_memory_configuration.h"
|
|
|
|
#include "gnss_synchro.h"
|
|
|
|
#include "gps_l1_ca_telemetry_decoder.h"
|
|
|
|
#include "tracking_true_obs_reader.h"
|
|
|
|
#include "true_observables_reader.h"
|
|
|
|
#include "tracking_dump_reader.h"
|
|
|
|
#include "observables_dump_reader.h"
|
|
|
|
#include "tlm_dump_reader.h"
|
|
|
|
#include "gps_l1_ca_dll_pll_tracking.h"
|
|
|
|
#include "hybrid_observables.h"
|
|
|
|
#include "signal_generator_flags.h"
|
2018-02-26 11:33:40 +00:00
|
|
|
#include "gnss_sdr_sample_counter.h"
|
|
|
|
#include <matio.h>
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
|
|
|
|
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
|
|
|
|
class HybridObservablesTest_msg_rx;
|
|
|
|
|
|
|
|
typedef boost::shared_ptr<HybridObservablesTest_msg_rx> HybridObservablesTest_msg_rx_sptr;
|
|
|
|
|
|
|
|
HybridObservablesTest_msg_rx_sptr HybridObservablesTest_msg_rx_make();
|
|
|
|
|
|
|
|
class HybridObservablesTest_msg_rx : public gr::block
|
|
|
|
{
|
|
|
|
private:
|
|
|
|
friend HybridObservablesTest_msg_rx_sptr HybridObservablesTest_msg_rx_make();
|
|
|
|
void msg_handler_events(pmt::pmt_t msg);
|
|
|
|
HybridObservablesTest_msg_rx();
|
|
|
|
|
|
|
|
public:
|
|
|
|
int rx_message;
|
2018-03-03 01:03:39 +00:00
|
|
|
~HybridObservablesTest_msg_rx(); //!< Default destructor
|
2017-04-12 15:04:51 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
HybridObservablesTest_msg_rx_sptr HybridObservablesTest_msg_rx_make()
|
|
|
|
{
|
|
|
|
return HybridObservablesTest_msg_rx_sptr(new HybridObservablesTest_msg_rx());
|
|
|
|
}
|
|
|
|
|
|
|
|
void HybridObservablesTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
|
|
|
{
|
|
|
|
try
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
2017-04-12 15:04:51 +00:00
|
|
|
long int message = pmt::to_long(msg);
|
|
|
|
rx_message = message;
|
2018-03-03 01:03:39 +00:00
|
|
|
}
|
|
|
|
catch (boost::bad_any_cast& e)
|
|
|
|
{
|
2017-04-12 15:04:51 +00:00
|
|
|
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
|
|
|
|
rx_message = 0;
|
2018-03-03 01:03:39 +00:00
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
HybridObservablesTest_msg_rx::HybridObservablesTest_msg_rx() : gr::block("HybridObservablesTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
|
|
|
this->message_port_register_in(pmt::mp("events"));
|
|
|
|
this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_msg_rx::msg_handler_events, this, _1));
|
|
|
|
rx_message = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
HybridObservablesTest_msg_rx::~HybridObservablesTest_msg_rx()
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
|
|
|
|
// ###########################################################
|
|
|
|
|
|
|
|
|
|
|
|
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
|
|
|
|
class HybridObservablesTest_tlm_msg_rx;
|
|
|
|
|
|
|
|
typedef boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> HybridObservablesTest_tlm_msg_rx_sptr;
|
|
|
|
|
|
|
|
HybridObservablesTest_tlm_msg_rx_sptr HybridObservablesTest_tlm_msg_rx_make();
|
|
|
|
|
|
|
|
class HybridObservablesTest_tlm_msg_rx : public gr::block
|
|
|
|
{
|
|
|
|
private:
|
|
|
|
friend HybridObservablesTest_tlm_msg_rx_sptr HybridObservablesTest_tlm_msg_rx_make();
|
|
|
|
void msg_handler_events(pmt::pmt_t msg);
|
|
|
|
HybridObservablesTest_tlm_msg_rx();
|
|
|
|
|
|
|
|
public:
|
|
|
|
int rx_message;
|
2018-03-03 01:03:39 +00:00
|
|
|
~HybridObservablesTest_tlm_msg_rx(); //!< Default destructor
|
2017-04-12 15:04:51 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
HybridObservablesTest_tlm_msg_rx_sptr HybridObservablesTest_tlm_msg_rx_make()
|
|
|
|
{
|
|
|
|
return HybridObservablesTest_tlm_msg_rx_sptr(new HybridObservablesTest_tlm_msg_rx());
|
|
|
|
}
|
|
|
|
|
|
|
|
void HybridObservablesTest_tlm_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
|
|
|
{
|
|
|
|
try
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
2017-04-12 15:04:51 +00:00
|
|
|
long int message = pmt::to_long(msg);
|
|
|
|
rx_message = message;
|
2018-03-03 01:03:39 +00:00
|
|
|
}
|
|
|
|
catch (boost::bad_any_cast& e)
|
|
|
|
{
|
2017-04-12 15:04:51 +00:00
|
|
|
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
|
|
|
|
rx_message = 0;
|
2018-03-03 01:03:39 +00:00
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
HybridObservablesTest_tlm_msg_rx::HybridObservablesTest_tlm_msg_rx() : gr::block("HybridObservablesTest_tlm_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
|
|
|
this->message_port_register_in(pmt::mp("events"));
|
|
|
|
this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_tlm_msg_rx::msg_handler_events, this, _1));
|
|
|
|
rx_message = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
HybridObservablesTest_tlm_msg_rx::~HybridObservablesTest_tlm_msg_rx()
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
|
|
|
|
// ###########################################################
|
|
|
|
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
class HybridObservablesTest : public ::testing::Test
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
|
|
|
public:
|
|
|
|
std::string generator_binary;
|
|
|
|
std::string p1;
|
|
|
|
std::string p2;
|
|
|
|
std::string p3;
|
|
|
|
std::string p4;
|
|
|
|
std::string p5;
|
|
|
|
|
2017-09-02 09:24:44 +00:00
|
|
|
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
|
|
|
std::string filename_raw_data = FLAGS_filename_raw_data;
|
|
|
|
|
|
|
|
int configure_generator();
|
|
|
|
int generate_signal();
|
2017-08-03 15:58:11 +00:00
|
|
|
void check_results_carrier_phase(
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::mat& true_ch0,
|
|
|
|
arma::mat& true_ch1,
|
|
|
|
arma::vec& true_tow_s,
|
|
|
|
arma::mat& measured_ch0,
|
|
|
|
arma::mat& measured_ch1);
|
2017-08-03 15:58:11 +00:00
|
|
|
void check_results_code_psudorange(
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::mat& true_ch0,
|
|
|
|
arma::mat& true_ch1,
|
|
|
|
arma::vec& true_tow_s,
|
|
|
|
arma::mat& measured_ch0,
|
|
|
|
arma::mat& measured_ch1);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
HybridObservablesTest()
|
|
|
|
{
|
|
|
|
factory = std::make_shared<GNSSBlockFactory>();
|
|
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
|
|
item_size = sizeof(gr_complex);
|
|
|
|
gnss_synchro_ch0 = Gnss_Synchro();
|
|
|
|
gnss_synchro_ch1 = Gnss_Synchro();
|
|
|
|
}
|
|
|
|
|
|
|
|
~HybridObservablesTest()
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
void configure_receiver();
|
|
|
|
|
|
|
|
gr::top_block_sptr top_block;
|
|
|
|
std::shared_ptr<GNSSBlockFactory> factory;
|
|
|
|
std::shared_ptr<InMemoryConfiguration> config;
|
|
|
|
Gnss_Synchro gnss_synchro_ch0;
|
|
|
|
Gnss_Synchro gnss_synchro_ch1;
|
|
|
|
size_t item_size;
|
|
|
|
};
|
|
|
|
|
|
|
|
int HybridObservablesTest::configure_generator()
|
|
|
|
{
|
|
|
|
// Configure signal generator
|
|
|
|
generator_binary = FLAGS_generator_binary;
|
|
|
|
|
|
|
|
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
2018-03-03 01:03:39 +00:00
|
|
|
if (FLAGS_dynamic_position.empty())
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
|
|
|
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
|
|
|
}
|
2018-03-03 01:03:39 +00:00
|
|
|
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
|
|
|
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
|
|
|
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
2017-04-12 15:04:51 +00:00
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
int HybridObservablesTest::generate_signal()
|
|
|
|
{
|
|
|
|
int child_status;
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
int pid;
|
|
|
|
if ((pid = fork()) == -1)
|
|
|
|
perror("fork err");
|
|
|
|
else if (pid == 0)
|
|
|
|
{
|
|
|
|
execv(&generator_binary[0], parmList);
|
|
|
|
std::cout << "Return not expected. Must be an execv err." << std::endl;
|
|
|
|
std::terminate();
|
|
|
|
}
|
|
|
|
|
|
|
|
waitpid(pid, &child_status, 0);
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void HybridObservablesTest::configure_receiver()
|
|
|
|
{
|
|
|
|
gnss_synchro_ch0.Channel_ID = 0;
|
|
|
|
gnss_synchro_ch0.System = 'G';
|
|
|
|
std::string signal = "1C";
|
|
|
|
signal.copy(gnss_synchro_ch0.Signal, 2, 0);
|
|
|
|
gnss_synchro_ch0.PRN = FLAGS_test_satellite_PRN;
|
|
|
|
|
|
|
|
gnss_synchro_ch1.Channel_ID = 1;
|
|
|
|
gnss_synchro_ch1.System = 'G';
|
|
|
|
signal.copy(gnss_synchro_ch1.Signal, 2, 0);
|
|
|
|
gnss_synchro_ch1.PRN = FLAGS_test_satellite_PRN2;
|
|
|
|
|
|
|
|
|
2017-09-02 09:24:44 +00:00
|
|
|
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
// Set Tracking
|
|
|
|
config->set_property("Tracking_1C.item_type", "gr_complex");
|
|
|
|
config->set_property("Tracking_1C.if", "0");
|
|
|
|
config->set_property("Tracking_1C.dump", "true");
|
|
|
|
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
2018-02-26 11:33:40 +00:00
|
|
|
config->set_property("Tracking_1C.pll_bw_hz", "35.0");
|
2017-08-03 15:58:11 +00:00
|
|
|
config->set_property("Tracking_1C.dll_bw_hz", "0.5");
|
2017-04-12 15:04:51 +00:00
|
|
|
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
config->set_property("TelemetryDecoder_1C.dump", "true");
|
|
|
|
config->set_property("Observables.dump", "true");
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|
|
|
|
|
2017-08-03 15:58:11 +00:00
|
|
|
void HybridObservablesTest::check_results_carrier_phase(
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::mat& true_ch0,
|
|
|
|
arma::mat& true_ch1,
|
|
|
|
arma::vec& true_tow_s,
|
|
|
|
arma::mat& measured_ch0,
|
|
|
|
arma::mat& measured_ch1)
|
2017-08-03 15:58:11 +00:00
|
|
|
{
|
|
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
|
|
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
|
|
int size2 = measured_ch1.col(0).n_rows;
|
|
|
|
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
|
|
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
|
|
|
2017-08-03 15:58:11 +00:00
|
|
|
arma::vec true_ch0_phase_interp;
|
|
|
|
arma::vec true_ch1_phase_interp;
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);
|
|
|
|
arma::interp1(true_tow_s, true_ch1.col(3), t, true_ch1_phase_interp);
|
|
|
|
|
|
|
|
arma::vec meas_ch0_phase_interp;
|
|
|
|
arma::vec meas_ch1_phase_interp;
|
|
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);
|
|
|
|
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_phase_interp);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
|
|
|
//2. RMSE
|
|
|
|
arma::vec err_ch0_cycles;
|
|
|
|
arma::vec err_ch1_cycles;
|
|
|
|
|
|
|
|
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
|
2018-02-26 11:33:40 +00:00
|
|
|
err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);
|
|
|
|
err_ch1_cycles = meas_ch1_phase_interp - true_ch1_phase_interp - meas_ch1_phase_interp(0) + true_ch1_phase_interp(0);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
|
|
|
arma::vec err2_ch0 = arma::square(err_ch0_cycles);
|
|
|
|
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
|
|
|
|
|
|
|
|
//3. Mean err and variance
|
|
|
|
double error_mean_ch0 = arma::mean(err_ch0_cycles);
|
|
|
|
double error_var_ch0 = arma::var(err_ch0_cycles);
|
|
|
|
|
|
|
|
// 4. Peaks
|
|
|
|
double max_error_ch0 = arma::max(err_ch0_cycles);
|
|
|
|
double min_error_ch0 = arma::min(err_ch0_cycles);
|
|
|
|
|
|
|
|
arma::vec err2_ch1 = arma::square(err_ch1_cycles);
|
|
|
|
double rmse_ch1 = sqrt(arma::mean(err2_ch1));
|
|
|
|
|
|
|
|
//3. Mean err and variance
|
|
|
|
double error_mean_ch1 = arma::mean(err_ch1_cycles);
|
|
|
|
double error_var_ch1 = arma::var(err_ch1_cycles);
|
|
|
|
|
|
|
|
// 4. Peaks
|
|
|
|
double max_error_ch1 = arma::max(err_ch1_cycles);
|
|
|
|
double min_error_ch1 = arma::min(err_ch1_cycles);
|
|
|
|
|
|
|
|
|
|
|
|
//5. report
|
|
|
|
std::streamsize ss = std::cout.precision();
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE = "
|
|
|
|
<< rmse_ch0 << ", mean = " << error_mean_ch0
|
|
|
|
<< ", stdev = " << sqrt(error_var_ch0)
|
|
|
|
<< " (max,min) = " << max_error_ch0
|
2017-08-03 15:58:11 +00:00
|
|
|
<< "," << min_error_ch0
|
|
|
|
<< " [cycles]" << std::endl;
|
2018-03-03 01:03:39 +00:00
|
|
|
std::cout.precision(ss);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
ASSERT_LT(rmse_ch0, 5e-2);
|
|
|
|
ASSERT_LT(error_mean_ch0, 5e-2);
|
|
|
|
ASSERT_GT(error_mean_ch0, -5e-2);
|
|
|
|
ASSERT_LT(error_var_ch0, 5e-2);
|
|
|
|
ASSERT_LT(max_error_ch0, 5e-2);
|
|
|
|
ASSERT_GT(min_error_ch0, -5e-2);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
|
|
|
//5. report
|
|
|
|
ss = std::cout.precision();
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE = "
|
|
|
|
<< rmse_ch1 << ", mean = " << error_mean_ch1
|
|
|
|
<< ", stdev = " << sqrt(error_var_ch1)
|
|
|
|
<< " (max,min) = " << max_error_ch1
|
2017-08-03 15:58:11 +00:00
|
|
|
<< "," << min_error_ch1
|
|
|
|
<< " [cycles]" << std::endl;
|
2018-03-03 01:03:39 +00:00
|
|
|
std::cout.precision(ss);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
ASSERT_LT(rmse_ch1, 5e-2);
|
|
|
|
ASSERT_LT(error_mean_ch1, 5e-2);
|
|
|
|
ASSERT_GT(error_mean_ch1, -5e-2);
|
|
|
|
ASSERT_LT(error_var_ch1, 5e-2);
|
|
|
|
ASSERT_LT(max_error_ch1, 5e-2);
|
|
|
|
ASSERT_GT(min_error_ch1, -5e-2);
|
2017-08-03 15:58:11 +00:00
|
|
|
}
|
|
|
|
|
2017-10-29 11:26:06 +00:00
|
|
|
|
2017-08-03 15:58:11 +00:00
|
|
|
void HybridObservablesTest::check_results_code_psudorange(
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::mat& true_ch0,
|
|
|
|
arma::mat& true_ch1,
|
|
|
|
arma::vec& true_tow_s,
|
|
|
|
arma::mat& measured_ch0,
|
|
|
|
arma::mat& measured_ch1)
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
|
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
|
|
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
|
|
int size2 = measured_ch1.col(0).n_rows;
|
|
|
|
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
|
|
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
|
|
|
2017-04-12 15:04:51 +00:00
|
|
|
arma::vec true_ch0_dist_interp;
|
|
|
|
arma::vec true_ch1_dist_interp;
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::interp1(true_tow_s, true_ch0.col(1), t, true_ch0_dist_interp);
|
|
|
|
arma::interp1(true_tow_s, true_ch1.col(1), t, true_ch1_dist_interp);
|
|
|
|
|
|
|
|
arma::vec meas_ch0_dist_interp;
|
|
|
|
arma::vec meas_ch1_dist_interp;
|
|
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
|
|
|
|
arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
// generate delta pseudoranges
|
2018-02-26 11:33:40 +00:00
|
|
|
arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
|
|
|
|
arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
//2. RMSE
|
|
|
|
arma::vec err;
|
|
|
|
|
|
|
|
err = delta_measured_dist_m - delta_true_dist_m;
|
|
|
|
arma::vec err2 = arma::square(err);
|
|
|
|
double rmse = sqrt(arma::mean(err2));
|
|
|
|
|
|
|
|
//3. Mean err and variance
|
|
|
|
double error_mean = arma::mean(err);
|
|
|
|
double error_var = arma::var(err);
|
|
|
|
|
|
|
|
// 4. Peaks
|
|
|
|
double max_error = arma::max(err);
|
|
|
|
double min_error = arma::min(err);
|
|
|
|
|
|
|
|
//5. report
|
2017-07-12 18:02:34 +00:00
|
|
|
std::streamsize ss = std::cout.precision();
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << std::setprecision(10) << "Delta Observables RMSE = "
|
|
|
|
<< rmse << ", mean = " << error_mean
|
|
|
|
<< ", stdev = " << sqrt(error_var)
|
|
|
|
<< " (max,min) = " << max_error
|
2017-04-12 15:04:51 +00:00
|
|
|
<< "," << min_error
|
|
|
|
<< " [meters]" << std::endl;
|
2018-03-03 01:03:39 +00:00
|
|
|
std::cout.precision(ss);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
ASSERT_LT(rmse, 0.5);
|
|
|
|
ASSERT_LT(error_mean, 0.5);
|
2017-08-03 15:58:11 +00:00
|
|
|
ASSERT_GT(error_mean, -0.5);
|
2018-02-26 11:33:40 +00:00
|
|
|
ASSERT_LT(error_var, 0.5);
|
|
|
|
ASSERT_LT(max_error, 2.0);
|
|
|
|
ASSERT_GT(min_error, -2.0);
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|
|
|
|
|
2017-08-11 03:18:38 +00:00
|
|
|
|
2017-04-12 15:04:51 +00:00
|
|
|
TEST_F(HybridObservablesTest, ValidationOfResults)
|
|
|
|
{
|
|
|
|
// Configure the signal generator
|
|
|
|
configure_generator();
|
|
|
|
|
|
|
|
// Generate signal raw signal samples and observations RINEX file
|
2018-02-26 11:33:40 +00:00
|
|
|
if (FLAGS_disable_generator == false)
|
2017-08-11 03:18:38 +00:00
|
|
|
{
|
|
|
|
generate_signal();
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2017-08-11 03:18:38 +00:00
|
|
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
2017-08-11 11:11:38 +00:00
|
|
|
std::chrono::duration<double> elapsed_seconds(0);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
configure_receiver();
|
|
|
|
|
|
|
|
//open true observables log file written by the simulator
|
|
|
|
tracking_true_obs_reader true_obs_data_ch0;
|
|
|
|
tracking_true_obs_reader true_obs_data_ch1;
|
|
|
|
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
|
|
|
int test_satellite_PRN2 = FLAGS_test_satellite_PRN2;
|
2018-03-03 01:03:39 +00:00
|
|
|
std::cout << "Testing satellite PRNs " << test_satellite_PRN << "," << test_satellite_PRN << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
|
|
|
true_obs_file.append(std::to_string(test_satellite_PRN));
|
|
|
|
true_obs_file.append(".dat");
|
|
|
|
ASSERT_NO_THROW({
|
|
|
|
if (true_obs_data_ch0.open_obs_file(true_obs_file) == false)
|
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
};
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure opening true observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
|
|
|
true_obs_file.append(std::to_string(test_satellite_PRN2));
|
|
|
|
true_obs_file.append(".dat");
|
|
|
|
ASSERT_NO_THROW({
|
|
|
|
if (true_obs_data_ch1.open_obs_file(true_obs_file) == false)
|
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
};
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure opening true observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
top_block = gr::make_top_block("Telemetry_Decoder test");
|
|
|
|
std::shared_ptr<TrackingInterface> tracking_ch0 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
|
|
|
std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
|
|
|
|
|
|
|
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch0 = HybridObservablesTest_msg_rx_make();
|
|
|
|
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch1 = HybridObservablesTest_msg_rx_make();
|
|
|
|
|
|
|
|
// load acquisition data based on the first epoch of the true observations
|
|
|
|
ASSERT_NO_THROW({
|
|
|
|
if (true_obs_data_ch0.read_binary_obs() == false)
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
};
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure reading true observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
ASSERT_NO_THROW({
|
|
|
|
if (true_obs_data_ch1.read_binary_obs() == false)
|
2018-03-03 01:03:39 +00:00
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
};
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure reading true observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
//restart the epoch counter
|
|
|
|
true_obs_data_ch0.restart();
|
|
|
|
true_obs_data_ch1.restart();
|
|
|
|
|
|
|
|
std::cout << "Initial Doppler [Hz]=" << true_obs_data_ch0.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data_ch0.prn_delay_chips << std::endl;
|
|
|
|
|
|
|
|
gnss_synchro_ch0.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data_ch0.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
|
|
|
gnss_synchro_ch0.Acq_doppler_hz = true_obs_data_ch0.doppler_l1_hz;
|
|
|
|
gnss_synchro_ch0.Acq_samplestamp_samples = 0;
|
|
|
|
|
|
|
|
std::cout << "Initial Doppler [Hz]=" << true_obs_data_ch1.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data_ch1.prn_delay_chips << std::endl;
|
|
|
|
|
|
|
|
gnss_synchro_ch1.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data_ch1.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
|
|
|
gnss_synchro_ch1.Acq_doppler_hz = true_obs_data_ch1.doppler_l1_hz;
|
|
|
|
gnss_synchro_ch1.Acq_samplestamp_samples = 0;
|
|
|
|
|
|
|
|
//telemetry decoders
|
2018-03-03 01:03:39 +00:00
|
|
|
std::shared_ptr<TelemetryDecoderInterface> tlm_ch0(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C", 1, 1));
|
|
|
|
std::shared_ptr<TelemetryDecoderInterface> tlm_ch1(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C", 1, 1));
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
ASSERT_NO_THROW({
|
2017-04-12 15:04:51 +00:00
|
|
|
tlm_ch0->set_channel(0);
|
|
|
|
tlm_ch1->set_channel(1);
|
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
tlm_ch0->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_ch0.PRN));
|
|
|
|
tlm_ch1->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_ch1.PRN));
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure setting gnss_synchro.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch1 = HybridObservablesTest_tlm_msg_rx_make();
|
|
|
|
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch2 = HybridObservablesTest_tlm_msg_rx_make();
|
|
|
|
|
|
|
|
//Observables
|
2018-02-26 11:33:40 +00:00
|
|
|
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables",3, 2));
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
ASSERT_NO_THROW({
|
2017-04-12 15:04:51 +00:00
|
|
|
tracking_ch0->set_channel(gnss_synchro_ch0.Channel_ID);
|
|
|
|
tracking_ch1->set_channel(gnss_synchro_ch1.Channel_ID);
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure setting channel.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
ASSERT_NO_THROW({
|
2017-04-12 15:04:51 +00:00
|
|
|
tracking_ch0->set_gnss_synchro(&gnss_synchro_ch0);
|
|
|
|
tracking_ch1->set_gnss_synchro(&gnss_synchro_ch1);
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure setting gnss_synchro.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
ASSERT_NO_THROW({
|
2017-04-12 15:04:51 +00:00
|
|
|
tracking_ch0->connect(top_block);
|
|
|
|
tracking_ch1->connect(top_block);
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure connecting tracking to the top_block.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
ASSERT_NO_THROW({
|
|
|
|
std::string file = "./" + filename_raw_data;
|
|
|
|
const char* file_name = file.c_str();
|
2017-04-12 15:04:51 +00:00
|
|
|
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
|
2018-03-03 01:03:39 +00:00
|
|
|
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
|
2017-04-12 15:04:51 +00:00
|
|
|
gr::blocks::null_sink::sptr sink_ch0 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
|
|
|
gr::blocks::null_sink::sptr sink_ch1 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
2018-02-26 11:33:40 +00:00
|
|
|
gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq));
|
2017-04-12 15:04:51 +00:00
|
|
|
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
|
2018-02-26 11:33:40 +00:00
|
|
|
top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
|
|
|
|
|
2017-04-12 15:04:51 +00:00
|
|
|
//ch0
|
|
|
|
top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch0->get_left_block(), 0);
|
|
|
|
top_block->connect(tracking_ch0->get_right_block(), 0, tlm_ch0->get_left_block(), 0);
|
|
|
|
top_block->connect(tlm_ch0->get_right_block(), 0, observables->get_left_block(), 0);
|
|
|
|
top_block->msg_connect(tracking_ch0->get_right_block(), pmt::mp("events"), msg_rx_ch0, pmt::mp("events"));
|
|
|
|
//ch1
|
|
|
|
top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch1->get_left_block(), 0);
|
|
|
|
top_block->connect(tracking_ch1->get_right_block(), 0, tlm_ch1->get_left_block(), 0);
|
|
|
|
top_block->connect(tlm_ch1->get_right_block(), 0, observables->get_left_block(), 1);
|
|
|
|
top_block->msg_connect(tracking_ch1->get_right_block(), pmt::mp("events"), msg_rx_ch1, pmt::mp("events"));
|
|
|
|
|
|
|
|
top_block->connect(observables->get_right_block(), 0, sink_ch0, 0);
|
|
|
|
top_block->connect(observables->get_right_block(), 1, sink_ch1, 0);
|
2018-02-26 11:33:40 +00:00
|
|
|
top_block->connect(samp_counter, 0, observables->get_left_block(), 2);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure connecting the blocks.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
tracking_ch0->start_tracking();
|
|
|
|
tracking_ch1->start_tracking();
|
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
EXPECT_NO_THROW({
|
2017-08-11 03:18:38 +00:00
|
|
|
start = std::chrono::system_clock::now();
|
2018-03-03 01:03:39 +00:00
|
|
|
top_block->run(); // Start threads and wait
|
2017-08-11 03:18:38 +00:00
|
|
|
end = std::chrono::system_clock::now();
|
|
|
|
elapsed_seconds = end - start;
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure running the top_block.";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
//check results
|
|
|
|
//load the true values
|
|
|
|
|
|
|
|
true_observables_reader true_observables;
|
|
|
|
|
|
|
|
ASSERT_NO_THROW({
|
2018-02-26 11:33:40 +00:00
|
|
|
if(true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
|
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
}
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure opening true observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << "True observation epochs = " << nepoch << std::endl;
|
|
|
|
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
|
|
|
|
arma::mat true_ch0 = arma::zeros<arma::mat>(nepoch, 4);
|
|
|
|
arma::mat true_ch1 = arma::zeros<arma::mat>(nepoch, 4);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
true_observables.restart();
|
|
|
|
long int epoch_counter = 0;
|
|
|
|
ASSERT_NO_THROW({
|
|
|
|
while(true_observables.read_binary_obs())
|
|
|
|
{
|
2018-02-26 11:33:40 +00:00
|
|
|
if(round(true_observables.prn[0]) != gnss_synchro_ch0.PRN)
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
throw std::exception();
|
|
|
|
}
|
2018-02-26 11:33:40 +00:00
|
|
|
if(round(true_observables.prn[1]) != gnss_synchro_ch1.PRN)
|
2017-04-12 15:04:51 +00:00
|
|
|
{
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
throw std::exception();
|
|
|
|
}
|
2018-02-26 11:33:40 +00:00
|
|
|
true_ch0(epoch_counter, 0) = true_observables.gps_time_sec[0];
|
|
|
|
true_ch0(epoch_counter, 1) = true_observables.dist_m[0];
|
|
|
|
true_ch0(epoch_counter, 2) = true_observables.doppler_l1_hz[0];
|
|
|
|
true_ch0(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[0];
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
true_ch1(epoch_counter, 0) = true_observables.gps_time_sec[1];
|
|
|
|
true_ch1(epoch_counter, 1) = true_observables.dist_m[1];
|
|
|
|
true_ch1(epoch_counter, 2) = true_observables.doppler_l1_hz[1];
|
|
|
|
true_ch1(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[1];
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-03-03 01:03:39 +00:00
|
|
|
epoch_counter++;
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
});
|
|
|
|
|
|
|
|
//read measured values
|
2018-03-03 01:03:39 +00:00
|
|
|
observables_dump_reader estimated_observables(2); //two channels
|
2017-04-12 15:04:51 +00:00
|
|
|
ASSERT_NO_THROW({
|
2018-02-26 11:33:40 +00:00
|
|
|
if(estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
|
|
|
|
{
|
|
|
|
throw std::exception();
|
|
|
|
}
|
2017-10-29 11:26:06 +00:00
|
|
|
}) << "Failure opening dump observables file";
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
|
|
|
|
std::cout << "Measured observation epochs = " << nepoch << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
|
|
|
|
arma::mat measured_ch0 = arma::zeros<arma::mat>(nepoch, 5);
|
|
|
|
arma::mat measured_ch1 = arma::zeros<arma::mat>(nepoch, 5);
|
2017-04-12 15:04:51 +00:00
|
|
|
|
|
|
|
estimated_observables.restart();
|
|
|
|
epoch_counter = 0;
|
2018-02-26 11:33:40 +00:00
|
|
|
long int epoch_counter2 = 0;
|
2017-04-12 15:04:51 +00:00
|
|
|
while(estimated_observables.read_binary_obs())
|
|
|
|
{
|
2018-02-26 11:33:40 +00:00
|
|
|
if(static_cast<bool>(estimated_observables.valid[0]))
|
|
|
|
{
|
|
|
|
measured_ch0(epoch_counter, 0) = estimated_observables.RX_time[0];
|
|
|
|
measured_ch0(epoch_counter, 1) = estimated_observables.TOW_at_current_symbol_s[0];
|
|
|
|
measured_ch0(epoch_counter, 2) = estimated_observables.Carrier_Doppler_hz[0];
|
|
|
|
measured_ch0(epoch_counter, 3) = estimated_observables.Acc_carrier_phase_hz[0];
|
|
|
|
measured_ch0(epoch_counter, 4) = estimated_observables.Pseudorange_m[0];
|
|
|
|
epoch_counter++;
|
|
|
|
}
|
|
|
|
if(static_cast<bool>(estimated_observables.valid[1]))
|
|
|
|
{
|
|
|
|
measured_ch1(epoch_counter2, 0) = estimated_observables.RX_time[1];
|
|
|
|
measured_ch1(epoch_counter2, 1) = estimated_observables.TOW_at_current_symbol_s[1];
|
|
|
|
measured_ch1(epoch_counter2, 2) = estimated_observables.Carrier_Doppler_hz[1];
|
|
|
|
measured_ch1(epoch_counter2, 3) = estimated_observables.Acc_carrier_phase_hz[1];
|
|
|
|
measured_ch1(epoch_counter2, 4) = estimated_observables.Pseudorange_m[1];
|
|
|
|
epoch_counter2++;
|
|
|
|
}
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
//Cut measurement tail zeros
|
|
|
|
arma::uvec index = arma::find(measured_ch0.col(0) > 0.0, 1, "last");
|
|
|
|
if((index.size() > 0) and index(0) < (nepoch - 1))
|
|
|
|
{ measured_ch0.shed_rows(index(0) + 1, nepoch - 1); }
|
|
|
|
index = arma::find(measured_ch1.col(0) > 0.0, 1, "last");
|
|
|
|
if((index.size() > 0) and index(0) < (nepoch - 1))
|
|
|
|
{ measured_ch1.shed_rows(index(0) + 1, nepoch - 1); }
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
//Cut measurement initial transitory of the measurements
|
|
|
|
index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first");
|
|
|
|
if((index.size() > 0) and (index(0) > 0))
|
|
|
|
{ measured_ch0.shed_rows(0, index(0)); }
|
|
|
|
index = arma::find(measured_ch1.col(0) >= true_ch1(0, 0), 1, "first");
|
|
|
|
if((index.size() > 0) and (index(0) > 0))
|
|
|
|
{ measured_ch1.shed_rows(0, index(0)); }
|
|
|
|
|
|
|
|
//Correct the clock error using true values (it is not possible for a receiver to correct
|
2017-08-03 15:58:11 +00:00
|
|
|
//the receiver clock offset error at the observables level because it is required the
|
|
|
|
//decoding of the ephemeris data and solve the PVT equations)
|
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
|
2017-08-03 15:58:11 +00:00
|
|
|
arma::vec receiver_time_offset_s;
|
2018-02-26 11:33:40 +00:00
|
|
|
if(measured_ch0(0, 4) < measured_ch1(0, 4))
|
|
|
|
{
|
|
|
|
receiver_time_offset_s = true_ch0.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
|
|
|
|
}
|
2017-08-11 03:18:38 +00:00
|
|
|
else
|
2018-02-26 11:33:40 +00:00
|
|
|
{
|
|
|
|
receiver_time_offset_s = true_ch1.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
|
|
|
|
}
|
|
|
|
arma::vec corrected_reference_TOW_s = true_ch0.col(0) - receiver_time_offset_s;
|
|
|
|
std::cout << "Receiver time offset: " << receiver_time_offset_s(0) * 1e3 << " [ms]" << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
//Compare measured observables
|
|
|
|
check_results_code_psudorange(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
|
|
|
|
check_results_carrier_phase(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
|
2017-08-03 15:58:11 +00:00
|
|
|
|
2018-02-26 11:33:40 +00:00
|
|
|
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
|
2017-04-12 15:04:51 +00:00
|
|
|
}
|