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Improving observables unit test

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This commit is contained in:
Javier Arribas 2018-08-27 18:08:31 +02:00
parent da2c8f9977
commit 3f29d27873
2 changed files with 47 additions and 35 deletions
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4
src/tests/common-files/observable_tests_flags.h
View File

@ -35,7 +35,7 @@
#include <limits>
DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
DEFINE_bool(compute_single_diffs, false, "Compute also the signel difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
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 differences");
#endif

78
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -53,7 +53,6 @@
#include "telemetry_decoder_interface.h"
#include "in_memory_configuration.h"
#include "gnss_synchro.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "tracking_true_obs_reader.h"
#include "true_observables_reader.h"
#include "tracking_dump_reader.h"
@ -326,7 +325,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L1 CA";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@ -337,7 +337,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E1B";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@ -347,7 +348,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'G';
std::string signal = "2S";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L2CM";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@ -357,7 +359,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E5a";
config->set_property("Acquisition_5X.coherent_integration_time_ms", "1");
@ -372,7 +375,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E5a";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@ -382,7 +386,8 @@ bool HybridObservablesTest::acquire_signal()
{
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L5I";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@ -579,7 +584,7 @@ void HybridObservablesTest::configure_receiver(
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
config->set_property("TelemetryDecoder.implementation", "GPS_L2C_Telemetry_Decoder");
}
@ -596,7 +601,7 @@ void HybridObservablesTest::configure_receiver(
config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
}
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
config->set_property("Tracking.order", "2");
config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
@ -610,7 +615,7 @@ void HybridObservablesTest::configure_receiver(
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
config->set_property("Tracking.order", "2");
config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
@ -888,9 +893,9 @@ void HybridObservablesTest::check_results_carrier_doppler_double_diff(
ASSERT_LT(error_mean, 5);
ASSERT_GT(error_mean, -5);
//assuming PLL BW=35
ASSERT_LT(error_var, 200);
ASSERT_LT(max_error, 70);
ASSERT_GT(min_error, -70);
ASSERT_LT(error_var, 250);
ASSERT_LT(max_error, 100);
ASSERT_GT(min_error, -100);
ASSERT_LT(rmse, 30);
}
@ -967,9 +972,9 @@ void HybridObservablesTest::check_results_carrier_doppler(
ASSERT_LT(error_mean_ch0, 5);
ASSERT_GT(error_mean_ch0, -5);
//assuming PLL BW=35
ASSERT_LT(error_var_ch0, 200);
ASSERT_LT(max_error_ch0, 70);
ASSERT_GT(min_error_ch0, -70);
ASSERT_LT(error_var_ch0, 250);
ASSERT_LT(max_error_ch0, 100);
ASSERT_GT(min_error_ch0, -100);
ASSERT_LT(rmse_ch0, 30);
}
@ -1195,7 +1200,7 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
dataobj = r_ref_data.getObs(prn, "L5I", r_ref_header);
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
}
else if (strcmp("5X\0", gnss.Signal) == 0) //Simulator gives RINEX with E5a+E5b
else if (strcmp("5X\0", gnss.Signal) == 0) //Simulator gives RINEX with E5a+E5b. Doppler and accumulated Carrier phase WILL differ
{
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
dataobj = r_ref_data.getObs(prn, "C8I", r_ref_header);
@ -1579,8 +1584,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
arma::vec receiver_time_offset_ref_channel_s;
receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
@ -1624,21 +1629,28 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
std::cout << "s:" << gnss_synchro_vec.at(n).Signal << std::endl;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
{
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{