mirror of
https://github.com/gnss-sdr/gnss-sdr
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Make acquisition performance test multisystem
This commit is contained in:
Carles Fernandez
parent
0bc894a91f
commit
0ad24adeab
@ -145,7 +145,7 @@ DECLARE_string(log_dir);
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#if EXTRA_TESTS
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#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
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#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
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#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc"
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#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc"
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@ -1,5 +1,5 @@
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/*!
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* \file gps_l1_acq_performance_test.cc
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* \file acq_performance_test.cc
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* \brief This class implements an acquisition performance test
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* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
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*
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@ -29,22 +29,27 @@
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* -------------------------------------------------------------------------
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*/
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#include "test_flags.h"
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#include "signal_generator_flags.h"
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#include "tracking_true_obs_reader.h"
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#include "true_observables_reader.h"
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#include "gps_l1_ca_pcps_acquisition.h"
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#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
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#include "galileo_e1_pcps_ambiguous_acquisition.h"
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#include "galileo_e5a_pcps_acquisition.h"
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#include "glonass_l1_ca_pcps_acquisition.h"
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#include "glonass_l2_ca_pcps_acquisition.h"
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#include "gps_l2_m_pcps_acquisition.h"
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#include "gps_l5i_pcps_acquisition.h"
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#include "display.h"
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#include "gnuplot_i.h"
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#include "signal_generator_flags.h"
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#include "test_flags.h"
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#include "tracking_true_obs_reader.h"
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#include "true_observables_reader.h"
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#include <boost/filesystem.hpp>
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#include <gnuradio/top_block.h>
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#include <glog/logging.h>
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#include <gtest/gtest.h>
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DEFINE_string(config_file_ptest, std::string(""), "File containing alternative configuration parameters for the acquisition performance test.");
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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.");
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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");
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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");
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DEFINE_int32(acq_test_doppler_max, 5000, "Maximum Doppler, in Hz");
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DEFINE_int32(acq_test_doppler_step, 125, "Doppler step, in Hz.");
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@ -154,6 +159,53 @@ protected:
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{
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cn0_vector = {0.0};
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}
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if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0)
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{
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signal_id = "1C";
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system_id = 'G';
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}
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else if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0)
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{
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signal_id = "1C";
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system_id = 'G';
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}
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else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
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{
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signal_id = "1B";
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system_id = 'E';
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}
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else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
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{
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signal_id = "1G";
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system_id = 'R';
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}
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else if (implementation.compare("GLONASS_L2_CA_PCPS_Acquisition") == 0)
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{
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signal_id = "2G";
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system_id = 'R';
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}
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else if (implementation.compare("GPS_L2_M_PCPS_Acquisition") == 0)
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{
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signal_id = "2S";
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system_id = 'G';
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}
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else if (implementation.compare("Galileo_E5a_Pcps_Acquisition") == 0)
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{
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signal_id = "5X";
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system_id = 'E';
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}
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else if (implementation.compare("GPS_L5i_PCPS_Acquisition") == 0)
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{
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signal_id = "L5";
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system_id = 'G';
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}
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else
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{
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signal_id = "1C";
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system_id = 'G';
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}
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init();
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if (FLAGS_acq_test_pfa_init > 0.0)
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@ -257,6 +309,8 @@ protected:
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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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std::string signal_id;
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private:
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std::string generator_binary;
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std::string p1;
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@ -268,6 +322,7 @@ private:
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std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
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std::string filename_raw_data = FLAGS_filename_raw_data;
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char system_id;
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double compute_stdev_precision(const std::vector<double>& vec);
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double compute_stdev_accuracy(const std::vector<double>& vec, double ref);
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@ -277,8 +332,8 @@ private:
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void AcquisitionPerformanceTest::init()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'G';
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std::string signal = "1C";
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gnss_synchro.System = system_id;
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std::string signal = signal_id;
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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = observed_satellite;
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message = 0;
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@ -378,51 +433,51 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
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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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config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_1C.doppler_min", std::to_string(-doppler_max));
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition.implementation", implementation);
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config->set_property("Acquisition.item_type", "gr_complex");
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config->set_property("Acquisition.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition.doppler_min", std::to_string(-doppler_max));
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config->set_property("Acquisition.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.threshold", std::to_string(pfa));
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//if (FLAGS_acq_test_pfa_init > 0.0) config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa));
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config->set_property("Acquisition.threshold", std::to_string(pfa));
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//if (FLAGS_acq_test_pfa_init > 0.0) config->supersede_property("Acquisition.pfa", std::to_string(pfa));
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if (FLAGS_acq_test_pfa_init > 0.0)
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{
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config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa));
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config->supersede_property("Acquisition.pfa", std::to_string(pfa));
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}
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if (FLAGS_acq_test_use_CFAR_algorithm)
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{
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config->set_property("Acquisition_1C.use_CFAR_algorithm", "true");
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config->set_property("Acquisition.use_CFAR_algorithm", "true");
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}
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else
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{
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config->set_property("Acquisition_1C.use_CFAR_algorithm", "false");
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config->set_property("Acquisition.use_CFAR_algorithm", "false");
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}
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config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
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config->set_property("Acquisition.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
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if (FLAGS_acq_test_bit_transition_flag)
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{
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config->set_property("Acquisition_1C.bit_transition_flag", "true");
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config->set_property("Acquisition.bit_transition_flag", "true");
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}
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else
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{
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config->set_property("Acquisition_1C.bit_transition_flag", "false");
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config->set_property("Acquisition.bit_transition_flag", "false");
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}
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config->set_property("Acquisition_1C.max_dwells", std::to_string(FLAGS_acq_test_max_dwells));
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config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_acq_test_max_dwells));
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config->set_property("Acquisition_1C.repeat_satellite", "true");
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config->set_property("Acquisition.repeat_satellite", "true");
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config->set_property("Acquisition_1C.blocking", "true");
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config->set_property("Acquisition_1C.make_two_steps", "false");
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config->set_property("Acquisition_1C.second_nbins", std::to_string(4));
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config->set_property("Acquisition_1C.second_doppler_step", std::to_string(125));
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config->set_property("Acquisition.blocking", "true");
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config->set_property("Acquisition.make_two_steps", "false");
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config->set_property("Acquisition.second_nbins", std::to_string(4));
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config->set_property("Acquisition.second_doppler_step", std::to_string(125));
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config->set_property("Acquisition_1C.dump", "true");
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config->set_property("Acquisition.dump", "true");
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std::string dump_file = path_str + std::string("/acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter) + "_" + std::to_string(pfa);
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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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config->set_property("Acquisition_1C.blocking_on_standby", "true");
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config->set_property("Acquisition.dump_filename", dump_file);
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config->set_property("Acquisition.dump_channel", std::to_string(dump_channel));
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config->set_property("Acquisition.blocking_on_standby", "true");
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config_f = 0;
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}
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@ -462,26 +517,47 @@ int AcquisitionPerformanceTest::run_receiver()
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boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
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if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0)
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{
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acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 0);
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acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0)
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{
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acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
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{
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acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
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{
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acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("GLONASS_L2_CA_PCPS_Acquisition") == 0)
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{
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acquisition = std::make_shared<GlonassL2CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("GPS_L2_M_PCPS_Acquisition") == 0)
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{
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acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("Galileo_E5a_Pcps_Acquisition") == 0)
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{
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acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else if (implementation.compare("GPS_L5i_PCPS_Acquisition") == 0)
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{
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acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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else
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{
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if (implementation.compare("GPS_L1_CA_PCPS_Acquisition_Fine_Doppler") == 0)
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{
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acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition_1C", 1, 0);
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}
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else
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{
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bool aux = false;
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EXPECT_EQ(true, aux);
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}
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bool aux = false;
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EXPECT_EQ(true, aux);
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}
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acquisition->set_gnss_synchro(&gnss_synchro);
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acquisition->set_channel(0);
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acquisition->set_doppler_max(config->property("Acquisition_1C.doppler_max", 10000));
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acquisition->set_doppler_step(config->property("Acquisition_1C.doppler_step", 500));
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acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
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acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
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acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
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acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
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acquisition->init();
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acquisition->set_local_code();
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@ -563,7 +639,7 @@ void AcquisitionPerformanceTest::plot_results()
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}
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g1.cmd("set font \"Times,18\"");
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g1.set_title("Receiver Operating Characteristic for GPS L1 C/A acquisition");
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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\"");
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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\"");
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g1.cmd("set logscale x");
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g1.cmd("set yrange [0:1]");
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g1.cmd("set xrange[0.0001:1]");
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@ -599,7 +675,7 @@ void AcquisitionPerformanceTest::plot_results()
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}
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g2.cmd("set font \"Times,18\"");
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g2.set_title("Receiver Operating Characteristic for GPS L1 C/A valid acquisition");
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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\"");
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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\"");
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g2.cmd("set logscale x");
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g2.cmd("set yrange [0:1]");
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g2.cmd("set xrange[0.0001:1]");
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@ -692,22 +768,22 @@ TEST_F(AcquisitionPerformanceTest, ROC)
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run_receiver();
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// count executions
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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";
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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;
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int num_executions = count_executions(basename, observed_satellite);
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// Read measured data
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int ch = config->property("Acquisition_1C.dump_channel", 0);
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int ch = config->property("Acquisition.dump_channel", 0);
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arma::vec meas_timestamp_s = arma::zeros(num_executions, 1);
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arma::vec meas_doppler = arma::zeros(num_executions, 1);
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arma::vec positive_acq = arma::zeros(num_executions, 1);
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arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1);
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double coh_time_ms = config->property("Acquisition_1C.coherent_integration_time_ms", 1);
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double coh_time_ms = config->property("Acquisition.coherent_integration_time_ms", 1);
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std::cout << "Num executions: " << num_executions << std::endl;
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for (int execution = 1; execution <= num_executions; execution++)
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{
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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);
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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);
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acq_dump.read_binary_acq();
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if (acq_dump.positive_acq)
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{
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@ -827,7 +903,7 @@ TEST_F(AcquisitionPerformanceTest, ROC)
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for (int i = 0; i < num_clean_executions - 1; i++)
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{
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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)
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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)
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{
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correctly_detected = correctly_detected + 1.0;
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}
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