From d241da5d35ed27765885fce63cdb325c29e0720c Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Fri, 5 Oct 2018 11:49:11 +0200 Subject: [PATCH 1/3] Added RTKLib solver unit test --- .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 60 ++- .../PVT/gnuradio_blocks/rtklib_pvt_cc.h | 4 + src/algorithms/PVT/libs/rtklib_solver.h | 3 +- src/core/system_parameters/gnss_synchro.h | 52 +- src/core/system_parameters/gps_ephemeris.h | 2 +- src/tests/CMakeLists.txt | 11 +- .../data/rtklib_test/eph_GPS_L1CA_test1.xml | 480 ++++++++++++++++++ src/tests/data/rtklib_test/obs_test1.xml | 357 +++++++++++++ src/tests/test_main.cc | 1 + .../pvt/rtklib_solver_test.cc | 440 ++++++++++++++++ 10 files changed, 1377 insertions(+), 33 deletions(-) create mode 100644 src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml create mode 100644 src/tests/data/rtklib_test/obs_test1.xml create mode 100644 src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index 9a5335c8a..3a1228ec4 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -50,6 +50,10 @@ namespace bc = boost::math; namespace bc = boost::integer; #endif +//includes used by the observables serializarion (export observables for rtklib unit test) +#include +#include +#include using google::LogMessage; @@ -507,6 +511,53 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff) } +bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name) +{ + if (gnss_observables_map.empty() == false) + { + try + { + std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out); + boost::archive::xml_oarchive xml(ofs); + xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map); + ofs.close(); + LOG(INFO) << "Saved gnss_sychro map data"; + } + catch (std::exception& e) + { + LOG(WARNING) << e.what(); + return false; + } + return true; + } + else + { + LOG(WARNING) << "Failed to save gnss_synchro, map is empty"; + return false; + } +} + +bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name) +{ + //load from xml (boost serialize) + try + { + std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in); + boost::archive::xml_iarchive xml(ifs); + gnss_observables_map.clear(); + xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map); + ifs.close(); + return true; + //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl; + } + catch (std::exception& e) + { + std::cout << e.what() << "File: " << file_name; + return false; + } +} + + int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items, gr_vector_void_star& output_items __attribute__((unused))) { @@ -526,7 +577,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item gnss_observables_map.clear(); const Gnss_Synchro** in = reinterpret_cast(&input_items[0]); // Get the input buffer pointer - // ############ 1. READ PSEUDORANGES #### for (uint32_t i = 0; i < d_nchannels; i++) { @@ -610,8 +660,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item // it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s; // } + if (d_ls_pvt->get_PVT(gnss_observables_map, false)) { + //Optional debug code: export observables snapshot for rtklib unit testing + //std::cout << "step 1: save gnss_synchro map" << std::endl; + //save_gnss_synchro_map_xml("./gnss_synchro_map.xml"); + //getchar(); //stop the execution + //end debug + if (current_RX_time_ms % d_display_rate_ms == 0) { flag_display_pvt = true; @@ -2060,7 +2117,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { std::streamsize ss = std::cout.precision(); // save current precision std::cout.setf(std::ios::fixed, std::ios::floatfield); - auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z"); std::cout.imbue(std::locale(std::cout.getloc(), facet)); diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h index 36d09fab4..3dfb87858 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h @@ -152,6 +152,10 @@ private: bool send_sys_v_ttff_msg(ttff_msgbuf ttff); std::chrono::time_point start, end; + bool save_gnss_synchro_map_xml(const std::string file_name); //debug helper function + + bool load_gnss_synchro_map_xml(const std::string file_name); //debug helper function + public: rtklib_pvt_cc(uint32_t nchannels, bool dump, std::string dump_filename, diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index aa5557606..df9dd9ab5 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -76,12 +76,13 @@ private: rtk_t rtk_; std::string d_dump_filename; std::ofstream d_dump_file; - sol_t pvt_sol; + bool d_flag_dump_enabled; int d_nchannels; // Number of available channels for positioning double dop_[4]; public: + sol_t pvt_sol; rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk); ~rtklib_solver(); diff --git a/src/core/system_parameters/gnss_synchro.h b/src/core/system_parameters/gnss_synchro.h index 9209c30b4..9e0580544 100644 --- a/src/core/system_parameters/gnss_synchro.h +++ b/src/core/system_parameters/gnss_synchro.h @@ -33,6 +33,7 @@ #ifndef GNSS_SDR_GNSS_SYNCHRO_H_ #define GNSS_SDR_GNSS_SYNCHRO_H_ +#include #include "gnss_signal.h" #include @@ -83,41 +84,42 @@ public: * Gnss_Synchro objects from a byte stream. */ template + void serialize(Archive& ar, const unsigned int version) { if (version) { }; // Satellite and signal info - ar& System; - ar& Signal; - ar& PRN; - ar& Channel_ID; + ar& BOOST_SERIALIZATION_NVP(System); + ar& BOOST_SERIALIZATION_NVP(Signal); + ar& BOOST_SERIALIZATION_NVP(PRN); + ar& BOOST_SERIALIZATION_NVP(Channel_ID); // Acquisition - ar& Acq_delay_samples; - ar& Acq_doppler_hz; - ar& Acq_samplestamp_samples; - ar& Acq_doppler_step; - ar& Flag_valid_acquisition; + ar& BOOST_SERIALIZATION_NVP(Acq_delay_samples); + ar& BOOST_SERIALIZATION_NVP(Acq_doppler_hz); + ar& BOOST_SERIALIZATION_NVP(Acq_samplestamp_samples); + ar& BOOST_SERIALIZATION_NVP(Acq_doppler_step); + ar& BOOST_SERIALIZATION_NVP(Flag_valid_acquisition); // Tracking - ar& fs; - ar& Prompt_I; - ar& Prompt_Q; - ar& CN0_dB_hz; - ar& Carrier_Doppler_hz; - ar& Carrier_phase_rads; - ar& Code_phase_samples; - ar& Tracking_sample_counter; - ar& Flag_valid_symbol_output; - ar& correlation_length_ms; + ar& BOOST_SERIALIZATION_NVP(fs); + ar& BOOST_SERIALIZATION_NVP(Prompt_I); + ar& BOOST_SERIALIZATION_NVP(Prompt_Q); + ar& BOOST_SERIALIZATION_NVP(CN0_dB_hz); + ar& BOOST_SERIALIZATION_NVP(Carrier_Doppler_hz); + ar& BOOST_SERIALIZATION_NVP(Carrier_phase_rads); + ar& BOOST_SERIALIZATION_NVP(Code_phase_samples); + ar& BOOST_SERIALIZATION_NVP(Tracking_sample_counter); + ar& BOOST_SERIALIZATION_NVP(Flag_valid_symbol_output); + ar& BOOST_SERIALIZATION_NVP(correlation_length_ms); // Telemetry Decoder - ar& Flag_valid_word; - ar& TOW_at_current_symbol_ms; + ar& BOOST_SERIALIZATION_NVP(Flag_valid_word); + ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms); // Observables - ar& Pseudorange_m; - ar& RX_time; - ar& Flag_valid_pseudorange; - ar& interp_TOW_ms; + ar& BOOST_SERIALIZATION_NVP(Pseudorange_m); + ar& BOOST_SERIALIZATION_NVP(RX_time); + ar& BOOST_SERIALIZATION_NVP(Flag_valid_pseudorange); + ar& BOOST_SERIALIZATION_NVP(interp_TOW_ms); } }; diff --git a/src/core/system_parameters/gps_ephemeris.h b/src/core/system_parameters/gps_ephemeris.h index e7870fdc8..5466b54d9 100644 --- a/src/core/system_parameters/gps_ephemeris.h +++ b/src/core/system_parameters/gps_ephemeris.h @@ -153,7 +153,7 @@ public: archive& make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad] archive& make_nvp("d_sqrt_A", d_sqrt_A); //!< Square Root of the Semi-Major Axis [sqrt(m)] archive& make_nvp("d_Toe", d_Toe); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s] - archive& make_nvp("d_Toc", d_Toe); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s] + archive& make_nvp("d_Toc", d_Toc); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s] archive& make_nvp("d_Cic", d_Cic); //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad] archive& make_nvp("d_OMEGA0", d_OMEGA0); //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles] archive& make_nvp("d_Cis", d_Cis); //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad] diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt index cd07aead3..ac42c1932 100644 --- a/src/tests/CMakeLists.txt +++ b/src/tests/CMakeLists.txt @@ -179,7 +179,6 @@ endif(ENABLE_UNIT_TESTING_MINIMAL) ################################################################################ # Optional generator ################################################################################ -option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON) if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA) if(ENABLE_FPGA) set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}") @@ -190,11 +189,11 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA) set(CROSS_INSTALL_DIR "") endif(ENABLE_FPGA) find_package(GnssSimulator QUIET) - if(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL) + if(GNSS-SIMULATOR_FOUND) add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}") add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n") add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv") - else(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL) + else(GNSS-SIMULATOR_FOUND) ExternalProject_Add( gnss-sim GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator @@ -220,7 +219,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA) add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n") add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv") endif(ENABLE_INSTALL_TESTS) - endif(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL) + endif(GNSS-SIMULATOR_FOUND) ################################################################################ # Local installation of GPSTk http://www.gpstk.org/ @@ -313,12 +312,16 @@ if(ENABLE_INSTALL_TESTS) install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples) install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat 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0 + 0 + 2600000 + -4.03654140625000000e+04 + 3.92351245117187500e+03 + 5.17314453125000000e+01 + 3.03019989013671875e+03 + -9.28340507655202877e+05 + 5.73995602361264901e-01 + 133923741 + 1 + 1 + 1 + 518451427 + 2.19242346189941987e+07 + 5.18451500000000000e+05 + 1 + 5.18451426868625164e+08 + + + + 10 + + 71 + + 3 + 49 + 67 + 0 + + 6 + 10 + 4.70000000000000000e+01 + 5.00000000000000000e+02 + 1859813 + 0 + 0 + 2600000 + 3.87814335937500000e+04 + 2.13637329101562500e+03 + 6.00463027954101562e+01 + 5.54514957427978516e+02 + -1.78723083774703584e+05 + 3.47952294631795667e-01 + 133924211 + 1 + 1 + 1 + 518451439 + 1.83808922785463184e+07 + 5.18451500000000000e+05 + 1 + 5.18451438687942982e+08 + + + diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc index 9d3aaaf38..b62e1b428 100644 --- a/src/tests/test_main.cc +++ b/src/tests/test_main.cc @@ -161,6 +161,7 @@ DECLARE_string(log_dir); #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc" +#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc" #if EXTRA_TESTS diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc new file mode 100644 index 000000000..80d4836b0 --- /dev/null +++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc @@ -0,0 +1,440 @@ +/*! + * \file rtklib_solver_test.cc + * \brief Implements Unit Test for the rtklib PVT solver class. + * \author Javier Arribas, 2018. jarribas(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 . + * + * ------------------------------------------------------------------------- + */ + +#include +#include +#include +#include +#include +#include +#include +#include "rtklib_solver.h" +#include "in_memory_configuration.h" +#include "gnss_sdr_supl_client.h" + + +rtk_t configure_rtklib_options() +{ + std::shared_ptr configuration; + configuration = std::make_shared(); + std::string role = "rtklib_solver"; + // custom options + configuration->set_property("rtklib_solver.positioning_mode", "Single"); + configuration->set_property("rtklib_solver.elevation_mask", "0"); + configuration->set_property("rtklib_solver.iono_model", "OFF"); + configuration->set_property("rtklib_solver.trop_model", "OFF"); + //RTKLIB PVT solver options + + // Settings 1 + int positioning_mode = -1; + std::string default_pos_mode("Single"); + std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ + if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE; + if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC; + if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA; + if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC; + if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA; + + if (positioning_mode == -1) + { + //warn user and set the default + std::cout << "WARNING: Bad specification of positioning mode." << std::endl; + std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl; + std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl; + std::cout << "Setting positioning_mode to Single" << std::endl; + positioning_mode = PMODE_SINGLE; + } + + int num_bands = 1; + + // if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1; + // if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2; + // if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2; + // if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3; + + int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ + if ((number_of_frequencies < 1) || (number_of_frequencies > 3)) + { + //warn user and set the default + number_of_frequencies = num_bands; + } + + double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); + if ((elevation_mask < 0.0) || (elevation_mask > 90.0)) + { + //warn user and set the default + LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees"; + elevation_mask = 15.0; + } + + int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ + if ((dynamics_model < 0) || (dynamics_model > 2)) + { + //warn user and set the default + LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)"; + dynamics_model = 0; + } + + std::string default_iono_model("OFF"); + std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ + int iono_model = -1; + if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF; + if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC; + if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS; + if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC; + if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST; + if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC; + if (iono_model == -1) + { + //warn user and set the default + std::cout << "WARNING: Bad specification of ionospheric model." << std::endl; + std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl; + std::cout << "iono_model specified value: " << iono_model_str << std::endl; + std::cout << "Setting iono_model to OFF" << std::endl; + iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */ + } + + std::string default_trop_model("OFF"); + int trop_model = -1; + std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ + if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF; + if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS; + if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS; + if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST; + if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG; + if (trop_model == -1) + { + //warn user and set the default + std::cout << "WARNING: Bad specification of tropospheric model." << std::endl; + std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl; + std::cout << "trop_model specified value: " << trop_model_str << std::endl; + std::cout << "Setting trop_model to OFF" << std::endl; + trop_model = TROPOPT_OFF; + } + + /* RTKLIB positioning options */ + int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */ + int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */ + + /* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/ + int phwindup = configuration->property(role + ".phwindup", 0); + + /* Set whether the GPS Block IIA satellites in eclipse are excluded or not. + The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/ + int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0); + + /* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not. + In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold. + The excluded satellite is selected to indicate the minimum SSE. */ + int raim_fde = configuration->property(role + ".raim_fde", 0); + + int earth_tide = configuration->property(role + ".earth_tide", 0); + + int nsys = SYS_GPS; + // if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS; + // if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL; + // if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO; + int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ + if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */ + { + //warn user and set the default + LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)"; + navigation_system = nsys; + } + + // Settings 2 + std::string default_gps_ar("Continuous"); + std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ + int integer_ambiguity_resolution_gps = -1; + if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF; + if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT; + if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST; + if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; + if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR; + if (integer_ambiguity_resolution_gps == -1) + { + //warn user and set the default + std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl; + std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl; + std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl; + std::cout << "Setting AR_GPS to OFF" << std::endl; + integer_ambiguity_resolution_gps = ARMODE_OFF; + } + + int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */ + if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3)) + { + //warn user and set the default + LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)"; + integer_ambiguity_resolution_glo = 1; + } + + int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ + if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1)) + { + //warn user and set the default + LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)"; + integer_ambiguity_resolution_bds = 1; + } + + double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test, + which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */ + + int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity. + If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */ + + double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity. + If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */ + + int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */ + + double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */ + + double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */ + + double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */ + + int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter. + If the baseline length is very short like 1 m, the iteration may be effective to handle + the nonlinearity of measurement equation. */ + + /// Statistics + double bias_0 = configuration->property(role + ".bias_0", 30.0); + + double iono_0 = configuration->property(role + ".iono_0", 0.03); + + double trop_0 = configuration->property(role + ".trop_0", 0.3); + + double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase + bias (ambiguity) (cycle/sqrt(s)) */ + + double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */ + + double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */ + + double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as + the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ + + double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as + the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ + + double sigma_pos = configuration->property(role + ".sigma_pos", 0.0); + + double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0); + double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0); + double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0); + double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); + double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); + + snrmask_t snrmask = {{}, {{}, {}}}; + + prcopt_t rtklib_configuration_options = { + positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ + 0, /* solution type (0:forward,1:backward,2:combined) */ + number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ + navigation_system, /* navigation system */ + elevation_mask * D2R, /* elevation mask angle (degrees) */ + snrmask, /* snrmask_t snrmask SNR mask */ + 0, /* satellite ephemeris/clock (EPHOPT_XXX) */ + integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ + integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */ + integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */ + outage_reset_ambiguity, /* obs outage count to reset bias */ + min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */ + 10, /* min fix count to hold ambiguity */ + 1, /* max iteration to resolve ambiguity */ + iono_model, /* ionosphere option (IONOOPT_XXX) */ + trop_model, /* troposphere option (TROPOPT_XXX) */ + dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */ + earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */ + number_filter_iter, /* number of filter iteration */ + 0, /* code smoothing window size (0:none) */ + 0, /* interpolate reference obs (for post mission) */ + 0, /* sbssat_t sbssat SBAS correction options */ + 0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */ + 0, /* rover position for fixed mode */ + 0, /* base position for relative mode */ + /* 0:pos in prcopt, 1:average of single pos, */ + /* 2:read from file, 3:rinex header, 4:rtcm pos */ + {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ + {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ + {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ + {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */ + 5e-12, /* sclkstab: satellite clock stability (sec/sec) */ + {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */ + min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ + 0.0, /* elevation mask to hold ambiguity (deg) */ + slip_threshold, /* slip threshold of geometry-free phase (m) */ + 30.0, /* max difference of time (sec) */ + threshold_reject_innovation, /* reject threshold of innovation (m) */ + threshold_reject_gdop, /* reject threshold of gdop */ + {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ + {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ + {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ + {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ + {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ + {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ + {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ + 0, /* max averaging epoches */ + 0, /* initialize by restart */ + 1, /* output single by dgps/float/fix/ppp outage */ + {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */ + {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ + 0, /* solution sync mode (0:off,1:on) */ + {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ + {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ + 0, /* disable L2-AR */ + {} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ + }; + + rtk_t rtk; + rtkinit(&rtk, &rtklib_configuration_options); + return rtk; +} +//todo: add test cases for Galileo E1, E5 and GPS L5 +TEST(RTKLibSolverTest, test1) +{ + //test case #1: GPS L1 CA simulated with gnss-sim + std::string path = std::string(TEST_PATH); + int nchannels = 8; + std::string dump_filename = ".rtklib_solver_dump.dat"; + bool flag_dump_to_file = false; + rtk_t rtk = configure_rtklib_options(); + + std::unique_ptr d_ls_pvt(new rtklib_solver(nchannels, dump_filename, flag_dump_to_file, rtk)); + d_ls_pvt->set_averaging_depth(1); + + // load ephemeris + std::string eph_xml_filename = path + "data/rtklib_test/eph_GPS_L1CA_test1.xml"; + gnss_sdr_supl_client supl_client_ephemeris_; + + std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl; + if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true) + { + std::map::const_iterator gps_eph_iter; + for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin(); + gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend(); + gps_eph_iter++) + { + std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl; + std::shared_ptr tmp_obj = std::make_shared(gps_eph_iter->second); + // update/insert new ephemeris record to the global ephemeris map + d_ls_pvt->gps_ephemeris_map[gps_eph_iter->first] = *tmp_obj; + } + } + else + { + std::cout << "ERROR: SUPL client error reading XML" << std::endl; + } + + // insert observables epoch + std::map gnss_synchro_map; + // Gnss_Synchro tmp_obs; + // tmp_obs.System = 'G'; + // std::string signal = "1C"; + // const char* str = signal.c_str(); // get a C style null terminated string + // std::memcpy(static_cast(tmp_obs.Signal), str, 3); // copy string into synchro char array: 2 char + null + // + // gnss_synchro_map[0] = tmp_obs; + // gnss_synchro_map[0].PRN = 1; + // gnss_synchro_map[0].RX_time = 518449.000000; + // gnss_synchro_map[0].Pseudorange_m = 22816591.664859; + // gnss_synchro_map[0].Carrier_Doppler_hz = -2579.334343; + // gnss_synchro_map[0].Carrier_phase_rads = 794858.014183; + + //load from xml (boost serialize) + std::string file_name = path + "data/rtklib_test/obs_test1.xml"; + try + { + std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in); + boost::archive::xml_iarchive xml(ifs); + gnss_synchro_map.clear(); + xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_synchro_map); + ifs.close(); + std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl; + } + catch (std::exception& e) + { + std::cout << e.what() << "File: " << file_name; + } + + + // solve + bool pvt_valid = false; + if (d_ls_pvt->get_PVT(gnss_synchro_map, false)) + { + // DEBUG MESSAGE: Display position in console output + if (d_ls_pvt->is_valid_position()) + { + std::streamsize ss = std::cout.precision(); // save current precision + std::cout.setf(std::ios::fixed, std::ios::floatfield); + + auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z"); + std::cout.imbue(std::locale(std::cout.getloc(), facet)); + + std::cout << "Position at " << d_ls_pvt->get_position_UTC_time() + << " UTC using " << d_ls_pvt->get_num_valid_observations() + << std::fixed << std::setprecision(9) + << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() + << std::fixed << std::setprecision(3) + << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl; + std::cout << std::setprecision(ss); + std::cout << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << std::endl; + + // boost::posix_time::ptime p_time; + // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time); + // p_time = boost::posix_time::from_time_t(rtklib_utc_time.time); + // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6)); + // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl; + + std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) + << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() + << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl; + + std::cout << "RTKLIB Position at RX TOW = " << gnss_synchro_map.begin()->second.RX_time + << " in ECEF (X,Y,Z,t[meters]) = " << std::fixed << std::setprecision(16) + << d_ls_pvt->pvt_sol.rr[0] << "," + << d_ls_pvt->pvt_sol.rr[1] << "," + << d_ls_pvt->pvt_sol.rr[2] << std::endl; + /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) + << " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = " + << d_ls_pvt->get_vdop() + << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */ + + //todo: check here the positioning error against the reference position generated with gnss-sim + //reference position on in WGS84: Lat (deg), Long (deg) , H (m): 30.286502,120.032669,100 + + + pvt_valid = true; + } + } + + EXPECT_EQ(true, pvt_valid); +} From 36a4d4d4cda78460835e41dd5797915b5966d74e Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 5 Oct 2018 13:54:35 +0200 Subject: [PATCH 2/3] More multithread protection --- src/core/receiver/gnss_flowgraph.cc | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 72a7a013b..0504da9ea 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -801,8 +801,8 @@ void GNSSFlowgraph::wait() bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) { - //push ephemeris to PVT telemetry msg in port using a channel out port - // it uses the first channel as a message produces (it is already connected to PVT) + // Push ephemeris to PVT telemetry msg in port using a channel out port + // it uses the first channel as a message producer (it is already connected to PVT) channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg); return true; } @@ -816,6 +816,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) */ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { + std::lock_guard lock(signal_list_mutex); DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; unsigned int sat = 0; try @@ -826,7 +827,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { LOG(WARNING) << e.what(); } - std::lock_guard lock(signal_list_mutex); switch (what) { case 0: @@ -1336,8 +1336,8 @@ void GNSSFlowgraph::set_signals_list() if (configuration_->property("Channels_1G.count", 0) > 0) { // Loop to create the list of GLONASS L1 C/A signals - for (available_gnss_prn_iter = available_glonass_prn.begin(); - available_gnss_prn_iter != available_glonass_prn.end(); + for (available_gnss_prn_iter = available_glonass_prn.cbegin(); + available_gnss_prn_iter != available_glonass_prn.cend(); available_gnss_prn_iter++) { available_GLO_1G_signals_.push_back(Gnss_Signal( @@ -1349,8 +1349,8 @@ void GNSSFlowgraph::set_signals_list() if (configuration_->property("Channels_2G.count", 0) > 0) { // Loop to create the list of GLONASS L2 C/A signals - for (available_gnss_prn_iter = available_glonass_prn.begin(); - available_gnss_prn_iter != available_glonass_prn.end(); + for (available_gnss_prn_iter = available_glonass_prn.cbegin(); + available_gnss_prn_iter != available_glonass_prn.cend(); available_gnss_prn_iter++) { available_GLO_2G_signals_.push_back(Gnss_Signal( @@ -1363,6 +1363,7 @@ void GNSSFlowgraph::set_signals_list() void GNSSFlowgraph::set_channels_state() { + std::lock_guard lock(signal_list_mutex); max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_); if (max_acq_channels_ > channels_count_) { @@ -1382,7 +1383,6 @@ void GNSSFlowgraph::set_channels_state() } DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i]; } - std::lock_guard lock(signal_list_mutex); acq_channels_count_ = max_acq_channels_; DLOG(INFO) << acq_channels_count_ << " channels in acquisition state"; } @@ -1599,16 +1599,16 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool return result; } -std::vector GNSSFlowgraph::split_string(const std::string &s, char delim) +std::vector GNSSFlowgraph::split_string(const std::string& s, char delim) { std::vector v; std::stringstream ss(s); std::string item; while (std::getline(ss, item, delim)) - { - *(std::back_inserter(v)++) = item; - } + { + *(std::back_inserter(v)++) = item; + } return v; } From 8d4e450f444ee657127120f17bb191142dead214 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 5 Oct 2018 13:55:08 +0200 Subject: [PATCH 3/3] More reproducible results --- src/tests/system-tests/position_test.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/tests/system-tests/position_test.cc b/src/tests/system-tests/position_test.cc index 85017b1ab..3ba1fc70a 100644 --- a/src/tests/system-tests/position_test.cc +++ b/src/tests/system-tests/position_test.cc @@ -354,6 +354,7 @@ int PositionSystemTest::configure_receiver() config->set_property("Acquisition_1C.dump", "false"); config->set_property("Acquisition_1C.dump_filename", "./acquisition"); config->set_property("Acquisition_1C.dump_channel", "1"); + config->set_property("Acquisition_1C.blocking", "true"); // Set Tracking config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");