mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-02-19 04:20:08 +00:00
Completing tracking unit test with simulator-in-the-loop
This commit is contained in:
Javier Arribas
parent
dc910bca4e
commit
37d78d3f12
@ -39,7 +39,6 @@
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#include <stdlib.h>
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#include <sys/wait.h>
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#include <unistd.h>
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#include <numeric>
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#include <armadillo>
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#include <gnuradio/top_block.h>
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#include <gnuradio/blocks/file_source.h>
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@ -57,7 +56,6 @@
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#include "tracking_interface.h"
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#include "telemetry_decoder_interface.h"
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#include "in_memory_configuration.h"
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#include "gnss_sdr_valve.h"
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#include "gnss_synchro.h"
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#include "gps_l1_ca_telemetry_decoder.h"
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@ -202,7 +200,6 @@ public:
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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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std::string generated_rinex_obs;
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int configure_generator();
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int generate_signal();
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@ -321,9 +318,15 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec true_time_s,
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double error_mean=arma::mean(err);
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double error_var=arma::var(err);
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//4. report
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// 4. Peaks
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double max_error=arma::max(err);
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double min_error=arma::min(err);
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std::cout<< std::setprecision(10)<<"Telemetry reported TOW RMSE="<<rmse<<" [s], mean="<<error_mean<<" [s], stdev="<<sqrt(error_var)<<" [s]."<<std::endl;
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//5. report
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std::cout<< std::setprecision(10)<<"TLM TOW RMSE="
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<<rmse<<", mean="<<error_mean
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<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Chips]"<<std::endl;
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}
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@ -33,6 +33,8 @@
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#include <ctime>
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#include <iostream>
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#include <unistd.h>
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#include <armadillo>
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#include <gnuradio/top_block.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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@ -42,14 +44,28 @@
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/blocks/skiphead.h>
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#include <gtest/gtest.h>
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#include "GPS_L1_CA.h"
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#include "gnss_block_factory.h"
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#include "gnss_block_interface.h"
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#include "tracking_interface.h"
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#include "in_memory_configuration.h"
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#include "gnss_sdr_valve.h"
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#include "gnss_synchro.h"
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#include "gps_l1_ca_dll_pll_tracking.h"
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#include "../libs/tracking_true_obs_reader.h"
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#include "../libs/tracking_dump_reader.h"
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DECLARE_string(generator_binary);
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DECLARE_string(rinex_nav_file);
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DECLARE_int32(duration);
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DECLARE_int32(fs_gen_hz);
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DECLARE_string(static_position);
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DECLARE_string(dynamic_position);
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DECLARE_string(filename_rinex_obs);
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DECLARE_string(filename_raw_data);
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DECLARE_int32(test_satellite_PRN);
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class GpsL1CADllPllTrackingTest_msg_rx;
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@ -106,7 +122,35 @@ GpsL1CADllPllTrackingTest_msg_rx::~GpsL1CADllPllTrackingTest_msg_rx()
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class GpsL1CADllPllTrackingTest: public ::testing::Test
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{
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protected:
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public:
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std::string generator_binary;
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std::string p1;
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std::string p2;
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std::string p3;
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std::string p4;
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std::string p5;
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const int baseband_sampling_freq = FLAGS_fs_gen_hz;
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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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int configure_generator();
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int generate_signal();
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void check_results_doppler(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value);
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void check_results_acc_carrier_phase(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value);
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void check_results_codephase(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value);
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GpsL1CADllPllTrackingTest()
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{
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factory = std::make_shared<GNSSBlockFactory>();
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@ -118,7 +162,7 @@ protected:
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~GpsL1CADllPllTrackingTest()
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{}
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void init();
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void configure_receiver();
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gr::msg_queue::sptr queue;
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gr::top_block_sptr top_block;
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@ -129,15 +173,59 @@ protected:
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};
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void GpsL1CADllPllTrackingTest::init()
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int GpsL1CADllPllTrackingTest::configure_generator()
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
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if(FLAGS_dynamic_position.empty())
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{
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p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
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}
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else
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{
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p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
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}
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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return 0;
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}
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int GpsL1CADllPllTrackingTest::generate_signal()
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{
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int child_status;
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char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL };
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int pid;
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if ((pid = fork()) == -1)
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perror("fork err");
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else if (pid == 0)
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{
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execv(&generator_binary[0], parmList);
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std::cout << "Return not expected. Must be an execv err." << std::endl;
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std::terminate();
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}
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waitpid(pid, &child_status, 0);
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std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
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return 0;
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}
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void GpsL1CADllPllTrackingTest::configure_receiver()
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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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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = 1;
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gnss_synchro.PRN = FLAGS_test_satellite_PRN;
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config->set_property("GNSS-SDR.internal_fs_hz", "2600000");
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(baseband_sampling_freq));
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// Set Tracking
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config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
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config->set_property("Tracking_1C.item_type", "gr_complex");
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@ -145,26 +233,158 @@ void GpsL1CADllPllTrackingTest::init()
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config->set_property("Tracking_1C.dump", "true");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", "30.0");
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config->set_property("Tracking_1C.dll_bw_hz", "4.0");
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config->set_property("Tracking_1C.dll_bw_hz", "2.0");
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config->set_property("Tracking_1C.early_late_space_chips", "0.5");
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}
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void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value)
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{
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//1. True value interpolation to match the measurement times
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arma::vec true_value_interp;
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arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
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//2. RMSE
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arma::vec err;
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err=meas_value-true_value_interp;
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arma::vec err2=arma::square(err);
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double rmse=sqrt(arma::mean(err2));
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//3. Mean err and variance
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double error_mean=arma::mean(err);
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double error_var=arma::var(err);
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// 5. Peaks
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double max_error=arma::max(err);
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double min_error=arma::min(err);
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//5. report
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std::cout<< std::setprecision(10)<<"TRK Doppler RMSE="<<rmse
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<<", mean="<<error_mean
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<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Hz]"<<std::endl;
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}
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void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value)
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{
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//1. True value interpolation to match the measurement times
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arma::vec true_value_interp;
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arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
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//2. RMSE
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arma::vec err;
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err=meas_value-true_value_interp;
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arma::vec err2=arma::square(err);
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double rmse=sqrt(arma::mean(err2));
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//3. Mean err and variance
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double error_mean=arma::mean(err);
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double error_var=arma::var(err);
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// 4. Peaks
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double max_error=arma::max(err);
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double min_error=arma::min(err);
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//5. report
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std::cout<< std::setprecision(10)<<"TRK acc carrier phase RMSE="<<rmse
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<<", mean="<<error_mean
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<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Hz]"<<std::endl;
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}
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void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec true_time_s,
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arma::vec true_value,
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arma::vec meas_time_s,
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arma::vec meas_value)
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{
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//1. True value interpolation to match the measurement times
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arma::vec true_value_interp;
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arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
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//2. RMSE
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arma::vec err;
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err=meas_value-true_value_interp;
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arma::vec err2=arma::square(err);
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double rmse=sqrt(arma::mean(err2));
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//3. Mean err and variance
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double error_mean=arma::mean(err);
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double error_var=arma::var(err);
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// 4. Peaks
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double max_error=arma::max(err);
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double min_error=arma::min(err);
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//5. report
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std::cout<< std::setprecision(10)<<"TRK code phase RMSE="<<rmse
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<<", mean="<<error_mean
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<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Chips]"<<std::endl;
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}
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TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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{
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// Configure the signal generator
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configure_generator();
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// Generate signal raw signal samples and observations RINEX file
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generate_signal();
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struct timeval tv;
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long long int begin = 0;
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long long int end = 0;
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int fs_in = 2600000;
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//int nsamples = fs_in*3;
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init();
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configure_receiver();
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//open true observables log file written by the simulator
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tracking_true_obs_reader true_obs_data;
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int test_satellite_PRN = FLAGS_test_satellite_PRN;
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std::cout<<"Testing satellite PRN="<<test_satellite_PRN<<std::endl;
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std::string true_obs_file=std::string("./gps_l1_ca_obs_prn");
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true_obs_file.append(std::to_string(test_satellite_PRN));
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true_obs_file.append(".dat");
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ASSERT_NO_THROW({
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if (true_obs_data.open_obs_file(true_obs_file)==false)
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{
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throw std::exception();
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};
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})<< "Failure opening true observables file" << std::endl;
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queue = gr::msg_queue::make(0);
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top_block = gr::make_top_block("Tracking test");
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std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
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//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
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boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
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gnss_synchro.Acq_delay_samples = (1023-994.622/1023)*fs_in*1e-3;
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gnss_synchro.Acq_doppler_hz = -2583.86;
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// load acquisition data based on the first epoch of the true observations
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ASSERT_NO_THROW({
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if (true_obs_data.read_binary_obs()==false)
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{
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throw std::exception();
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};
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})<< "Failure reading true observables file" << std::endl;
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//restart the epoch counter
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true_obs_data.restart();
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std::cout<<"Initial Doppler [Hz]="<<true_obs_data.doppler_l1_hz<<" Initial code delay [Chips]="<<true_obs_data.prn_delay_chips<<std::endl;
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gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS-true_obs_data.prn_delay_chips/GPS_L1_CA_CODE_LENGTH_CHIPS)*baseband_sampling_freq*GPS_L1_CA_CODE_PERIOD;
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gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
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gnss_synchro.Acq_samplestamp_samples = 0;
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ASSERT_NO_THROW( {
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@ -180,15 +400,12 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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}) << "Failure connecting tracking to the top_block." << std::endl;
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ASSERT_NO_THROW( {
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std::string path = std::string(TEST_PATH);
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std::string file = path + "signal_samples/gps_l1ca_prn1_2.6msps.dat";
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std::string file = "./" + filename_raw_data;
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const char * file_name = file.c_str();
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gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
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//boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
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gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
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gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
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top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
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//top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0);
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top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
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top_block->connect(tracking->get_right_block(), 0, sink, 0);
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top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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@ -204,7 +421,78 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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end = tv.tv_sec *1000000 + tv.tv_usec;
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}) << "Failure running the top_block." << std::endl;
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// TODO: Verify tracking results
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//check results
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//load the true values
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long int nepoch =true_obs_data.num_epochs();
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std::cout<<"True observation epochs="<<nepoch<<std::endl;
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arma::vec true_timestamp_s=arma::zeros(nepoch,1);
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arma::vec true_acc_carrier_phase_cycles=arma::zeros(nepoch,1);
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arma::vec true_Doppler_Hz=arma::zeros(nepoch,1);
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arma::vec true_prn_delay_chips=arma::zeros(nepoch,1);
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arma::vec true_tow_s=arma::zeros(nepoch,1);
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long int epoch_counter=0;
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while(true_obs_data.read_binary_obs())
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{
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true_timestamp_s(epoch_counter)=true_obs_data.signal_timestamp_s;
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true_acc_carrier_phase_cycles(epoch_counter)=true_obs_data.acc_carrier_phase_cycles;
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true_Doppler_Hz(epoch_counter)=true_obs_data.doppler_l1_hz;
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true_prn_delay_chips(epoch_counter)=true_obs_data.prn_delay_chips;
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true_tow_s(epoch_counter)=true_obs_data.tow;
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epoch_counter++;
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}
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//load the measured values
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tracking_dump_reader trk_dump;
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ASSERT_NO_THROW({
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if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat"))==false)
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{
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throw std::exception();
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};
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})<< "Failure opening tracking dump file" << std::endl;
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nepoch =trk_dump.num_epochs();
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std::cout<<"Measured observation epochs="<<nepoch<<std::endl;
|
||||
|
||||
arma::vec trk_timestamp_s=arma::zeros(nepoch,1);
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||||
arma::vec trk_acc_carrier_phase_cycles=arma::zeros(nepoch,1);
|
||||
arma::vec trk_Doppler_Hz=arma::zeros(nepoch,1);
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||||
arma::vec trk_prn_delay_chips=arma::zeros(nepoch,1);
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|
||||
epoch_counter=0;
|
||||
while(trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter)=static_cast<double>(trk_dump.PRN_start_sample_count)/static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter)=trk_dump.acc_carrier_phase_rad/GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter)=trk_dump.carrier_doppler_hz;
|
||||
|
||||
double delay_chips=GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
-GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
*(fmod((static_cast<double>(trk_dump.PRN_start_sample_count)+trk_dump.aux1)/static_cast<double>(baseband_sampling_freq),1.0e-3)/1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter)=delay_chips;
|
||||
epoch_counter++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
//Align initial measurements and cut the tracking pull-in transitory
|
||||
|
||||
double pull_in_offset_s=1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0)+pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_timestamp_s=trk_timestamp_s.subvec(initial_meas_point(0),trk_timestamp_s.size()-1);
|
||||
trk_acc_carrier_phase_cycles=trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0),trk_acc_carrier_phase_cycles.size()-1);
|
||||
trk_Doppler_Hz=trk_Doppler_Hz.subvec(initial_meas_point(0),trk_Doppler_Hz.size()-1);
|
||||
trk_prn_delay_chips=trk_prn_delay_chips.subvec(initial_meas_point(0),trk_prn_delay_chips.size()-1);
|
||||
|
||||
check_results_doppler(true_timestamp_s,true_Doppler_Hz,trk_timestamp_s,trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s,true_prn_delay_chips,trk_timestamp_s,trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s,true_acc_carrier_phase_cycles,trk_timestamp_s,trk_acc_carrier_phase_cycles);
|
||||
|
||||
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user