mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-25 22:43:14 +00:00
Adding code rate vs. carrier phase rate single difference test to obsdiff utility
This commit is contained in:
Javier
parent
86a1dc5ca3
commit
38a0777946
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@ -311,9 +311,9 @@ void carrier_phase_double_diff(
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arma::vec meas_ch1_carrier_phase_interp;
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arma::interp1(measured_ch1.col(0), measured_ch1.col(3), measurement_time, meas_ch1_carrier_phase_interp);
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// generate double difference accumulated carrier phases
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// compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
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arma::vec delta_true_carrier_phase_cycles = (true_ch0_carrier_phase_interp - true_ch0_carrier_phase_interp(0)) - (true_ch1_carrier_phase_interp - true_ch1_carrier_phase_interp(0));
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arma::vec delta_measured_carrier_phase_cycles = (measured_ch0.col(3) - measured_ch0.col(3)(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));
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arma::vec delta_true_carrier_phase_cycles = true_ch0_carrier_phase_interp - true_ch1_carrier_phase_interp;
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arma::vec delta_measured_carrier_phase_cycles = measured_ch0.col(3) - meas_ch1_carrier_phase_interp;
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// remove NaN
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arma::uvec NaN_in_true_data = arma::find_nonfinite(delta_true_carrier_phase_cycles);
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@ -349,6 +349,10 @@ void carrier_phase_double_diff(
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// 2. RMSE
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arma::vec err;
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err = delta_measured_carrier_phase_cycles - delta_true_carrier_phase_cycles;
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// compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
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err = err - arma::mean(err);
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arma::vec err2 = arma::square(err);
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double rmse = sqrt(arma::mean(err2));
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@ -408,8 +412,8 @@ void carrier_phase_single_diff(
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arma::interp1(measured_ch1.col(0), measured_ch1.col(3), measurement_time, meas_ch1_carrier_phase_interp);
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// generate single difference accumulated carrier phases
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// compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
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arma::vec delta_measured_carrier_phase_cycles = (measured_ch0.col(3) - measured_ch0.col(3)(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));
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arma::vec delta_measured_carrier_phase_cycles = measured_ch0.col(3) - meas_ch1_carrier_phase_interp;
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delta_measured_carrier_phase_cycles = delta_measured_carrier_phase_cycles - arma::mean(delta_measured_carrier_phase_cycles);
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// remove NaN
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arma::uvec NaN_in_measured_data = arma::find_nonfinite(delta_measured_carrier_phase_cycles);
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@ -843,6 +847,225 @@ void code_pseudorange_single_diff(
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}
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void coderate_phaserate_consistence(
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arma::mat& measured_ch0,
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const std::string& data_title)
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{
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arma::vec measurement_time = measured_ch0.col(0);
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arma::vec delta_time = measurement_time.subvec(1, measurement_time.n_elem - 1) - measurement_time.subvec(0, measurement_time.n_elem - 2);
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//Test 4 is for the pseudorange phase consistency
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//
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//1) Checks for the value of the pseudoranges to be within a certain threshold.
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arma::vec prange = measured_ch0.col(1);
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//todo: This code is only valid for L1/E1 carrier frequency.
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arma::vec phase = measured_ch0.col(3) * (gpstk::C_MPS / gpstk::L1_FREQ_GPS);
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double mincodeval = 5000000.0;
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double maxcodeval = 40000000.0;
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arma::uvec idx = arma::find(prange < mincodeval);
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if (idx.n_elem > 0)
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{
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std::cout << "Warning: Pseudorange measurement is less than minimum acceptable value of " << mincodeval << " meters.\n";
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}
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idx = arma::find(prange > maxcodeval);
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if (idx.n_elem > 0)
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{
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std::cout << "Warning: Pseudorange measurement is above than maximum acceptable value of " << maxcodeval << " meters.\n";
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}
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//2) It checks that the pseduorange rate is within a certain threshold
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// % check code rate
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arma::vec coderate = prange.subvec(1, prange.n_elem - 1) - prange.subvec(0, prange.n_elem - 2) / delta_time;
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// remove NaN
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arma::uvec NaN_in_measured_data = arma::find_nonfinite(coderate);
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if (NaN_in_measured_data.n_elem > 0)
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{
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std::cout << "Warning: Pseudorange rate have NaN values. \n";
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}
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double mincoderate = 0.001;
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double maxcoderate = 5000.0;
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idx = arma::find(coderate > maxcoderate and coderate < mincoderate);
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if (idx.n_elem > 0)
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{
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std::cout << "Warning: bad code reate \n";
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}
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//3) It checks that the phase rate is within a certain threshold
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arma::vec phaserate = phase.subvec(1, prange.n_elem - 1) - phase.subvec(0, prange.n_elem - 2) / delta_time;
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// remove NaN
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NaN_in_measured_data = arma::find_nonfinite(phase);
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if (NaN_in_measured_data.n_elem > 0)
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{
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std::cout << "Warning: Carrier phase rate have NaN values. \n";
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}
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double minphaserate = 0.001;
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double maxphaserate = 5000.0;
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idx = arma::find(phaserate > maxphaserate and phaserate < minphaserate);
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if (idx.n_elem > 0)
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{
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std::cout << "Warning: bad phase reate \n";
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}
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//4) It checks the difference between code and phase rates
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// % check difference between code and phase rates
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arma::vec ratediff = phaserate - coderate;
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double maxratediff = 5;
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idx = arma::find(phaserate > maxratediff);
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if (idx.n_elem > 0)
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{
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std::cout << "Warning: bad code and phase reate difference \n";
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}
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std::vector<double>
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time_vector(measurement_time.colptr(0) + 1, measurement_time.colptr(0) + measurement_time.n_rows);
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// 2. RMSE
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arma::vec err;
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err = ratediff;
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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::streamsize ss = std::cout.precision();
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std::cout << std::setprecision(10) << data_title << " RMSE = "
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<< rmse << ", mean = " << error_mean
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<< ", stdev = " << sqrt(error_var)
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<< " (max,min) = " << max_error
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<< "," << min_error
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<< " [meters]" << std::endl;
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std::cout.precision(ss);
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// plots
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if (FLAGS_show_plots)
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{
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Gnuplot g3("linespoints");
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g3.set_title(data_title + "Code rate - phase rate [m]");
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g3.set_grid();
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g3.set_xlabel("Time [s]");
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g3.set_ylabel("Code rate - phase rate [m]");
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// conversion between arma::vec and std:vector
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std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
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g3.cmd("set key box opaque");
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g3.plot_xy(time_vector, range_error_m,
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"Code rate - phase rate");
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g3.set_legend();
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g3.savetops(data_title + "Code_rate_minus_phase_rate");
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g3.showonscreen(); // window output
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}
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}
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void code_phase_diff(
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arma::mat& measured_ch0,
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arma::mat& measured_ch1,
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const std::string& data_title)
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{
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// 1. True value interpolation to match the measurement times
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arma::vec measurement_time = measured_ch0.col(0);
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arma::vec code_range_ch1_obs_interp;
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arma::interp1(measured_ch1.col(0), measured_ch1.col(1), measurement_time, code_range_ch1_obs_interp);
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arma::vec carrier_phase_ch1_obs_interp;
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arma::interp1(measured_ch1.col(0), measured_ch1.col(3), measurement_time, carrier_phase_ch1_obs_interp);
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// generate Code - Phase vector
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arma::vec code_minus_phase = (measured_ch0.col(1) - code_range_ch1_obs_interp) - (measured_ch0.col(3) - carrier_phase_ch1_obs_interp) * (gpstk::C_MPS / gpstk::L1_FREQ_GPS);
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// remove NaN
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arma::uvec NaN_in_measured_data = arma::find_nonfinite(code_minus_phase);
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arma::mat tmp_mat = arma::conv_to<arma::mat>::from(code_minus_phase);
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tmp_mat.shed_rows(NaN_in_measured_data);
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code_minus_phase = tmp_mat.col(0);
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code_minus_phase = code_minus_phase - code_minus_phase(0);
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tmp_mat = arma::conv_to<arma::mat>::from(measurement_time);
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tmp_mat.shed_rows(NaN_in_measured_data);
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measurement_time = tmp_mat.col(0);
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std::vector<double>
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time_vector(measurement_time.colptr(0), measurement_time.colptr(0) + measurement_time.n_rows);
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if (measurement_time.size() > 0)
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{
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// 2. RMSE
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arma::vec err;
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err = code_minus_phase;
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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::streamsize ss = std::cout.precision();
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std::cout << std::setprecision(10) << data_title << " RMSE = "
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<< rmse << ", mean = " << error_mean
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<< ", stdev = " << sqrt(error_var)
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<< " (max,min) = " << max_error
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<< "," << min_error
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<< " [meters]" << std::endl;
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std::cout.precision(ss);
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// plots
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if (FLAGS_show_plots)
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{
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Gnuplot g3("linespoints");
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g3.set_title(data_title + "Code range - Carrier phase range [m]");
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g3.set_grid();
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g3.set_xlabel("Time [s]");
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g3.set_ylabel("Code range - Carrier phase range [m]");
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// conversion between arma::vec and std:vector
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std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
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g3.cmd("set key box opaque");
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g3.plot_xy(time_vector, range_error_m,
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"Code range - Carrier phase range");
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g3.set_legend();
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g3.savetops(data_title + "Code_range_Carrier_phase_range");
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g3.showonscreen(); // window output
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}
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}
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else
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{
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std::cout << "No valid data\n";
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}
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}
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double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::string& rinex_obs_file)
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{
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std::cout << "Computing receiver's clock error..." << std::endl;
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@ -1320,14 +1543,93 @@ void RINEX_doublediff(bool remove_rx_clock_error)
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}
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}
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void RINEX_singlediff()
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{
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// read rinex receiver-under-test observations
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std::map<int, arma::mat> test_obs = ReadRinexObs(FLAGS_test_rinex_obs, 'G', std::string("1C\0"));
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if (test_obs.empty())
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{
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return;
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}
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// Cut measurement initial transitory of the measurements
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double initial_transitory_s = FLAGS_skip_obs_transitory_s;
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std::cout << "Skipping initial transitory of " << initial_transitory_s << " [s]" << std::endl;
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arma::uvec index;
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for (auto& test_ob : test_obs)
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{
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index = arma::find(test_ob.second.col(0) >= (test_ob.second.col(0)(0) + initial_transitory_s), 1, "first");
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if ((!index.empty()) and (index(0) > 0))
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{
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test_ob.second.shed_rows(0, index(0));
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}
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}
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// also skip last seconds of the observations (some artifacts are present in some RINEX endings)
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arma::colvec test_obs_time = test_obs.begin()->second.col(0);
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double skip_ends_s = FLAGS_skip_obs_ends_s;
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std::cout << "Skipping last " << skip_ends_s << " [s] of observations" << std::endl;
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for (auto& test_ob : test_obs)
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{
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index = arma::find(test_ob.second.col(0) >= (test_obs_time.back() - skip_ends_s), 1, "first");
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if ((!index.empty()) and (index(0) > 0))
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{
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test_ob.second.shed_rows(index(0), test_ob.second.n_rows - 1);
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}
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}
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// Save observations in .mat files
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std::cout << "Saving RAW observables inputs to .mat files...\n";
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for (auto& test_ob : test_obs)
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{
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// std::cout << it->first << " => " << it->second.n_rows << '\n';
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// std::cout << it->first << " has NaN values: " << it->second.has_nan() << '\n';
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std::vector<double> tmp_time_vec(test_ob.second.col(0).colptr(0),
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test_ob.second.col(0).colptr(0) + test_ob.second.n_rows);
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std::vector<double> tmp_vector(test_ob.second.col(2).colptr(0),
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test_ob.second.col(2).colptr(0) + test_ob.second.n_rows);
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save_mat_xy(tmp_time_vec, tmp_vector, std::string("measured_doppler_sat" + std::to_string(test_ob.first)));
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std::vector<double> tmp_vector2(test_ob.second.col(3).colptr(0),
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test_ob.second.col(3).colptr(0) + test_ob.second.n_rows);
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save_mat_xy(tmp_time_vec, tmp_vector2, std::string("measured_carrier_phase_sat" + std::to_string(test_ob.first)));
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std::vector<double> tmp_vector3(test_ob.second.col(1).colptr(0),
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test_ob.second.col(1).colptr(0) + test_ob.second.n_rows);
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save_mat_xy(tmp_time_vec, tmp_vector3, std::string("measured_pseudorange_sat" + std::to_string(test_ob.first)));
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}
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// compute single differences
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std::set<int> PRN_set = available_gps_prn;
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std::cout << "Computing Code Pseudorange rate vs. Carrier phase rate difference..." << std::endl;
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for (auto& current_sat_id : PRN_set)
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{
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if (test_obs.find(current_sat_id) != test_obs.end())
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{
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std::cout << "RateError = PR_rate(SV" << current_sat_id << ") - Phase_rate(SV" << current_sat_id << ")" << std::endl;
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coderate_phaserate_consistence(test_obs.at(current_sat_id), "PRN " + std::to_string(current_sat_id) + " ");
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}
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}
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}
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int main(int argc, char** argv)
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{
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std::cout << "Running RINEX observables difference tool..." << std::endl;
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_dupli_sat)
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if (FLAGS_single_diff)
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{
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RINEX_doublediff_dupli_sat();
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if (FLAGS_dupli_sat)
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{
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RINEX_doublediff_dupli_sat();
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}
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else
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{
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RINEX_singlediff();
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}
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}
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else
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{
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@ -28,6 +28,7 @@ DEFINE_double(skip_obs_ends_s, 5.0, "Skip the lasts observable outputs to avoid
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DEFINE_bool(single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
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DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies difference)");
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DEFINE_bool(dupli_sat, false, "Enable special observable test mode where the scenario contains duplicated satellite orbits");
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DEFINE_bool(single_diff, false, "Enable special observable test mode using only rover observables");
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DEFINE_string(dupli_sat_prns, "1,2,3,4", "List of duplicated satellites PRN pairs (i.e. 1,2,3,4 indicates that the PRNs 1,2 share the same orbit. The same applies for PRNs 3,4)");
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DEFINE_string(ref_rinex_obs, "reference.obs", "Filename of reference RINEX observation file");
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DEFINE_string(rinex_nav, "reference.nav", "Filename of reference RINEX navigation file");
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