Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

src/algorithms/libs/gnss_sdr_flags.cc

@@ -30,11 +30,16 @@
 
 
 #include "gnss_sdr_flags.h"
+#include <boost/filesystem/operations.hpp>     // for exists
 #include <cstdint>
 #include <iostream>
+#include <string>
 
 DEFINE_string(c, "-", "Path to the configuration file (if set, overrides --config_file).");
 
+DEFINE_string(config_file, std::string(GNSSSDR_INSTALL_DIR "/share/gnss-sdr/conf/default.conf"),
+        "Path to the configuration file.");
+
 DEFINE_string(s, "-",
         "If defined, path to the file containing the signal samples (overrides the configuration file and --signal_source).");
 
@@ -62,71 +67,126 @@ DEFINE_double(pll_bw_hz, 0.0, "If defined, bandwidth of the PLL low pass filter,
 
 #if GFLAGS_GREATER_2_0
 
+static bool ValidateC(const char* flagname, const std::string & value)
+{
+    if (boost::filesystem::exists( value ) or value.compare("-") == 0)   // value is ok
+        return true;
+    std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
+    return false;
+}
+
+static bool ValidateConfigFile(const char* flagname, const std::string & value)
+{
+    if (boost::filesystem::exists( value ) or value.compare(std::string(GNSSSDR_INSTALL_DIR "/share/gnss-sdr/conf/default.conf")) == 0)   // value is ok
+        return true;
+    std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
+    return false;
+}
+
+static bool ValidateS(const char* flagname, const std::string & value)
+{
+    if (boost::filesystem::exists( value ) or value.compare("-") == 0)   // value is ok
+        return true;
+    std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
+    return false;
+}
+
+static bool ValidateSignalSource(const char* flagname, const std::string & value)
+{
+    if (boost::filesystem::exists( value ) or value.compare("-") == 0)   // value is ok
+        return true;
+    std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
+    return false;
+}
+
 static bool ValidateDopplerMax(const char* flagname, int32_t value)
 {
-    if (value >= 0 && value < 1000000)   // value is ok
+    const int32_t max_value = 1000000;
+    if (value >= 0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " Hz." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateDopplerStep(const char* flagname, int32_t value)
 {
-    if (value >= 0 && value < 10000)   // value is ok
+    const int32_t max_value = 10000;
+    if (value >= 0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " Hz." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateCn0Samples(const char* flagname, int32_t value)
 {
-    if (value > 0 && value < 10000)   // value is ok
+    const int32_t max_value = 10000;
+    if (value > 0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " samples." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateCn0Min(const char* flagname, int32_t value)
 {
-    if (value > 0 && value < 100)   // value is ok
+    const int32_t max_value = 100;
+    if (value > 0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " dB-Hz." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateMaxLockFail(const char* flagname, int32_t value)
 {
-    if (value > 0 && value < 10000)   // value is ok
+    const int32_t max_value = 10000;
+    if (value > 0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " fails." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateCarrierLockTh(const char* flagname, double value)
 {
-    if (value > 0.0 && value < 1.508)   // value is ok
+    const double max_value = 1.508;
+    if (value > 0.0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " rad." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidateDllBw(const char* flagname, double value)
 {
-    if (value >= 0.0 && value < 10000.0)   // value is ok
+    const double max_value = 10000.0;
+    if (value >= 0.0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " Hz." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
 static bool ValidatePllBw(const char* flagname, double value)
 {
-    if (value >= 0.0 && value < 10000.0)   // value is ok
+    const double max_value = 10000.0;
+    if (value >= 0.0 && value < max_value)   // value is ok
         return true;
-    std::cout << "Invalid value for " << flagname << ": " << value << std::endl;
+    std::cout << "Invalid value for flag -" << flagname << ": " << value << ". Allowed range is 0 < " << flagname << " < " << max_value << " Hz." << std::endl;
+    std::cout << "GNSS-SDR program ended." << std::endl;
     return false;
 }
 
-
+DEFINE_validator(c, &ValidateC);
+DEFINE_validator(config_file, &ValidateConfigFile);
+DEFINE_validator(s, &ValidateS);
+DEFINE_validator(signal_source, &ValidateSignalSource);
 DEFINE_validator(doppler_max, &ValidateDopplerMax);
 DEFINE_validator(doppler_step, &ValidateDopplerStep);
 DEFINE_validator(cn0_samples, &ValidateCn0Samples);

src/core/receiver/CMakeLists.txt

@@ -90,8 +90,6 @@ if(ENABLE_FMCOMMS2)
 	set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
 endif(ENABLE_FMCOMMS2)
 
-add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
-
 if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13" )
      add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13" )

src/core/receiver/control_thread.cc

@@ -66,8 +66,6 @@ extern concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
 
 using google::LogMessage;
 
-DEFINE_string(config_file, std::string(GNSSSDR_INSTALL_DIR "/share/gnss-sdr/conf/default.conf"),
-        "Path to the configuration file");
 
 ControlThread::ControlThread()
 {

src/tests/CMakeLists.txt

@@ -605,6 +605,7 @@ if(NOT ${ENABLE_PACKAGING})
      target_link_libraries(control_thread_test ${Boost_LIBRARIES}
                                                ${GFlags_LIBS}
                                                ${GLOG_LIBRARIES}
+                                               ${GNURADIO_RUNTIME_LIBRARIES}
                                                ${GTEST_LIBRARIES}
                                                gnss_sp_libs
                                                gnss_system_parameters
@@ -628,6 +629,7 @@ if(NOT ${ENABLE_PACKAGING})
      target_link_libraries(flowgraph_test ${Boost_LIBRARIES}
                                           ${GFlags_LIBS}
                                           ${GLOG_LIBRARIES}
+                                          ${GNURADIO_RUNTIME_LIBRARIES}
                                           ${GTEST_LIBRARIES}
                                           gnss_sp_libs
                                           gnss_rx

src/utils/front-end-cal/CMakeLists.txt

@@ -33,6 +33,7 @@ include_directories(
 	${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
     ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/adapters
     ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
+    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
     ${GLOG_INCLUDE_DIRS}
     ${GFlags_INCLUDE_DIRS}
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
@@ -59,6 +60,7 @@ target_link_libraries(front_end_cal_lib ${MAC_LIBRARIES}
                                         ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES}
                                         ${GNSS_SDR_OPTIONAL_LIBS}
                                         rx_core_lib
+                                        gnss_sdr_flags
                                         gnss_rx
                                         channel_fsm
 )

src/utils/front-end-cal/main.cc

@@ -32,26 +32,7 @@
 #define FRONT_END_CAL_VERSION "0.0.1"
 #endif
 
-#include <stdlib.h>
+#include "front_end_cal.h"
-#include <chrono>
-#include <ctime> // for ctime
-#include <exception>
-#include <memory>
-#include <queue>
-#include <vector>
-#include <boost/filesystem.hpp>
-#include <boost/lexical_cast.hpp>
-#include <boost/thread.hpp>
-#include <boost/exception/detail/exception_ptr.hpp>
-#include <gflags/gflags.h>
-#include <glog/logging.h>
-#include <gnuradio/msg_queue.h>
-#include <gnuradio/top_block.h>
-#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/blocks/head.h>
-#include <gnuradio/blocks/file_source.h>
-#include <gnuradio/blocks/file_sink.h>
 #include "concurrent_map.h"
 #include "concurrent_queue.h"
 #include "file_configuration.h"
@@ -72,21 +53,32 @@
 #include "galileo_utc_model.h"
 #include "sbas_ephemeris.h"
 #include "gnss_sdr_supl_client.h"
+#include "gnss_sdr_flags.h"
+#include <boost/filesystem.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/thread.hpp>
+#include <boost/exception/detail/exception_ptr.hpp>
+#include <glog/logging.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gnuradio/blocks/head.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/blocks/file_sink.h>
+#include <stdlib.h>
+#include <chrono>
+#include <ctime> // for ctime
+#include <exception>
+#include <memory>
+#include <queue>
+#include <vector>
 
 
-#include "front_end_cal.h"
-
 using google::LogMessage;
 
 DECLARE_string(log_dir);
 
-std::string s1_(GNSSSDR_INSTALL_DIR);
-std::string s2_("/share/gnss-sdr/conf/front-end-cal.conf");
-std::string s3_ = s1_ + s2_;
-
-DEFINE_string(config_file, s3_,
-        "Path to the file containing the configuration parameters");
-
 concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
 concurrent_map<Gps_Iono> global_gps_iono_map;
 concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;

src/utils/reproducibility/ieee-access/L2-access18.conf

@@ -0,0 +1,154 @@
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
+GNSS-SDR.internal_fs_sps=3000000
+
+
+;######### SIGNAL_SOURCE CONFIG ############
+;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+SignalSource.implementation=File_Signal_Source
+
+;#filename: path to file with the captured GNSS signal samples to be processed
+SignalSource.filename=./data/L125_III1b_210s_L2_3Msps.bin  ; <- Available at https://zenodo.org/record/1184601
+
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+SignalSource.item_type=ibyte
+
+;#sampling_frequency: Original Signal sampling frequency in [Hz]
+SignalSource.sampling_frequency=3000000
+
+;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
+SignalSource.samples=0
+
+;#repeat: Repeat the processing file. Disable this option in this version
+SignalSource.repeat=false
+
+;#dump: Dump the Signal source data to a file. Disable this option in this version
+SignalSource.dump=false
+
+;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
+; it helps to not overload the CPU, but the processing time will be longer.
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+
+SignalConditioner.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+
+DataTypeAdapter.implementation=Ibyte_To_Complex
+
+;######### INPUT_FILTER CONFIG ############
+
+InputFilter.implementation=Pass_Through
+
+
+;######### RESAMPLER CONFIG ############
+
+Resampler.implementation=Pass_Through
+Resampler.item_type=gr_complex
+
+
+;######### CHANNELS GLOBAL CONFIG ############
+
+Channels_2S.count=10
+
+Channels.in_acquisition=1
+
+Channel0.signal=2S
+Channel1.signal=2S
+Channel2.signal=2S
+Channel3.signal=2S
+Channel4.signal=2S
+Channel5.signal=2S
+Channel6.signal=2S
+Channel7.signal=2S
+Channel8.signal=2S
+Channel9.signal=2S
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
+
+Acquisition_2S.item_type=gr_complex
+
+Acquisition_2S.doppler_max=4500
+
+Acquisition_2S.doppler_step=125
+
+Acquisition_2S.use_CFAR_algorithm=false
+
+Acquisition_2S.threshold=19.5
+
+Acquisition_2S.blocking=true
+
+
+;######### TRACKING GLOBAL CONFIG ############
+
+
+Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
+
+Tracking_2S.item_type=gr_complex
+
+Tracking_2S.pll_bw_hz=4.0;
+
+Tracking_2S.dll_bw_hz=0.75;
+
+Tracking_2S.early_late_space_chips=0.5;
+
+Tracking_2S.dump=true
+
+Tracking_2S.dump_filename=./data/track_ch_
+
+;######### TELEMETRY DECODER CONFIG ############
+
+TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+
+Observables.implementation=Hybrid_Observables
+
+;######### PVT CONFIG ############
+
+PVT.implementation=RTKLIB_PVT
+
+PVT.positioning_mode=Single; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=OFF; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=OFF; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms]
+PVT.output_rate_ms=100
+
+;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
+PVT.display_rate_ms=500
+
+;# KML, GeoJSON, NMEA and RTCM output configuration
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./data/PVT
+
+;#nmea_dump_filename: NMEA log path and filename
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+
+;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_nmea_tty_port=false
+
+;#nmea_dump_devname: serial device descriptor for NMEA logging
+PVT.nmea_dump_devname=/dev/pts/4
+
+PVT.flag_rtcm_server=false
+
+PVT.rtcm_tcp_port=2101
+
+PVT.rtcm_station_id=1234
+
+PVT.flag_rtcm_tty_port=false
+
+PVT.rtcm_dump_devname=/dev/pts/1
+
+PVT.dump=true
+
+PVT.elevation_mask=5

src/utils/reproducibility/ieee-access/README.md

@@ -0,0 +1,42 @@
+Continuous Reproducibility in GNSS Signal Processing
+----------------------------------------------------
+
+
+This folder contains files required for the reproduction of the experiment proposed in:
+
+C. Fernández-Prades, J. Vilà-Valls, J. Arribas and A. Ramos, *Continuous Reproducibility in GNSS Signal Processing*, submitted to IEEE Access, Feb. 2018.
+
+The dataset used in this paper is available at
+
+The sample format is `ibyte`: Interleaved (I&Q) stream of samples of type signed integer, 8-bit two’s complement number ranging from -128 to 127. 
+
+The figure appearing in that paper can be automatically generated with the pipeline available at https://gitlab.com/gnss-sdr/gnss-sdr/pipelines
+
+After the **Build** stage, which compiles the source code in several versions of the most popular GNU/Linux distributions, and the **Test** stage, which executes GNSS-SDR’s QA code, the **Deploy** stage creates and publishes an image of a software container ready to execute the experiment. This container is available by doing:
+
+```
+$ docker pull carlesfernandez/docker-gnsssdr:access18
+```
+
+Then, in the **Experiment** stage, a job installs the image created in the previous step, grabs the data file, executes the experiment and produces a figure with the obtained results.
+
+The steps to reproduce the experiment in your own machine (with [Docker](https://www.docker.com) already installed and running) are:
+
+```
+$ docker pull carlesfernandez/docker-gnsssdr:access18
+$ git clone https://github.com/gnss-sdr/gnss-sdr
+$ cd gnss-sdr
+$ git checkout next
+$ mkdir -p exp-access18/data
+$ cd ex-access18/data
+$ curl https://zenodo.org/record/1184601/files/L2_signal_samples.tar.xz --output L2_signal_samples.tar.xz
+$ tar xvfJ L2_signal_samples.tar.xz
+$ echo "3a04c1eeb970776bb77f5e3b7eaff2df  L2_signal_samples.tar.xz" > data.md5
+$ md5sum -c data.md5
+$ cd ..
+$ cp ../src/utils/reproducibility/ieee-access18/L2-access18.conf .
+$ cp ../src/utils/reproducibility/ieee-access18/plot_dump.m .
+$ cp -r ../src/utils/matlab/libs/geoFunctions .
+$ octave --no-gui plot_dump.m
+$ epspdf Figure2.eps Figure2.pdf
+```

src/utils/reproducibility/ieee-access/plot_dump.m

@@ -0,0 +1,239 @@
+% /*!
+%  * \file plot_dump.m
+%  * \brief Read GNSS-SDR Tracking dump binary file and plot some internal
+%     variables
+%  * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2018  (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/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */
+
+clear all;
+clc;
+
+n_channel     = 0;
+symbol_period = 20e-3;
+filename      = 'track_ch_';
+
+fontsize = 12;
+
+addpath('./data') % Path to gnss-sdr dump files (Tracking and PVT)
+addpath('./geoFunctions')
+
+load([filename int2str(n_channel) '.mat']);
+t = (0 : length(abs_P) - 1) * symbol_period;
+hf = figure('visible', 'off');
+set(hf, 'paperorientation', 'landscape');
+subplot(3, 3, [1,3])
+plot(t, abs_E, t, abs_P, t, abs_L)
+xlabel('Time [s]','fontname','Times','fontsize', fontsize)
+ylabel('Correlation result','fontname','Times','fontsize', fontsize)
+legend('Early', 'Prompt', 'Late')
+grid on
+
+
+subplot(3, 3, 7)
+plot(Prompt_I./1000, Prompt_Q./1000, 'linestyle', 'none', 'marker', '.')
+xlabel('I','fontname','Times','fontsize', fontsize)
+ylabel('Q','fontname','Times','fontsize', fontsize)
+axis equal
+grid on
+
+subplot(3, 3, [4,6])
+plot(t, Prompt_I)
+xlabel('Time [s]','fontname','Times','fontsize', fontsize)
+ylabel('Navigation data bits','fontname','Times','fontsize', fontsize)
+grid on
+
+
+fileID   = fopen('data/PVT_ls_pvt.dat', 'r');
+dinfo    = dir('data/PVT_ls_pvt.dat');
+filesize = dinfo.bytes;
+aux = 1;
+while ne(ftell(fileID), filesize)
+    navsol.RX_time(aux)    = fread(fileID, 1, 'double');
+    navsol.X(aux)          = fread(fileID, 1, 'double');
+    navsol.Y(aux)          = fread(fileID, 1, 'double');
+    navsol.Z(aux)          = fread(fileID, 1, 'double');
+    navsol.user_clock(aux) = fread(fileID, 1, 'double');
+    navsol.lat(aux)        = fread(fileID, 1, 'double');
+    navsol.long(aux)       = fread(fileID, 1, 'double');
+    navsol.height(aux)     = fread(fileID, 1, 'double');
+    aux = aux + 1;
+end
+fclose(fileID);
+
+
+mean_Latitude=mean(navsol.lat);
+mean_Longitude=mean(navsol.long);
+mean_h=mean(navsol.height);
+utmZone = findUtmZone(mean_Latitude,mean_Longitude);
+[ref_X_cart,ref_Y_cart,ref_Z_cart]=geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);
+[mean_utm_X,mean_utm_Y,mean_utm_Z]=cart2utm(ref_X_cart,ref_Y_cart,ref_Z_cart,utmZone);
+
+
+numPoints=length(navsol.X);
+aux=0;
+for n=1:numPoints
+    aux=aux+1;
+    [E(aux),N(aux),U(aux)]=cart2utm(navsol.X(n), navsol.Y(n), navsol.Z(n), utmZone);
+end
+
+v_2d=[E;N].'; %2D East Nort position vectors
+v_3d=[E;N;U].'; %2D East Nort position vectors
+
+
+%% ACCURACY
+
+% 2D -------------------
+
+sigma_E_accuracy=sqrt((1/(numPoints-1))*sum((v_2d(:,1)-mean_utm_X).^2));
+sigma_N_accuracy=sqrt((1/(numPoints-1))*sum((v_2d(:,2)-mean_utm_Y).^2));
+
+sigma_ratio_2d_accuracy=sigma_N_accuracy/sigma_E_accuracy
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
+DRMS_accuracy=sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2)
+% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
+TWO_DRMS_accuracy=2*DRMS_accuracy
+% if sigma_ratio>0.3 -> Prob in circle with r=CEP -> 50%
+CEP_accuracy=0.62*sigma_E_accuracy+0.56*sigma_N_accuracy
+
+% 3D -------------------
+
+sigma_U_accuracy=sqrt((1/(numPoints-1))*sum((v_3d(:,3)-mean_utm_Z).^2));
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
+SEP_accuracy=0.51*sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2+sigma_U_accuracy^2)
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
+MRSE_accuracy=sqrt(sigma_E_accuracy^2+sigma_N_accuracy^2+sigma_U_accuracy^2)
+% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
+TWO_MRSE_accuracy=2*MRSE_accuracy
+
+
+
+%% PRECISION
+
+% 2D analysis
+% Simulated X,Y measurements
+%v1=randn(1000,2);
+
+% 2D Mean and Variance
+mean_2d  = [mean(v_2d(:,1)) ; mean(v_2d(:,2))];
+sigma_2d = [sqrt(var(v_2d(:,1))) ; sqrt(var(v_2d(:,2)))];
+
+sigma_ratio_2d=sigma_2d(2)/sigma_2d(1)
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 65%
+DRMS=sqrt(sigma_2d(1)^2+sigma_2d(2)^2)
+% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
+TWO_DRMS=2*DRMS
+% if sigma_ratio>0.3 -> Prob in circle with r=CEP -> 50%
+CEP=0.62*sigma_2d(1)+0.56*sigma_2d(2)
+
+
+% Mean and Variance
+mean_3d=[mean(v_3d(:,1)) ; mean(v_3d(:,2)) ; mean(v_3d(:,3))];
+sigma_3d=[sqrt(var(v_3d(:,1))) ; sqrt(var(v_3d(:,2))) ; sqrt(var(v_3d(:,3)))];
+
+% absolute mean error
+% 2D
+
+error_2D_vec=[mean_utm_X-mean_2d(1) mean_utm_Y-mean_2d(2)];
+error_2D_m=norm(error_2D_vec)
+
+error_3D_vec=[mean_utm_X-mean_3d(1) mean_utm_Y-mean_3d(2) mean_utm_Z-mean_3d(3)];
+error_3D_m=norm(error_3D_vec)
+
+% RMSE 2D
+
+RMSE_X=sqrt(mean((v_3d(:,1)-mean_utm_X).^2))
+RMSE_Y=sqrt(mean((v_3d(:,2)-mean_utm_Y).^2))
+RMSE_Z=sqrt(mean((v_3d(:,3)-mean_utm_Z).^2))
+
+
+RMSE_2D=sqrt(mean((v_2d(:,1)-mean_utm_X).^2+(v_2d(:,2)-mean_utm_Y).^2))
+
+RMSE_3D=sqrt(mean((v_3d(:,1)-mean_utm_X).^2+(v_3d(:,2)-mean_utm_Y).^2+(v_3d(:,3)-mean_utm_Z).^2))
+
+% SCATTER PLOT
+subplot(3,3,8)
+scatter(v_2d(:,1)-mean_2d(1),v_2d(:,2)-mean_2d(2));
+hold on;
+
+plot(0,0,'k*');
+
+
+[x,y,z] = cylinder([TWO_DRMS TWO_DRMS],200);
+plot(x(1,:),y(1,:),[0 0.6 0],'Color',[0 0.6 0]);
+str = strcat('2DRMS=',num2str(TWO_DRMS), ' m');
+text(cosd(65)*TWO_DRMS,sind(65)*TWO_DRMS,str,'Color',[0 0.6 0]);
+
+
+[x,y,z] = cylinder([CEP CEP],200);
+
+plot(x(1,:),y(1,:),'r--');
+str = strcat('CEP=',num2str(CEP), ' m');
+text(cosd(80)*CEP,sind(80)*CEP,str,'Color','r');
+
+grid on
+axis equal;
+xlabel('North [m]','fontname','Times','fontsize', fontsize)
+ylabel('East [m]','fontname','Times','fontsize', fontsize)
+
+% 3D analysis
+% Simulated X,Y,Z measurements
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 50%
+SEP=0.51*sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
+
+% if sigma_ratio=1 -> Prob in circle with r=DRMS -> 61%
+MRSE=sqrt(sigma_3d(1)^2+sigma_3d(2)^2+sigma_3d(3)^2)
+% if sigma_ratio=1 -> Prob in circle with r=2DRMS -> 95%
+TWO_MRSE=2*MRSE
+
+
+
+% SCATTER PLOT
+subplot(3,3,9)
+scatter3(v_3d(:,1)-mean_3d(1),v_3d(:,2)-mean_3d(2), v_3d(:,3)-mean_3d(3));
+
+hold on;
+
+[x,y,z] = sphere();
+hSurface=surf(MRSE*x,MRSE*y,MRSE*z);  % sphere centered at origin
+
+set(hSurface,'facecolor','none','edgecolor',[0 0.6 0],'edgealpha',1,'facealpha',1);
+
+%axis equal;
+xlabel('North [m]','fontname','Times','fontsize', fontsize)
+ylabel('East [m]','fontname','Times','fontsize', fontsize)
+zlabel('Up [m]','fontname','Times','fontsize', fontsize)
+str = strcat('MRSE=',num2str(MRSE), ' m');
+text(cosd(45)*MRSE,sind(45)*MRSE,20,str,'Color',[0 0.6 0]);
+
+hh=findall(hf,'-property','FontName');
+set(hh,'FontName','Times');
+print(hf, 'Figure2.eps', '-depsc')
+close(hf);