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Add computation of 2D and 3D bias to position test

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This commit is contained in:
Carles Fernandez 2017-04-23 22:31:53 +02:00
parent 981d0579d6
commit 07ecbd2f5e
2 changed files with 25 additions and 12 deletions
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2
src/tests/common-files/signal_generator_flags.h
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@ -41,7 +41,7 @@ DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver posi
DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");
DEFINE_int32(fs_gen_hz, 2600000, "Samppling frequency [Hz]");
DEFINE_int32(fs_gen_hz, 2600000, "Sampling frequency [sps]");
DEFINE_int32(test_satellite_PRN, 1, "PRN of the satellite under test (must be visible during the observation time)");
DEFINE_int32(test_satellite_PRN2, 2, "PRN of the satellite under test (must be visible during the observation time)");

35
src/tests/system-tests/position_test.cc
View File

@ -30,6 +30,7 @@
*/
#include <cmath>
#include <fstream>
#include <numeric>
#include <thread>
#include <gflags/gflags.h>
@ -39,6 +40,7 @@
#include "concurrent_queue.h"
#include "control_thread.h"
#include "in_memory_configuration.h"
#include "MATH_CONSTANTS.h"
#include "signal_generator_flags.h"
@ -56,7 +58,7 @@ public:
std::string p4;
std::string p5;
const double baseband_sampling_freq = 2.6e6;
const double baseband_sampling_freq = static_cast<double>(FLAGS_fs_gen_hz);
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
@ -94,11 +96,15 @@ void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const dou
double aux_x, aux_y, aux_z;
// Convert to ECEF (See https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_geodetic_to_ECEF_coordinates )
double N = std::pow(a, 2.0) / sqrt( std::pow(a, 2.0) * std::pow(cos(latitude), 2.0) + std::pow(b, 2.0) * std::pow(sin(latitude), 2.0));
const double cLat = cos(latitude);
const double cLon = cos(longitude);
const double sLon = sin(longitude);
const double sLat = sin(latitude);
double N = std::pow(a, 2.0) / sqrt(std::pow(a, 2.0) * std::pow(cLat, 2.0) + std::pow(b, 2.0) * std::pow(sLat, 2.0));
aux_x = (N + altitude) * cos(latitude) * cos(longitude);
aux_y = (N + altitude) * cos(latitude) * sin(longitude);
aux_z = ((std::pow(b, 2.0) / std::pow(a, 2.0)) * N + altitude) * sin(latitude);
aux_x = (N + altitude) * cLat * cLon;
aux_y = (N + altitude) * cLat * sLon;
aux_z = ((std::pow(b, 2.0) / std::pow(a, 2.0)) * N + altitude) * sLat;
*x = aux_x;
*y = aux_y;
@ -109,9 +115,8 @@ void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const dou
void Position_Gps_L1_System_Test::geodetic2Enu(const double latitude, const double longitude, const double altitude,
double* east, double* north, double* up)
{
// Reference : https://github.com/ethz-asl/geodetic_utils/blob/master/include/geodetic_utils/geodetic_conv.hpp
double x, y, z;
const double d2r = 3.1415926535898 / 180.0;
const double d2r = PI / 180.0;
geodetic2Ecef(latitude * d2r, longitude * d2r, altitude, &x, &y, &z);
@ -163,9 +168,9 @@ double Position_Gps_L1_System_Test::compute_stdev_precision(const std::vector<do
}
double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, double ref)
double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, const double ref)
{
double mean__ = ref;
const double mean__ = ref;
double accum__ = 0.0;
std::for_each (std::begin(vec), std::end(vec), [&](const double d) {
accum__ += (d - mean__) * (d - mean__);
@ -482,6 +487,13 @@ void Position_Gps_L1_System_Test::check_results()
double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, 0.0), 2.0);
double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, 0.0), 2.0);
double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
double mean__e = sum__e / pos_e.size();
double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
double mean__n = sum__n / pos_n.size();
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
double mean__u = sum__u / pos_u.size();
std::cout << "---- ACCURACY ----" << std::endl;
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
std::cout << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
@ -490,6 +502,8 @@ void Position_Gps_L1_System_Test::check_results()
std::cout << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
std::cout << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
std::cout << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
std::cout << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
std::cout << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
std::cout << std::endl;
std::cout << "---- PRECISION ----" << std::endl;
@ -501,7 +515,6 @@ void Position_Gps_L1_System_Test::check_results()
std::cout << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
std::cout << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
// Sanity Check
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
ASSERT_LT(precision_SEP, 20.0);
@ -516,7 +529,7 @@ TEST_F(Position_Gps_L1_System_Test, Position_system_test)
// Generate signal raw signal samples and observations RINEX file
if(!FLAGS_disable_generator)
{
generate_signal();
generate_signal();
}
// Configure receiver