mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 07:13:03 +00:00
Remove superseded tests
This commit is contained in:
Javier Arribas
@@ -493,25 +493,19 @@ if(ENABLE_SYSTEM_TESTING)
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add_system_test(position_test)
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add_system_test(position_test)
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if(GPSTK_FOUND OR OWN_GPSTK)
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#if(GPSTK_FOUND OR OWN_GPSTK)
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## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST
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## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST
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set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
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# set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
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gnss_sp_libs gnss_rx ${gpstk_libs} )
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# gnss_sp_libs gnss_rx ${gpstk_libs} )
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set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
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# set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
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add_system_test(obs_gps_l1_system_test)
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# add_system_test(obs_gps_l1_system_test)
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add_system_test(obs_system_test)
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# add_system_test(obs_system_test)
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endif(GPSTK_FOUND OR OWN_GPSTK)
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#endif(GPSTK_FOUND OR OWN_GPSTK)
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else(ENABLE_SYSTEM_TESTING_EXTRA)
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else(ENABLE_SYSTEM_TESTING_EXTRA)
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# Avoid working with old executables if they were switched ON and then OFF
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# Avoid working with old executables if they were switched ON and then OFF
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(ENABLE_SYSTEM_TESTING_EXTRA)
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endif(ENABLE_SYSTEM_TESTING_EXTRA)
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else(ENABLE_SYSTEM_TESTING)
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else(ENABLE_SYSTEM_TESTING)
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# Avoid working with old executables if they were switched ON and then OFF
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# Avoid working with old executables if they were switched ON and then OFF
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@@ -521,12 +515,6 @@ else(ENABLE_SYSTEM_TESTING)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(ENABLE_SYSTEM_TESTING)
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endif(ENABLE_SYSTEM_TESTING)
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@@ -1,719 +0,0 @@
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/*!
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* \file obs_gps_l1_system_test.cc
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* \brief This class implements a test for the validation of generated observables.
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* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "concurrent_map.h"
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#include "concurrent_queue.h"
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#include "control_thread.h"
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#include "in_memory_configuration.h"
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#include "signal_generator_flags.h"
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#include <gflags/gflags.h>
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#include <glog/logging.h>
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#include <gtest/gtest.h>
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#include <gpstk/RinexUtilities.hpp>
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#include <gpstk/Rinex3ObsBase.hpp>
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#include <gpstk/Rinex3ObsData.hpp>
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#include <gpstk/Rinex3ObsHeader.hpp>
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#include <gpstk/Rinex3ObsStream.hpp>
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#include <algorithm>
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#include <chrono>
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#include <cstdlib>
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#include <exception>
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#include <iostream>
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#include <numeric>
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#include <string>
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#include <thread>
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#include <unistd.h>
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// For GPS NAVIGATION (L1)
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concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
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concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
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class ObsGpsL1SystemTest : public ::testing::Test
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{
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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 double baseband_sampling_freq = 2.6e6;
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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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int configure_receiver();
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int run_receiver();
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void check_results();
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bool check_valid_rinex_nav(std::string filename); // return true if the file is a valid Rinex navigation file.
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bool check_valid_rinex_obs(std::string filename); // return true if the file is a valid Rinex observation file.
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double compute_stdev(const std::vector<double>& vec);
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std::shared_ptr<InMemoryConfiguration> config;
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};
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bool ObsGpsL1SystemTest::check_valid_rinex_nav(std::string filename)
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{
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bool res = false;
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res = gpstk::isRinexNavFile(filename);
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return res;
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}
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double ObsGpsL1SystemTest::compute_stdev(const std::vector<double>& vec)
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{
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double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
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double mean__ = sum__ / vec.size();
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double accum__ = 0.0;
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std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
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accum__ += (d - mean__) * (d - mean__);
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});
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double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
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return stdev__;
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}
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bool ObsGpsL1SystemTest::check_valid_rinex_obs(std::string filename)
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{
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bool res = false;
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res = gpstk::isRinexObsFile(filename);
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return res;
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}
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int ObsGpsL1SystemTest::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(std::min(FLAGS_duration * 10, 3000));
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if (FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
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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 ObsGpsL1SystemTest::generate_signal()
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{
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pid_t wait_result;
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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 error");
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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 error." << std::endl;
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std::terminate();
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}
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wait_result = waitpid(pid, &child_status, 0);
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if (wait_result == -1) perror("waitpid error");
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EXPECT_EQ(true, check_valid_rinex_obs(filename_rinex_obs));
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std::cout << "Signal and Observables RINEX files created." << std::endl;
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return 0;
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}
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int ObsGpsL1SystemTest::configure_receiver()
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{
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config = std::make_shared<InMemoryConfiguration>();
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const int sampling_rate_internal = baseband_sampling_freq;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const float zero = 0.0;
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const int number_of_channels = 8;
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const int in_acquisition = 1;
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const float threshold = 0.01;
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const float doppler_max = 8000.0;
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const float doppler_step = 500.0;
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const int max_dwells = 1;
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const int tong_init_val = 2;
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const int tong_max_val = 10;
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const int tong_max_dwells = 30;
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const int coherent_integration_time_ms = 1;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const float pll_bw_narrow_hz = 20.0;
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const float dll_bw_narrow_hz = 2.0;
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const int extend_correlation_ms = 1;
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const int display_rate_ms = 500;
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const int output_rate_ms = 10;
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
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// Set the assistance system parameters
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
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config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
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config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
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config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
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// Set the Signal Source
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config->set_property("SignalSource.implementation", "File_Signal_Source");
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config->set_property("SignalSource.filename", "./" + filename_raw_data);
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config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("SignalSource.item_type", "ibyte");
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config->set_property("SignalSource.samples", std::to_string(zero));
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// Set the Signal Conditioner
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config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
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config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.dump", "false");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
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config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
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config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
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config->set_property("InputFilter.band1_end", std::to_string(band1_end));
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config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
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config->set_property("InputFilter.band2_end", std::to_string(band2_end));
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config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
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config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
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config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
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config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
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config->set_property("InputFilter.band1_error", std::to_string(band1_error));
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config->set_property("InputFilter.band2_error", std::to_string(band2_error));
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", std::to_string(grid_density));
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config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("InputFilter.IF", std::to_string(zero));
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config->set_property("Resampler.implementation", "Pass_Through");
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config->set_property("Resampler.dump", "false");
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config->set_property("Resampler.item_type", "gr_complex");
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config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
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config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
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// Set the number of Channels
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config->set_property("Channels_1C.count", std::to_string(number_of_channels));
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config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
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config->set_property("Channel.signal", "1C");
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
|
|
||||||
config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
|
|
||||||
config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
|
|
||||||
config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
|
|
||||||
config->set_property("Acquisition_1C.bit_transition_flag", "false");
|
|
||||||
config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
|
|
||||||
config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
|
|
||||||
config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
|
|
||||||
config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
|
|
||||||
|
|
||||||
// Set Tracking
|
|
||||||
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
|
|
||||||
//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
|
|
||||||
config->set_property("Tracking_1C.item_type", "gr_complex");
|
|
||||||
config->set_property("Tracking_1C.dump", "false");
|
|
||||||
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
|
||||||
config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
|
|
||||||
config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
|
|
||||||
config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
|
|
||||||
|
|
||||||
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
|
|
||||||
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
|
|
||||||
config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
|
|
||||||
|
|
||||||
// Set Telemetry
|
|
||||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
|
||||||
config->set_property("TelemetryDecoder_1C.dump", "false");
|
|
||||||
|
|
||||||
// Set Observables
|
|
||||||
config->set_property("Observables.implementation", "Hybrid_Observables");
|
|
||||||
config->set_property("Observables.dump", "false");
|
|
||||||
config->set_property("Observables.dump_filename", "./observables.dat");
|
|
||||||
config->set_property("Observables.averaging_depth", std::to_string(100));
|
|
||||||
|
|
||||||
// Set PVT
|
|
||||||
config->set_property("PVT.implementation", "RTKLIB_PVT");
|
|
||||||
config->set_property("PVT.positioning_mode", "Single");
|
|
||||||
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
|
|
||||||
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
|
|
||||||
config->set_property("PVT.dump_filename", "./PVT");
|
|
||||||
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
|
|
||||||
config->set_property("PVT.flag_nmea_tty_port", "false");
|
|
||||||
config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
|
|
||||||
config->set_property("PVT.flag_rtcm_server", "false");
|
|
||||||
config->set_property("PVT.flag_rtcm_tty_port", "false");
|
|
||||||
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
|
|
||||||
config->set_property("PVT.dump", "false");
|
|
||||||
config->set_property("PVT.rinex_version", std::to_string(2));
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int ObsGpsL1SystemTest::run_receiver()
|
|
||||||
{
|
|
||||||
std::shared_ptr<ControlThread> control_thread;
|
|
||||||
control_thread = std::make_shared<ControlThread>(config);
|
|
||||||
// start receiver
|
|
||||||
try
|
|
||||||
{
|
|
||||||
control_thread->run();
|
|
||||||
}
|
|
||||||
catch (const boost::exception& e)
|
|
||||||
{
|
|
||||||
std::cout << "Boost exception: " << boost::diagnostic_information(e);
|
|
||||||
}
|
|
||||||
catch (const std::exception& ex)
|
|
||||||
{
|
|
||||||
std::cout << "STD exception: " << ex.what();
|
|
||||||
}
|
|
||||||
// Get the name of the RINEX obs file generated by the receiver
|
|
||||||
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
|
|
||||||
FILE* fp;
|
|
||||||
std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
|
|
||||||
char buffer[1035];
|
|
||||||
fp = popen(&argum2[0], "r");
|
|
||||||
if (fp == NULL)
|
|
||||||
{
|
|
||||||
std::cout << "Failed to run command: " << argum2 << std::endl;
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
while (fgets(buffer, sizeof(buffer), fp) != NULL)
|
|
||||||
{
|
|
||||||
std::string aux = std::string(buffer);
|
|
||||||
ObsGpsL1SystemTest::generated_rinex_obs = aux.erase(aux.length() - 1, 1);
|
|
||||||
}
|
|
||||||
pclose(fp);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void ObsGpsL1SystemTest::check_results()
|
|
||||||
{
|
|
||||||
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>>> doppler_ref(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>>> doppler_meas(33);
|
|
||||||
|
|
||||||
// Open and read reference RINEX observables file
|
|
||||||
try
|
|
||||||
{
|
|
||||||
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
|
|
||||||
r_ref.exceptions(std::ios::failbit);
|
|
||||||
gpstk::Rinex3ObsData r_ref_data;
|
|
||||||
gpstk::Rinex3ObsHeader r_ref_header;
|
|
||||||
|
|
||||||
gpstk::RinexDatum dataobj;
|
|
||||||
|
|
||||||
r_ref >> r_ref_header;
|
|
||||||
|
|
||||||
while (r_ref >> r_ref_data)
|
|
||||||
{
|
|
||||||
for (int myprn = 1; myprn < 33; myprn++)
|
|
||||||
{
|
|
||||||
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
|
|
||||||
gpstk::CommonTime time = r_ref_data.time;
|
|
||||||
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
|
|
||||||
|
|
||||||
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
|
|
||||||
if (pointer == r_ref_data.obs.end())
|
|
||||||
{
|
|
||||||
// PRN not present; do nothing
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
|
|
||||||
double P1 = dataobj.data;
|
|
||||||
std::pair<double, double> pseudo(sow, P1);
|
|
||||||
pseudorange_ref.at(myprn).push_back(pseudo);
|
|
||||||
|
|
||||||
dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
|
|
||||||
double L1 = dataobj.data;
|
|
||||||
std::pair<double, double> carrier(sow, L1);
|
|
||||||
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 for
|
|
||||||
} // end while
|
|
||||||
} // End of 'try' block
|
|
||||||
catch (const gpstk::FFStreamError& e)
|
|
||||||
{
|
|
||||||
std::cout << e;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
catch (const gpstk::Exception& e)
|
|
||||||
{
|
|
||||||
std::cout << e;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
catch (...)
|
|
||||||
{
|
|
||||||
std::cout << "unknown error. I don't feel so well..." << std::endl;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
try
|
|
||||||
{
|
|
||||||
std::string arg2_gen = std::string("./") + ObsGpsL1SystemTest::generated_rinex_obs;
|
|
||||||
gpstk::Rinex3ObsStream r_meas(arg2_gen);
|
|
||||||
r_meas.exceptions(std::ios::failbit);
|
|
||||||
gpstk::Rinex3ObsData r_meas_data;
|
|
||||||
gpstk::Rinex3ObsHeader r_meas_header;
|
|
||||||
gpstk::RinexDatum dataobj;
|
|
||||||
|
|
||||||
r_meas >> r_meas_header;
|
|
||||||
|
|
||||||
while (r_meas >> r_meas_data)
|
|
||||||
{
|
|
||||||
for (int myprn = 1; myprn < 33; myprn++)
|
|
||||||
{
|
|
||||||
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
|
|
||||||
gpstk::CommonTime time = r_meas_data.time;
|
|
||||||
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
|
|
||||||
|
|
||||||
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
|
|
||||||
if (pointer == r_meas_data.obs.end())
|
|
||||||
{
|
|
||||||
// PRN not present; do nothing
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
dataobj = r_meas_data.getObs(prn, "C1C", r_meas_header);
|
|
||||||
double P1 = dataobj.data;
|
|
||||||
std::pair<double, double> pseudo(sow, P1);
|
|
||||||
pseudorange_meas.at(myprn).push_back(pseudo);
|
|
||||||
|
|
||||||
dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
|
|
||||||
double L1 = dataobj.data;
|
|
||||||
std::pair<double, double> carrier(sow, L1);
|
|
||||||
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, D1);
|
|
||||||
doppler_meas.at(myprn).push_back(doppler);
|
|
||||||
} // End of 'if( pointer == roe.obs.end() )'
|
|
||||||
} // end for
|
|
||||||
} // end while
|
|
||||||
} // End of 'try' block
|
|
||||||
catch (const gpstk::FFStreamError& e)
|
|
||||||
{
|
|
||||||
std::cout << e;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
catch (const gpstk::Exception& e)
|
|
||||||
{
|
|
||||||
std::cout << e;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
catch (...)
|
|
||||||
{
|
|
||||||
std::cout << "unknown error. I don't feel so well..." << std::endl;
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Time alignment
|
|
||||||
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>>> doppler_ref_aligned(33);
|
|
||||||
|
|
||||||
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 it2;
|
|
||||||
|
|
||||||
std::vector<std::vector<double>> pr_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<double>::iterator iter_v;
|
|
||||||
|
|
||||||
int prn_id = 0;
|
|
||||||
for (iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
|
|
||||||
{
|
|
||||||
for (it = iter->begin(); it != iter->end(); it++)
|
|
||||||
{
|
|
||||||
// If a measure exists for this sow, store it
|
|
||||||
for (it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
|
|
||||||
{
|
|
||||||
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
|
|
||||||
{
|
|
||||||
pseudorange_ref_aligned.at(prn_id).push_back(*it);
|
|
||||||
pr_diff.at(prn_id).push_back(it->second - it2->second);
|
|
||||||
//std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << " PR_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
prn_id++;
|
|
||||||
}
|
|
||||||
|
|
||||||
prn_id = 0;
|
|
||||||
for (iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
|
|
||||||
{
|
|
||||||
for (it = iter->begin(); it != iter->end(); it++)
|
|
||||||
{
|
|
||||||
// If a measure exists for this sow, store it
|
|
||||||
for (it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
|
|
||||||
{
|
|
||||||
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
|
|
||||||
{
|
|
||||||
carrierphase_ref_aligned.at(prn_id).push_back(*it);
|
|
||||||
cp_diff.at(prn_id).push_back(it->second - it2->second);
|
|
||||||
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
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) < 0.01) // store measures closer than 10 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
|
|
||||||
prn_id = 0;
|
|
||||||
std::vector<double> mean_pr_diff_v;
|
|
||||||
for (iter_diff = pr_diff.begin(); iter_diff != pr_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++)
|
|
||||||
{
|
|
||||||
mean_diff = mean_diff + *iter_v;
|
|
||||||
number_obs = number_obs + 1;
|
|
||||||
}
|
|
||||||
if (number_obs > 0)
|
|
||||||
{
|
|
||||||
mean_diff = mean_diff / number_obs;
|
|
||||||
mean_pr_diff_v.push_back(mean_diff);
|
|
||||||
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
|
|
||||||
double stdev_ = compute_stdev(*iter_diff);
|
|
||||||
std::cout << " +/- " << stdev_;
|
|
||||||
std::cout << " [m]" << std::endl;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
mean_diff = 0.0;
|
|
||||||
}
|
|
||||||
|
|
||||||
prn_id++;
|
|
||||||
}
|
|
||||||
double stdev_pr = compute_stdev(mean_pr_diff_v);
|
|
||||||
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
|
|
||||||
ASSERT_LT(stdev_pr, 10.0);
|
|
||||||
|
|
||||||
// Compute carrier phase error
|
|
||||||
prn_id = 0;
|
|
||||||
std::vector<double> mean_cp_diff_v;
|
|
||||||
for (iter_diff = cp_diff.begin(); iter_diff != cp_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++)
|
|
||||||
{
|
|
||||||
mean_diff = mean_diff + *iter_v;
|
|
||||||
number_obs = number_obs + 1;
|
|
||||||
}
|
|
||||||
if (number_obs > 0)
|
|
||||||
{
|
|
||||||
mean_diff = mean_diff / number_obs;
|
|
||||||
mean_cp_diff_v.push_back(mean_diff);
|
|
||||||
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff;
|
|
||||||
double stdev_pr_ = compute_stdev(*iter_diff);
|
|
||||||
std::cout << " +/- " << stdev_pr_ << " whole cycles (19 cm)" << std::endl;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
mean_diff = 0.0;
|
|
||||||
}
|
|
||||||
|
|
||||||
prn_id++;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Compute Doppler error
|
|
||||||
prn_id = 0;
|
|
||||||
std::vector<double> mean_doppler_v;
|
|
||||||
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;
|
|
||||||
mean_doppler_v.push_back(mean_diff);
|
|
||||||
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
mean_diff = 0.0;
|
|
||||||
}
|
|
||||||
|
|
||||||
prn_id++;
|
|
||||||
}
|
|
||||||
|
|
||||||
double stdev_dp = compute_stdev(mean_doppler_v);
|
|
||||||
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
|
|
||||||
ASSERT_LT(stdev_dp, 10.0);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
TEST_F(ObsGpsL1SystemTest, Observables_system_test)
|
|
||||||
{
|
|
||||||
std::cout << "Validating input RINEX nav file: " << FLAGS_rinex_nav_file << " ..." << std::endl;
|
|
||||||
bool is_rinex_nav_valid = check_valid_rinex_nav(FLAGS_rinex_nav_file);
|
|
||||||
EXPECT_EQ(true, is_rinex_nav_valid) << "The RINEX navigation file " << FLAGS_rinex_nav_file << " is not well formed.";
|
|
||||||
std::cout << "The file is valid." << std::endl;
|
|
||||||
|
|
||||||
// Configure the signal generator
|
|
||||||
configure_generator();
|
|
||||||
|
|
||||||
// Generate signal raw signal samples and observations RINEX file
|
|
||||||
if (!FLAGS_disable_generator)
|
|
||||||
{
|
|
||||||
generate_signal();
|
|
||||||
}
|
|
||||||
|
|
||||||
std::cout << "Validating generated reference RINEX obs file: " << FLAGS_filename_rinex_obs << " ..." << std::endl;
|
|
||||||
bool is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + FLAGS_filename_rinex_obs);
|
|
||||||
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << FLAGS_filename_rinex_obs << ", generated by gnss-sim, is not well formed.";
|
|
||||||
std::cout << "The file is valid." << std::endl;
|
|
||||||
|
|
||||||
// Configure receiver
|
|
||||||
configure_receiver();
|
|
||||||
|
|
||||||
// Run the receiver
|
|
||||||
EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
|
|
||||||
|
|
||||||
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << ObsGpsL1SystemTest::generated_rinex_obs << " ..." << std::endl;
|
|
||||||
is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + ObsGpsL1SystemTest::generated_rinex_obs);
|
|
||||||
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << ObsGpsL1SystemTest::generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
|
|
||||||
std::cout << "The file is valid." << std::endl;
|
|
||||||
|
|
||||||
// Check results
|
|
||||||
check_results();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int main(int argc, char** argv)
|
|
||||||
{
|
|
||||||
std::cout << "Running Observables validation test..." << std::endl;
|
|
||||||
int res = 0;
|
|
||||||
try
|
|
||||||
{
|
|
||||||
testing::InitGoogleTest(&argc, argv);
|
|
||||||
}
|
|
||||||
catch (...)
|
|
||||||
{
|
|
||||||
} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
|
|
||||||
|
|
||||||
google::ParseCommandLineFlags(&argc, &argv, true);
|
|
||||||
google::InitGoogleLogging(argv[0]);
|
|
||||||
|
|
||||||
// Run the Tests
|
|
||||||
try
|
|
||||||
{
|
|
||||||
res = RUN_ALL_TESTS();
|
|
||||||
}
|
|
||||||
catch (...)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Unexpected catch";
|
|
||||||
}
|
|
||||||
google::ShutDownCommandLineFlags();
|
|
||||||
return res;
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user