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Make acquisition performance test multisystem

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Carles Fernandez 2018-07-10 18:43:36 +02:00
parent 0bc894a91f
commit 0ad24adeab
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2 changed files with 130 additions and 54 deletions
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2
src/tests/test_main.cc
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@ -145,7 +145,7 @@ DECLARE_string(log_dir);
#if EXTRA_TESTS #if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc"

172
src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
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@ -1,5 +1,5 @@
/*! /*!
* \file gps_l1_acq_performance_test.cc * \file acq_performance_test.cc
* \brief This class implements an acquisition performance test * \brief This class implements an acquisition performance test
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat * \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
* *
@ -29,22 +29,27 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "test_flags.h"
#include "signal_generator_flags.h"
#include "tracking_true_obs_reader.h"
#include "true_observables_reader.h"
#include "gps_l1_ca_pcps_acquisition.h" #include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h" #include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "glonass_l2_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h"
#include "display.h" #include "display.h"
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "signal_generator_flags.h"
#include "test_flags.h"
#include "tracking_true_obs_reader.h"
#include "true_observables_reader.h"
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
DEFINE_string(config_file_ptest, std::string(""), "File containing alternative configuration parameters for the acquisition performance test."); DEFINE_string(config_file_ptest, std::string(""), "File containing alternative configuration parameters for the acquisition performance test.");
DEFINE_string(acq_test_input_file, std::string(""), "File containing raw signal data, must be in int8_t format. The signal generator will not be used."); DEFINE_string(acq_test_input_file, std::string(""), "File containing raw signal data, must be in int8_t format. The signal generator will not be used.");
DEFINE_string(acq_test_implementation, std::string("GPS_L1_CA_PCPS_Acquisition"), "Acquisition block implementation under test. Alternative: GPS_L1_CA_PCPS_Acquisition_Fine_Doppler"); DEFINE_string(acq_test_implementation, std::string("GPS_L1_CA_PCPS_Acquisition"), "Acquisition block implementation under test. Alternatives: GPS_L1_CA_PCPS_Acquisition, GPS_L1_CA_PCPS_Acquisition_Fine_Doppler, Galileo_E1_PCPS_Ambiguous_Acquisition, GLONASS_L1_CA_PCPS_Acquisition, GLONASS_L2_CA_PCPS_Acquisition, GPS_L2_M_PCPS_Acquisition, Galileo_E5a_Pcps_Acquisition, GPS_L5i_PCPS_Acquisition");
DEFINE_int32(acq_test_doppler_max, 5000, "Maximum Doppler, in Hz"); DEFINE_int32(acq_test_doppler_max, 5000, "Maximum Doppler, in Hz");
DEFINE_int32(acq_test_doppler_step, 125, "Doppler step, in Hz."); DEFINE_int32(acq_test_doppler_step, 125, "Doppler step, in Hz.");
@ -154,6 +159,53 @@ protected:
{ {
cn0_vector = {0.0}; cn0_vector = {0.0};
} }
if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0)
{
signal_id = "1C";
system_id = 'G';
}
else if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0)
{
signal_id = "1C";
system_id = 'G';
}
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
{
signal_id = "1B";
system_id = 'E';
}
else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
{
signal_id = "1G";
system_id = 'R';
}
else if (implementation.compare("GLONASS_L2_CA_PCPS_Acquisition") == 0)
{
signal_id = "2G";
system_id = 'R';
}
else if (implementation.compare("GPS_L2_M_PCPS_Acquisition") == 0)
{
signal_id = "2S";
system_id = 'G';
}
else if (implementation.compare("Galileo_E5a_Pcps_Acquisition") == 0)
{
signal_id = "5X";
system_id = 'E';
}
else if (implementation.compare("GPS_L5i_PCPS_Acquisition") == 0)
{
signal_id = "L5";
system_id = 'G';
}
else
{
signal_id = "1C";
system_id = 'G';
}
init(); init();
if (FLAGS_acq_test_pfa_init > 0.0) if (FLAGS_acq_test_pfa_init > 0.0)
@ -257,6 +309,8 @@ protected:
std::vector<std::vector<float>> Pfa; std::vector<std::vector<float>> Pfa;
std::vector<std::vector<float>> Pd_correct; std::vector<std::vector<float>> Pd_correct;
std::string signal_id;
private: private:
std::string generator_binary; std::string generator_binary;
std::string p1; std::string p1;
@ -268,6 +322,7 @@ private:
std::string filename_rinex_obs = FLAGS_filename_rinex_obs; std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data; std::string filename_raw_data = FLAGS_filename_raw_data;
char system_id;
double compute_stdev_precision(const std::vector<double>& vec); double compute_stdev_precision(const std::vector<double>& vec);
double compute_stdev_accuracy(const std::vector<double>& vec, double ref); double compute_stdev_accuracy(const std::vector<double>& vec, double ref);
@ -277,8 +332,8 @@ private:
void AcquisitionPerformanceTest::init() void AcquisitionPerformanceTest::init()
{ {
gnss_synchro.Channel_ID = 0; gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G'; gnss_synchro.System = system_id;
std::string signal = "1C"; std::string signal = signal_id;
signal.copy(gnss_synchro.Signal, 2, 0); signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = observed_satellite; gnss_synchro.PRN = observed_satellite;
message = 0; message = 0;
@ -378,51 +433,51 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal)); config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
// Set Acquisition // Set Acquisition
config->set_property("Acquisition_1C.implementation", implementation); config->set_property("Acquisition.implementation", implementation);
config->set_property("Acquisition_1C.item_type", "gr_complex"); config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max)); config->set_property("Acquisition.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1C.doppler_min", std::to_string(-doppler_max)); config->set_property("Acquisition.doppler_min", std::to_string(-doppler_max));
config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step)); config->set_property("Acquisition.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1C.threshold", std::to_string(pfa)); config->set_property("Acquisition.threshold", std::to_string(pfa));
//if (FLAGS_acq_test_pfa_init > 0.0) config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa)); //if (FLAGS_acq_test_pfa_init > 0.0) config->supersede_property("Acquisition.pfa", std::to_string(pfa));
if (FLAGS_acq_test_pfa_init > 0.0) if (FLAGS_acq_test_pfa_init > 0.0)
{ {
config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa)); config->supersede_property("Acquisition.pfa", std::to_string(pfa));
} }
if (FLAGS_acq_test_use_CFAR_algorithm) if (FLAGS_acq_test_use_CFAR_algorithm)
{ {
config->set_property("Acquisition_1C.use_CFAR_algorithm", "true"); config->set_property("Acquisition.use_CFAR_algorithm", "true");
} }
else else
{ {
config->set_property("Acquisition_1C.use_CFAR_algorithm", "false"); config->set_property("Acquisition.use_CFAR_algorithm", "false");
} }
config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms)); config->set_property("Acquisition.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
if (FLAGS_acq_test_bit_transition_flag) if (FLAGS_acq_test_bit_transition_flag)
{ {
config->set_property("Acquisition_1C.bit_transition_flag", "true"); config->set_property("Acquisition.bit_transition_flag", "true");
} }
else else
{ {
config->set_property("Acquisition_1C.bit_transition_flag", "false"); config->set_property("Acquisition.bit_transition_flag", "false");
} }
config->set_property("Acquisition_1C.max_dwells", std::to_string(FLAGS_acq_test_max_dwells)); config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_acq_test_max_dwells));
config->set_property("Acquisition_1C.repeat_satellite", "true"); config->set_property("Acquisition.repeat_satellite", "true");
config->set_property("Acquisition_1C.blocking", "true"); config->set_property("Acquisition.blocking", "true");
config->set_property("Acquisition_1C.make_two_steps", "false"); config->set_property("Acquisition.make_two_steps", "false");
config->set_property("Acquisition_1C.second_nbins", std::to_string(4)); config->set_property("Acquisition.second_nbins", std::to_string(4));
config->set_property("Acquisition_1C.second_doppler_step", std::to_string(125)); config->set_property("Acquisition.second_doppler_step", std::to_string(125));
config->set_property("Acquisition_1C.dump", "true"); config->set_property("Acquisition.dump", "true");
std::string dump_file = path_str + std::string("/acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter) + "_" + std::to_string(pfa); std::string dump_file = path_str + std::string("/acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter) + "_" + std::to_string(pfa);
config->set_property("Acquisition_1C.dump_filename", dump_file); config->set_property("Acquisition.dump_filename", dump_file);
config->set_property("Acquisition_1C.dump_channel", std::to_string(dump_channel)); config->set_property("Acquisition.dump_channel", std::to_string(dump_channel));
config->set_property("Acquisition_1C.blocking_on_standby", "true"); config->set_property("Acquisition.blocking_on_standby", "true");
config_f = 0; config_f = 0;
} }
@ -462,26 +517,47 @@ int AcquisitionPerformanceTest::run_receiver()
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue); boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0) if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0)
{ {
acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 0); acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
} }
else else if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0)
{ {
if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0) acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
{ {
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition_1C", 1, 0); acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
{
acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("GLONASS_L2_CA_PCPS_Acquisition") == 0)
{
acquisition = std::make_shared<GlonassL2CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("GPS_L2_M_PCPS_Acquisition") == 0)
{
acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("Galileo_E5a_Pcps_Acquisition") == 0)
{
acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("GPS_L5i_PCPS_Acquisition") == 0)
{
acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
} }
else else
{ {
bool aux = false; bool aux = false;
EXPECT_EQ(true, aux); EXPECT_EQ(true, aux);
} }
}
acquisition->set_gnss_synchro(&gnss_synchro); acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->set_channel(0); acquisition->set_channel(0);
acquisition->set_doppler_max(config->property("Acquisition_1C.doppler_max", 10000)); acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_step(config->property("Acquisition_1C.doppler_step", 500)); acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0)); acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
acquisition->init(); acquisition->init();
acquisition->set_local_code(); acquisition->set_local_code();
@ -563,7 +639,7 @@ void AcquisitionPerformanceTest::plot_results()
} }
g1.cmd("set font \"Times,18\""); g1.cmd("set font \"Times,18\"");
g1.set_title("Receiver Operating Characteristic for GPS L1 C/A acquisition"); g1.set_title("Receiver Operating Characteristic for GPS L1 C/A acquisition");
g1.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition_1C.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition_1C.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\""); g1.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\"");
g1.cmd("set logscale x"); g1.cmd("set logscale x");
g1.cmd("set yrange [0:1]"); g1.cmd("set yrange [0:1]");
g1.cmd("set xrange[0.0001:1]"); g1.cmd("set xrange[0.0001:1]");
@ -599,7 +675,7 @@ void AcquisitionPerformanceTest::plot_results()
} }
g2.cmd("set font \"Times,18\""); g2.cmd("set font \"Times,18\"");
g2.set_title("Receiver Operating Characteristic for GPS L1 C/A valid acquisition"); g2.set_title("Receiver Operating Characteristic for GPS L1 C/A valid acquisition");
g2.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition_1C.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition_1C.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\""); g2.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\"");
g2.cmd("set logscale x"); g2.cmd("set logscale x");
g2.cmd("set yrange [0:1]"); g2.cmd("set yrange [0:1]");
g2.cmd("set xrange[0.0001:1]"); g2.cmd("set xrange[0.0001:1]");
@ -692,22 +768,22 @@ TEST_F(AcquisitionPerformanceTest, ROC)
run_receiver(); run_receiver();
// count executions // count executions
std::string basename = path_str + std::string("/acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + std::to_string(pfa_vector[pfa_iter]) + "_" + gnss_synchro.System + "_1C"; std::string basename = path_str + std::string("/acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + std::to_string(pfa_vector[pfa_iter]) + "_" + gnss_synchro.System + "_" + signal_id;
int num_executions = count_executions(basename, observed_satellite); int num_executions = count_executions(basename, observed_satellite);
// Read measured data // Read measured data
int ch = config->property("Acquisition_1C.dump_channel", 0); int ch = config->property("Acquisition.dump_channel", 0);
arma::vec meas_timestamp_s = arma::zeros(num_executions, 1); arma::vec meas_timestamp_s = arma::zeros(num_executions, 1);
arma::vec meas_doppler = arma::zeros(num_executions, 1); arma::vec meas_doppler = arma::zeros(num_executions, 1);
arma::vec positive_acq = arma::zeros(num_executions, 1); arma::vec positive_acq = arma::zeros(num_executions, 1);
arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1); arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1);
double coh_time_ms = config->property("Acquisition_1C.coherent_integration_time_ms", 1); double coh_time_ms = config->property("Acquisition.coherent_integration_time_ms", 1);
std::cout << "Num executions: " << num_executions << std::endl; std::cout << "Num executions: " << num_executions << std::endl;
for (int execution = 1; execution <= num_executions; execution++) for (int execution = 1; execution <= num_executions; execution++)
{ {
acquisition_dump_reader acq_dump(basename, observed_satellite, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD * static_cast<double>(coh_time_ms) * (config->property("Acquisition_1C.bit_transition_flag", false) ? 2 : 1), ch, execution); acquisition_dump_reader acq_dump(basename, observed_satellite, config->property("Acquisition.doppler_max", 0), config->property("Acquisition.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD * static_cast<double>(coh_time_ms) * (config->property("Acquisition.bit_transition_flag", false) ? 2 : 1), ch, execution);
acq_dump.read_binary_acq(); acq_dump.read_binary_acq();
if (acq_dump.positive_acq) if (acq_dump.positive_acq)
{ {
@ -827,7 +903,7 @@ TEST_F(AcquisitionPerformanceTest, ROC)
for (int i = 0; i < num_clean_executions - 1; i++) for (int i = 0; i < num_clean_executions - 1; i++)
{ {
if (abs(clean_delay_estimation_error(i)) < 0.5 and abs(clean_doppler_estimation_error(i)) < static_cast<float>(config->property("Acquisition_1C.doppler_step", 1)) / 2.0) if (abs(clean_delay_estimation_error(i)) < 0.5 and abs(clean_doppler_estimation_error(i)) < static_cast<float>(config->property("Acquisition.doppler_step", 1)) / 2.0)
{ {
correctly_detected = correctly_detected + 1.0; correctly_detected = correctly_detected + 1.0;
} }