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Add Doppler observables

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This commit is contained in:
Carles Fernandez 2016-12-24 19:51:13 +01:00
parent c2c96e5391
commit 1eb75e0170
1 changed files with 57 additions and 0 deletions
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57
src/tests/system-tests/trk_system_test.cc
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@ -347,9 +347,11 @@ void Trk_System_Test::check_results()
{ {
std::vector<std::vector<std::pair<double, double>> > pseudorange_ref(33); std::vector<std::vector<std::pair<double, double>> > pseudorange_ref(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_ref(33); std::vector<std::vector<std::pair<double, double>> > carrierphase_ref(33);
std::vector<std::vector<std::pair<double, double>> > doppler_ref(33);
std::vector<std::vector<std::pair<double, double>> > pseudorange_meas(33); std::vector<std::vector<std::pair<double, double>> > pseudorange_meas(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_meas(33); std::vector<std::vector<std::pair<double, double>> > carrierphase_meas(33);
std::vector<std::vector<std::pair<double, double>> > doppler_meas(33);
// Open and read reference RINEX observables file // Open and read reference RINEX observables file
try try
@ -387,6 +389,11 @@ void Trk_System_Test::check_results()
double L1 = dataobj.data; double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1); std::pair<double, double> carrier(sow, L1);
carrierphase_ref.at(myprn).push_back(carrier); carrierphase_ref.at(myprn).push_back(carrier);
dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_ref.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )' } // End of 'if( pointer == roe.obs.end() )'
} // end for } // end for
} // end while } // end while
@ -453,6 +460,11 @@ void Trk_System_Test::check_results()
double L1 = dataobj.data; double L1 = dataobj.data;
std::pair<double, double> carrier(sow,L1); std::pair<double, double> carrier(sow,L1);
carrierphase_meas.at(myprn).push_back(carrier); carrierphase_meas.at(myprn).push_back(carrier);
dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, L1);
doppler_meas.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )' } // End of 'if( pointer == roe.obs.end() )'
} // end for } // end for
} // end while } // end while
@ -476,6 +488,7 @@ void Trk_System_Test::check_results()
// Time alignment // Time alignment
std::vector<std::vector<std::pair<double, double>> > pseudorange_ref_aligned(33); std::vector<std::vector<std::pair<double, double>> > pseudorange_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_ref_aligned(33); std::vector<std::vector<std::pair<double, double>> > carrierphase_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> > doppler_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> >::iterator iter; std::vector<std::vector<std::pair<double, double>> >::iterator iter;
std::vector<std::pair<double, double>>::iterator it; std::vector<std::pair<double, double>>::iterator it;
@ -483,6 +496,7 @@ void Trk_System_Test::check_results()
std::vector<std::vector<double>> pr_diff(33); std::vector<std::vector<double>> pr_diff(33);
std::vector<std::vector<double>> cp_diff(33); std::vector<std::vector<double>> cp_diff(33);
std::vector<std::vector<double>> doppler_diff(33);
std::vector<std::vector<double>>::iterator iter_diff; std::vector<std::vector<double>>::iterator iter_diff;
std::vector<double>::iterator iter_v; std::vector<double>::iterator iter_v;
@ -522,6 +536,23 @@ void Trk_System_Test::check_results()
} }
prn_id++; prn_id++;
} }
prn_id = 0;
for(iter = doppler_ref.begin(); iter != doppler_ref.end(); iter++)
{
for(it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for(it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
{
if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
{
doppler_ref_aligned.at(prn_id).push_back(*it);
doppler_diff.at(prn_id).push_back(it->second - it2->second );
}
}
}
prn_id++;
}
// Compute pseudorange error // Compute pseudorange error
prn_id = 0; prn_id = 0;
@ -575,6 +606,32 @@ void Trk_System_Test::check_results()
prn_id++; prn_id++;
} }
// Compute doppler error
prn_id = 0;
for(iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
//std::cout << *iter_v << std::endl;
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
//return 0; //return 0;
} }