mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
Add work on acq performance test
This commit is contained in:
Carles Fernandez
parent
bc0b267acc
commit
09ef8dc1f1
@ -49,6 +49,7 @@ DEFINE_int32(acq_test_PRN, 1, "PRN number");
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DEFINE_int32(acq_test_fake_PRN, 33, "Fake PRN number");
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DEFINE_int32(acq_test_signal_duration_s, 2, "Generated signal duration");
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DEFINE_bool(acq_test_bit_transition_flag, false, "Bit transition flag");
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DEFINE_int32(acq_test_iterations, 1, "Number of iterations");
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class AcqPerfTest_msg_rx;
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@ -122,9 +123,11 @@ protected:
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acquisition = 0;
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init();
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Pd.resize(cn0_.size());
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for (int i = 0; i < cn0_.size(); i++) Pd[i].reserve(num_thresholds);
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for (int i = 0; i < static_cast<int>(cn0_.size()); i++) Pd[i].reserve(num_thresholds);
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Pfa.resize(cn0_.size());
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for (int i = 0; i < cn0_.size(); i++) Pfa[i].reserve(num_thresholds);
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for (int i = 0; i < static_cast<int>(cn0_.size()); i++) Pfa[i].reserve(num_thresholds);
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Pd_correct.resize(cn0_.size());
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for (int i = 0; i < static_cast<int>(cn0_.size()); i++) Pd_correct[i].reserve(num_thresholds);
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}
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~AcquisitionPerformanceTest()
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@ -132,7 +135,8 @@ protected:
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}
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std::vector<double> cn0_ = {35.0, 38.0, 43.0};
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int N_iterations = 1;
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std::vector<float> pfa_local = {0.01, 0.1}; //{FLAGS_acq_test_pfa}; //{0.001, 0.01, 0.1, 1};
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int N_iterations = FLAGS_acq_test_iterations;
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void init();
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//void plot_grid();
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@ -144,7 +148,6 @@ protected:
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void process_message();
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void stop_queue();
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int run_receiver();
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int run_receiver2();
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int count_executions(const std::string& basename, unsigned int sat);
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void check_results();
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@ -182,13 +185,11 @@ protected:
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unsigned int observed_satellite = FLAGS_acq_test_PRN;
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std::string path_str = "./acq-perf-test";
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//std::vector<std::vector<double>> meas_Pd;
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//std::vector<std::vector<float>> meas_Pd_correct;
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//std::vector<std::vector<float>> meas_Pfa;
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int num_thresholds = pfa_local.size();
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int num_thresholds = 1;
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std::vector<std::vector<float>> Pd;
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std::vector<std::vector<float>> Pfa;
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std::vector<std::vector<float>> Pd_correct;
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private:
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@ -317,91 +318,8 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
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config = std::make_shared<InMemoryConfiguration>();
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const int sampling_rate_internal = baseband_sampling_freq;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const float zero = 0.0;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const float pll_bw_narrow_hz = 20.0;
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const float dll_bw_narrow_hz = 2.0;
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const int extend_correlation_ms = 1;
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const int display_rate_ms = 500;
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const int output_rate_ms = 100;
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
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// Set the assistance system parameters
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
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config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
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config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
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config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
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// Set the Signal Source
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config->set_property("SignalSource.implementation", "File_Signal_Source");
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config->set_property("SignalSource.filename", "./" + filename_raw_data);
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config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("SignalSource.item_type", "ibyte");
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config->set_property("SignalSource.samples", std::to_string(zero));
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// Set the Signal Conditioner
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config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
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config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
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//config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.implementation", "Pass_Through");
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config->set_property("InputFilter.dump", "false");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
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config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
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config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
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config->set_property("InputFilter.band1_end", std::to_string(band1_end));
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config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
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config->set_property("InputFilter.band2_end", std::to_string(band2_end));
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config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
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config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
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config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
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config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
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config->set_property("InputFilter.band1_error", std::to_string(band1_error));
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config->set_property("InputFilter.band2_error", std::to_string(band2_error));
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", std::to_string(grid_density));
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config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("InputFilter.IF", std::to_string(zero));
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config->set_property("Resampler.implementation", "Pass_Through");
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config->set_property("Resampler.dump", "false");
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config->set_property("Resampler.item_type", "gr_complex");
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config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
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config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
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// Set the number of Channels
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config->set_property("Channels_1C.count", std::to_string(number_of_channels));
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config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
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config->set_property("Channel.signal", "1C");
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//config->set_property("Channel1.satellite", std::to_string(FLAGS_acq_test_PRN));
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", implementation);
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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@ -409,7 +327,7 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
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if (FLAGS_acq_test_pfa > 0.0) config->force_set_property("Acquisition_1C.pfa", std::to_string(pfa));
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if (FLAGS_acq_test_pfa > 0.0) config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa));
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config->set_property("Acquisition_1C.use_CFAR_algorithm", "true");
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@ -437,50 +355,6 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
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config->set_property("Acquisition_1C.dump_filename", dump_file);
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config->set_property("Acquisition_1C.dump_channel", std::to_string(dump_channel));
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// Set Tracking
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config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
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//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
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config->set_property("Tracking_1C.item_type", "gr_complex");
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config->set_property("Tracking_1C.dump", "false");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
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config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
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config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
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config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
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config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms));
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config->set_property("Tracking_1C.cn0_min", std::to_string(50));
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config->set_property("Tracking_1C.max_lock_fail", std::to_string(1));
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config->set_property("Tracking_1C.cn0_samples", std::to_string(1));
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// Set Telemetry
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config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
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config->set_property("TelemetryDecoder_1C.dump", "false");
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// Set Observables
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config->set_property("Observables.implementation", "Hybrid_Observables");
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config->set_property("Observables.dump", "false");
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config->set_property("Observables.dump_filename", "./observables.dat");
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// Set PVT
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config->set_property("PVT.implementation", "RTKLIB_PVT");
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config->set_property("PVT.positioning_mode", "PPP_Static");
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config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
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config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
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config->set_property("PVT.dump_filename", "./PVT");
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config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
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config->set_property("PVT.flag_nmea_tty_port", "false");
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config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
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config->set_property("PVT.flag_rtcm_server", "false");
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config->set_property("PVT.flag_rtcm_tty_port", "false");
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config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
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config->set_property("PVT.dump", "false");
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config->set_property("PVT.rinex_version", std::to_string(2));
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config->set_property("PVT.iono_model", "OFF");
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config->set_property("PVT.trop_model", "OFF");
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config->set_property("PVT.AR_GPS", "PPP-AR");
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config_f = 0;
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}
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else
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@ -542,35 +416,6 @@ int AcquisitionPerformanceTest::run_receiver()
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}
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int AcquisitionPerformanceTest::run_receiver2()
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{
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std::shared_ptr<ControlThread> control_thread;
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if (FLAGS_config_file_ptest.empty())
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{
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control_thread = std::make_shared<ControlThread>(config);
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}
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else
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{
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control_thread = std::make_shared<ControlThread>(config_f);
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}
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// start receiver
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try
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{
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control_thread->run();
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}
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catch (const boost::exception& e)
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{
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std::cout << "Boost exception: " << boost::diagnostic_information(e);
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}
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catch (const std::exception& ex)
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{
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std::cout << "STD exception: " << ex.what();
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}
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return 0;
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}
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int AcquisitionPerformanceTest::count_executions(const std::string& basename, unsigned int sat)
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{
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FILE* fp;
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@ -603,35 +448,34 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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boost::filesystem::remove_all(path_str);
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}
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boost::system::error_code ec;
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if (!boost::filesystem::create_directory(path_str, ec))
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{
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std::cout << "Could not create the " << path_str << " folder." << std::endl;
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// error
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}
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ASSERT_TRUE(boost::filesystem::create_directory(path_str, ec)) << "Could not create the " << path_str << " folder.";
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unsigned int cn0_index = 0;
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//for (unsigned iter = 0; iter < N_iterations; iter++)
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//unsigned iter = 0;
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//{
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for (std::vector<double>::const_iterator it = cn0_.cbegin(); it != cn0_.cend(); ++it)
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{
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// Do N_iterations of the experiment
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std::vector<float> pfa_local = {0.01}; //{FLAGS_acq_test_pfa}; //{0.001, 0.01, 0.1, 1};
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std::vector<double> meas_Pd_;
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std::vector<double> meas_Pd_correct_;
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std::vector<double> meas_Pfa_;
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for (unsigned iter = 0; iter < N_iterations; iter++)
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// Set parameter to sweep
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std::cout << "Execution for CN0 = " << *it << " dB-Hz" << std::endl;
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for (int pfa_iter = 0; pfa_iter < static_cast<int>(pfa_local.size()); pfa_iter++)
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{
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// Set parameter to sweep
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for (int pfa_iter = 0; pfa_iter < pfa_local.size(); pfa_iter++)
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for (int iter = 0; iter < N_iterations; iter++)
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{
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std::string basename = path_str + std::string("/acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + std::to_string(pfa_local[pfa_iter]) + "_" + gnss_synchro.System + "_1C";
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// Configure the signal generator
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configure_generator(*it);
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// Generate signal raw signal samples and observations RINEX file
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generate_signal();
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std::cout << "Execution for CN0 = " << *it << " dB-Hz" << std::endl;
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//std::cout << "Execution for CN0 = " << *it << " dB-Hz" << std::endl;
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for (unsigned k = 0; k < 2; k++)
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{
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if (k == 0)
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@ -716,8 +560,7 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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// Process results
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arma::vec clean_doppler_estimation_error;
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arma::vec clean_delay_estimation_error;
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std::vector<double> meas_Pd_;
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std::vector<double> meas_Pd_correct_;
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if (epoch_counter > 2)
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{
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arma::vec true_interpolated_doppler = arma::zeros(num_executions, 1);
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@ -729,7 +572,7 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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arma::vec delay_estimation_error = true_interpolated_prn_delay_chips - (meas_acq_delay_chips - ((1.0 / baseband_sampling_freq) / GPS_L1_CA_CHIP_PERIOD)); // compensate 1 sample delay
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// Cut measurements without reference
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for (unsigned int i = 0; i < num_executions; i++)
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for (int i = 0; i < num_executions; i++)
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{
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if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i)))
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{
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@ -739,7 +582,7 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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clean_doppler_estimation_error = arma::zeros(num_clean_executions, 1);
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clean_delay_estimation_error = arma::zeros(num_clean_executions, 1);
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num_clean_executions = 0;
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for (unsigned int i = 0; i < num_executions; i++)
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for (int i = 0; i < num_executions; i++)
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{
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if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i)))
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{
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@ -766,9 +609,17 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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if (k == 0)
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{
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double detected = arma::accu(positive_acq);
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if (num_executions > 0) meas_Pd_.push_back(static_cast<double>(detected / num_executions));
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double computed_Pd = detected / static_cast<double>(num_executions);
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if (num_executions > 0)
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{
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meas_Pd_.push_back(computed_Pd);
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}
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else
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{
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meas_Pd_.push_back(0.0);
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}
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std::cout << TEXT_BOLD_BLACK << "Probability of detection for channel=" << ch << ", CN0=" << *it << " dBHz"
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<< ": " << (num_executions > 0 ? (detected / num_executions) : 0.0) << TEXT_RESET << std::endl;
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<< ": " << (num_executions > 0 ? computed_Pd : 0.0) << TEXT_RESET << std::endl;
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}
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if (num_clean_executions > 0)
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{
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@ -782,8 +633,10 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
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correctly_detected = correctly_detected + 1.0;
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}
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}
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double computed_Pd_correct = correctly_detected / static_cast<double>(num_clean_executions);
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meas_Pd_correct_.push_back(computed_Pd_correct);
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std::cout << TEXT_BOLD_BLACK << "Probability of correct detection for channel=" << ch << ", CN0=" << *it << " dBHz"
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<< ": " << (num_clean_executions > 0 ? (correctly_detected / num_clean_executions) : 0.0) << TEXT_RESET << std::endl;
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<< ": " << computed_Pd_correct << TEXT_RESET << std::endl;
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}
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else
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{
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@ -791,35 +644,86 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0)
|
||||
if (k == 1)
|
||||
{
|
||||
double wrongly_detected = arma::accu(positive_acq);
|
||||
if (num_executions > 0) meas_Pfa_.push_back(static_cast<double>(wrongly_detected / num_executions));
|
||||
std::cout
|
||||
<< TEXT_BOLD_BLACK << "Probability of false alarm for channel=" << ch << ", CN0=" << *it << " dBHz"
|
||||
<< ": " << (num_executions > 0 ? (wrongly_detected / num_executions) : 0.0) << TEXT_RESET << std::endl;
|
||||
double computed_Pfa = wrongly_detected / static_cast<double>(num_executions);
|
||||
if (num_executions > 0)
|
||||
{
|
||||
meas_Pfa_.push_back(computed_Pfa);
|
||||
}
|
||||
else
|
||||
{
|
||||
meas_Pfa_.push_back(0.0);
|
||||
}
|
||||
std::cout << TEXT_BOLD_BLACK << "Probability of false alarm for channel=" << ch << ", CN0=" << *it << " dBHz"
|
||||
<< ": " << (num_executions > 0 ? computed_Pfa : 0.0) << TEXT_RESET << std::endl;
|
||||
}
|
||||
}
|
||||
true_trk_data.restart();
|
||||
}
|
||||
|
||||
float sum_ = static_cast<float>(std::accumulate(meas_Pd_.begin(), meas_Pd_.end(), 0.0));
|
||||
Pd[cn0_index][pfa_iter] = sum_ / static_cast<float>(meas_Pd_.size());
|
||||
sum_ = static_cast<float>(std::accumulate(meas_Pfa_.begin(), meas_Pfa_.end(), 0.0));
|
||||
Pfa[cn0_index][pfa_iter] = sum_ / static_cast<float>(meas_Pfa_.size());
|
||||
cn0_index++;
|
||||
}
|
||||
true_trk_data.close_obs_file();
|
||||
float sum_pd = static_cast<float>(std::accumulate(meas_Pd_.begin(), meas_Pd_.end(), 0.0));
|
||||
float sum_pd_correct = static_cast<float>(std::accumulate(meas_Pd_correct_.begin(), meas_Pd_correct_.end(), 0.0));
|
||||
float sum_pfa = static_cast<float>(std::accumulate(meas_Pfa_.begin(), meas_Pfa_.end(), 0.0));
|
||||
if (meas_Pd_.size() > 0 and meas_Pfa_.size() > 0)
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = sum_pd / static_cast<float>(meas_Pd_.size());
|
||||
Pfa[cn0_index][pfa_iter] = sum_pfa / static_cast<float>(meas_Pfa_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
if (meas_Pd_.size() > 0)
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = sum_pd / static_cast<float>(meas_Pd_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
if (meas_Pfa_.size() > 0)
|
||||
{
|
||||
Pfa[cn0_index][pfa_iter] = sum_pfa / static_cast<float>(meas_Pfa_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pfa[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
}
|
||||
if (meas_Pd_correct_.size() > 0)
|
||||
{
|
||||
Pd_correct[cn0_index][pfa_iter] = sum_pd_correct / static_cast<float>(meas_Pd_correct_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pd_correct[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
}
|
||||
true_trk_data.close_obs_file();
|
||||
// Compute results
|
||||
cn0_index++;
|
||||
}
|
||||
|
||||
// Compute results
|
||||
unsigned int aux_index = 0;
|
||||
for (std::vector<double>::const_iterator it = cn0_.cbegin(); it != cn0_.cend(); ++it)
|
||||
{
|
||||
std::cout << "Results for CN0 = " << *it << " dBHz:" << std::endl;
|
||||
std::cout << "Pd = ";
|
||||
for (int pfa_iter = 0; pfa_iter < 1; pfa_iter++)
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pd[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
std::cout << "Pd_correct = ";
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pd_correct[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
std::cout << "Pfa = ";
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pfa[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
aux_index++;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user