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Code cleaning

This commit is contained in:
Carles Fernandez 2017-01-28 15:31:04 +01:00
parent d2c7bb62a1
commit 4438ffe916
10 changed files with 266 additions and 275 deletions
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29
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -227,22 +227,22 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
this->set_msg_handler(pmt::mp("telemetry"),
boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
//initialize kml_printer
// initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
d_kml_printer = std::make_shared<Kml_Printer>();
d_kml_printer->set_headers(kml_dump_filename);
//initialize geojson_printer
// initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);
//initialize nmea_printer
// initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer
// initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_tcp_port = rtcm_tcp_port;
@ -330,7 +330,7 @@ void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniza
d_last_status_print_seg = current_rx_seg;
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
}
}
@ -340,7 +340,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
{
gnss_observables_map.clear();
d_sample_counter++;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
print_receiver_status(in);
@ -366,25 +366,18 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
{
// compute on the fly PVT solution
//mod 8/4/2012 Set the PVT computation rate in this block
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
//correct the observable to account for the receiver clock offset
for (std::map<int,Gnss_Synchro>::iterator it=gnss_observables_map.begin(); it!=gnss_observables_map.end(); ++it)
// correct the observable to account for the receiver clock offset
for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
{
it->second.Pseudorange_m=it->second.Pseudorange_m-d_ls_pvt->d_rx_dt_s*GPS_C_m_s;
it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
}
// send asynchronous message to observables block
// time offset is expressed as the equivalent travel distance [m]
//pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s);
//this->message_port_pub(pmt::mp("rx_dt_s"), value);
//std::cout<<"d_rx_dt_s*GPS_C_m_s="<<d_ls_pvt->d_rx_dt_s*GPS_C_m_s<<std::endl;
if( first_fix == true)
if(first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
@ -410,7 +403,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
b_rinex_header_written = true; // do not write header anymore
}
}
if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
if(b_rinex_header_written)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)

48
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -81,14 +81,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
arma::vec W;//= arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
arma::vec obs;// = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
arma::mat satpos;// = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector
arma::mat satpos; // satellite positions matrix
int GPS_week = 0;
double utc = 0;
double utc = 0.0;
double TX_time_corrected_s;
double SV_clock_bias_s = 0;
double SV_clock_bias_s = 0.0;
d_flag_averaging = flag_averaging;
@ -107,8 +107,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W.resize(valid_obs+1,1);
W(valid_obs)=1;
W.resize(valid_obs + 1, 1);
W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time
@ -121,13 +121,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
// 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
satpos.resize(3,valid_obs+1);
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
obs.resize(valid_obs+1,1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s-d_rx_dt_s*GPS_C_m_s;
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
valid_obs++;
@ -162,25 +163,27 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W;
//check if this is the initial position computation
if (d_rx_dt_s==0)
// check if this is the initial position computation
if (d_rx_dt_s == 0)
{
//execute Bancroft's algorithm to estimate initial receiver position and time
std::cout<<"Executing Bancroft algorithm...\n";
rx_position_and_time =bancroftPos(satpos.t(), obs);
d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
d_rx_dt_s=rx_position_and_time(3)/GPS_C_m_s; //save time for the next iteration [meters]->[seconds]
// execute Bancroft's algorithm to estimate initial receiver position and time
DLOG(INFO) << " Executing Bancroft algorithm...";
rx_position_and_time = bancroftPos(satpos.t(), obs);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
}
//Execute WLS using previos position as the initialization point
// Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W);
d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
d_rx_dt_s+=rx_position_and_time(3)/GPS_C_m_s; //accumulate the rx time error for the next iteration [meters]->[seconds]
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
DLOG(INFO) <<"Accumulated rx clock error="<<d_rx_dt_s<<" clock error for this iteration="<<rx_position_and_time(3)/GPS_C_m_s<<" [s]"<<std::endl;
DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
@ -192,9 +195,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
std::cout<<"c\r";
compute_DOP();
std::cout<<"d\r";
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{

150
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -44,48 +44,47 @@ Ls_Pvt::Ls_Pvt() : Pvt_Solution()
}
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
// %BANCROFT Calculation of preliminary coordinates
// % for a GPS receiver based on pseudoranges
// % to 4 or more satellites. The ECEF
// % coordinates are stored in satpos. The observed pseudoranges are stored in obs
// %Reference: Bancroft, S. (1985) An Algebraic Solution
// % of the GPS Equations, IEEE Trans. Aerosp.
// % and Elec. Systems, AES-21, 56--59
// %Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
// %Copyright (c) by Kai Borre
// %$Revision: 1.0 $ $Date: 1997/09/26 $
//
// % Test values to use in debugging
// % B_pass =[ -11716227.778 -10118754.628 21741083.973 22163882.029;
// % -12082643.974 -20428242.179 11741374.154 21492579.823;
// % 14373286.650 -10448439.349 19596404.858 21492492.771;
// % 10278432.244 -21116508.618 -12689101.970 25284588.982];
// % Solution: 595025.053 -4856501.221 4078329.981
//
// % Test values to use in debugging
// % B_pass = [14177509.188 -18814750.650 12243944.449 21119263.116;
// % 15097198.146 -4636098.555 21326705.426 22527063.486;
// % 23460341.997 -9433577.991 8174873.599 23674159.579;
// % -8206498.071 -18217989.839 17605227.065 20951643.862;
// % 1399135.830 -17563786.820 19705534.862 20155386.649;
// % 6995655.459 -23537808.269 -9927906.485 24222112.972];
// % Solution: 596902.683 -4847843.316 4088216.740
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{
// BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges
// to 4 or more satellites. The ECEF coordinates are stored in satpos.
// The observed pseudoranges are stored in obs
// Reference: Bancroft, S. (1985) An Algebraic Solution of the GPS Equations,
// IEEE Trans. Aerosp. and Elec. Systems, AES-21, Issue 1, pp. 56--59
// Based on code by:
// Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
// Copyright (c) by Kai Borre
// $Revision: 1.0 $ $Date: 1997/09/26 $
//
// Test values to use in debugging
// B_pass =[ -11716227.778 -10118754.628 21741083.973 22163882.029;
// -12082643.974 -20428242.179 11741374.154 21492579.823;
// 14373286.650 -10448439.349 19596404.858 21492492.771;
// 10278432.244 -21116508.618 -12689101.970 25284588.982 ];
// Solution: 595025.053 -4856501.221 4078329.981
//
// Test values to use in debugging
// B_pass = [14177509.188 -18814750.650 12243944.449 21119263.116;
// 15097198.146 -4636098.555 21326705.426 22527063.486;
// 23460341.997 -9433577.991 8174873.599 23674159.579;
// -8206498.071 -18217989.839 17605227.065 20951643.862;
// 1399135.830 -17563786.820 19705534.862 20155386.649;
// 6995655.459 -23537808.269 -9927906.485 24222112.972 ];
// Solution: 596902.683 -4847843.316 4088216.740
arma::vec pos = arma::zeros(4,1);
arma::mat B_pass=arma::zeros(obs.size(),4);
B_pass.submat(0,0,obs.size()-1,2)=satpos;
B_pass.col(3)=obs;
arma::mat B_pass = arma::zeros(obs.size(), 4);
B_pass.submat(0, 0, obs.size() - 1, 2) = satpos;
B_pass.col(3) = obs;
arma::mat B;
arma::mat BBB;
double traveltime=0;
for (int iter = 0; iter<2; iter++)
double traveltime = 0;
for (int iter = 0; iter < 2; iter++)
{
B = B_pass;
int m=arma::size(B,0);
for (int i=0;i<m;i++)
int m = arma::size(B,0);
for (int i = 0; i < m; i++)
{
int x = B(i,0);
int y = B(i,1);
@ -96,19 +95,19 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
else
{
int z = B(i,2);
double rho = (x-pos(0))*(x-pos(0))+(y-pos(1))*(y-pos(1))+(z-pos(2))*(z-pos(2));
traveltime = sqrt(rho)/GPS_C_m_s;
double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
traveltime = sqrt(rho) / GPS_C_m_s;
}
double angle = traveltime*7.292115147e-5;
double angle = traveltime * 7.292115147e-5;
double cosa = cos(angle);
double sina = sin(angle);
B(i,0) = cosa*x + sina*y;
B(i,1) = -sina*x + cosa*y;
B(i,0) = cosa * x + sina * y;
B(i,1) = -sina * x + cosa * y;
}// % i-loop
if (m > 3)
{
BBB = arma::inv(B.t()*B)*B.t();
BBB = arma::inv(B.t() * B) * B.t();
}
else
{
@ -116,32 +115,32 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
}
arma::vec e = arma::ones(m,1);
arma::vec alpha = arma::zeros(m,1);
for (int i =0; i<m;i++)
for (int i = 0; i < m; i++)
{
alpha(i) = lorentz(B.row(i).t(),B.row(i).t())/2.0;
alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
}
arma::mat BBBe = BBB*e;
arma::mat BBBalpha = BBB*alpha;
double a = lorentz(BBBe,BBBe);
double b = lorentz(BBBe,BBBalpha)-1;
double c = lorentz(BBBalpha,BBBalpha);
double root = sqrt(b*b-a*c);
arma::vec r = {{(-b-root)/a},{(-b+root)/a}};
arma::mat BBBe = BBB * e;
arma::mat BBBalpha = BBB * alpha;
double a = lorentz(BBBe, BBBe);
double b = lorentz(BBBe, BBBalpha) - 1;
double c = lorentz(BBBalpha, BBBalpha);
double root = sqrt(b * b - a * c);
arma::vec r = {(-b - root) / a, (-b + root) / a};
arma::mat possible_pos = arma::zeros(4,2);
for (int i =0;i<2; i++)
for (int i = 0; i < 2; i++)
{
possible_pos.col(i) = r(i)*BBBe+BBBalpha;
possible_pos.col(i) = r(i) * BBBe + BBBalpha;
possible_pos(3,i) = -possible_pos(3,i);
}
arma::vec abs_omc=arma::zeros(2,1);
for (int j=0; j<m; j++)
arma::vec abs_omc = arma::zeros(2,1);
for (int j = 0; j < m; j++)
{
for (int i =0;i<2;i++)
for (int i = 0; i < 2; i++)
{
double c_dt = possible_pos(3,i);
double calc = arma::norm(satpos.row(i).t() -possible_pos.col(i).rows(0,2))+c_dt;
double omc = obs(j)-calc;
double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt;
double omc = obs(j) - calc;
abs_omc(i) = std::abs(omc);
}
}// % j-loop
@ -159,20 +158,23 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
return pos;
}
double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y) {
// %LORENTZ Calculates the Lorentz inner product of the two
// % 4 by 1 vectors x and y
//
// %Kai Borre 04-22-95
// %Copyright (c) by Kai Borre
// %$Revision: 1.0 $ $Date: 1997/09/26 $
//
// % M = diag([1 1 1 -1]);
// % p = x'*M*y;
return(x(0)*y(0) + x(1)*y(1) + x(2)*y(2) - x(3)*y(3));
double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
{
// LORENTZ Calculates the Lorentz inner product of the two
// 4 by 1 vectors x and y
// Based ob code by:
// Kai Borre 04-22-95
// Copyright (c) by Kai Borre
// $Revision: 1.0 $ $Date: 1997/09/26 $
//
// M = diag([1 1 1 -1]);
// p = x'*M*y;
return(x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3));
}
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec)
{
/* Computes the Least Squares Solution.
@ -190,10 +192,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
int nmbOfIterations = 10; // TODO: include in config
int nmbOfSatellites;
nmbOfSatellites = satpos.n_cols; //Armadillo
arma::mat w=arma::zeros(nmbOfSatellites,nmbOfSatellites);
w.diag()=w_vec; //diagonal weight matrix
arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
w.diag() = w_vec; //diagonal weight matrix
arma::vec pos = {{d_rx_pos(0)},{d_rx_pos(0)},{d_rx_pos(0)},0}; //time error in METERS (time x speed)
arma::vec pos = {d_rx_pos(0), d_rx_pos(0), d_rx_pos(0), 0}; // time error in METERS (time x speed)
arma::mat A;
arma::mat omc;
arma::mat az;
@ -251,7 +253,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{
//receiver is above the troposphere
trop = 0.0;
}else{
}
else
{
//--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 5.0 ) trop = 0.0; //check for erratic values
@ -284,7 +288,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
try
{
//-- compute the Dilution Of Precision values
d_Q = arma::inv(arma::htrans(A)*A);
d_Q = arma::inv(arma::htrans(A) * A);
}
catch(std::exception& e)
{

2
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -57,7 +57,7 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false;
d_averaging_depth = 0;
d_valid_observations = 0;
d_rx_pos=arma::zeros(3,1);
d_rx_pos = arma::zeros(3,1);
d_rx_dt_s = 0.0;
}

12
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
View File

@ -80,11 +80,11 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, bool
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what() << std::endl;
LOG(WARNING) << "Exception opening observables dump file " << e.what();
}
}
}
@ -185,7 +185,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_d_TOW_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
@ -202,14 +201,14 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
// compute the required symbol history shift in order to match the reference symbol
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
//compute the pseudorange
traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
traveltime_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
//convert to meters and remove the receiver time offset in meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000.0)/1000.0 + GPS_STARTOFFSET_ms/1000.0;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference * 1000.0) / 1000.0 + GPS_STARTOFFSET_ms / 1000.0;
if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size() >= history_deep)
{
@ -221,7 +220,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
desired_symbol_TOW[0] = symbol_TOW_vec_s[history_deep - 1] + delta_rx_time_ms / 1000.0;
// arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
// arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
// Curve fitting to cuadratic function
// Curve fitting to quadratic function
arma::mat A = arma::ones<arma::mat> (history_deep, 2);
A.col(1) = symbol_TOW_vec_s;
@ -237,7 +236,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
}
}
}

28
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -110,8 +110,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_channel = 0;
Prn_timestamp_at_preamble_ms = 0.0;
flag_PLL_180_deg_phase_locked = false;
tmp_counter=0;
}
@ -198,7 +196,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
@ -330,36 +328,27 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
}
}
// output the frame
consume_each(1); //one by one
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
consume_each(1); // one by one
Gnss_Synchro current_synchro_data; // structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
//update TOW at the preamble instant (todo: check for valid d_TOW)
// JAVI: 30/06/2014
// TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
// Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
{
// update TOW at the preamble instant
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
//std::cout.precision(17);
//std::cout<<"symbol diff="<<tmp_counter<<" Preable TOW="<<std::fixed<<d_TOW_at_Preamble
// <<" with DeltaTOW="<<d_TOW_at_Preamble-d_TOW_at_current_symbol
// <<" decoded at "<<Prn_timestamp_at_preamble_ms/1000<<"[s]\r\n";
d_TOW_at_current_symbol = d_TOW_at_Preamble;
if (flag_TOW_set == false)
{
flag_TOW_set = true;
}
tmp_counter=0;
}
else
{
tmp_counter++;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
}
@ -373,7 +362,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the costas loop phase shift, if required
//correct the accumulated phase for the Costas loop phase shift, if required
current_synchro_data.Carrier_phase_rads += GPS_PI;
}
@ -419,6 +408,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
d_decimation_output_factor = decimation;
}
void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());

3
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@ -98,9 +98,6 @@ private:
double d_symbol_accumulator;
short int d_symbol_accumulator_counter;
//debug
int tmp_counter;
//bits and frame
unsigned short int d_frame_bit_index;
unsigned int d_GPS_frame_4bytes;

62
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@ -193,10 +193,10 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
long int acq_trk_diff_samples;
double acq_trk_diff_seconds;
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
//doppler effect
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
@ -309,14 +309,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
d_pull_in = false;
//take into account the carrier cycles accumulated in the pull in signal alignement
// take into account the carrier cycles accumulated in the pull in signal alignment
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
}
@ -332,7 +332,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
// ################## PLL ##########################################################
// PLL discriminator
// Update PLL discriminator [rads/Ti -> Secs/Ti]
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; //prompt output
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
@ -342,40 +342,34 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); //[chips/Ti] //early and late
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
//Code phase accumulator
double code_error_filt_secs;
code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; // [seconds]
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
//carrier phase step (NCO phase increment per sample) [rads/sample]
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
//remanent carrier phase to prevent overflow in the code NCO
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
//carrier phase accumulator for (K) doppler estimation
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
//################### DLL COMMANDS #################################################
//code phase step (Code resampler phase increment per sample) [chips/sample]
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
//remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
@ -405,7 +399,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
@ -415,7 +409,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter+d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter + d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@ -430,7 +424,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
d_correlator_outs[n] = gr_complex(0,0);
}
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter+d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter + d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
current_synchro_data.System = {'G'};
}
@ -460,7 +454,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
// PRN start sample stamp
tmp_long = d_sample_counter+d_current_prn_length_samples;
tmp_long = d_sample_counter + d_current_prn_length_samples;
d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
@ -469,11 +463,11 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
//PLL commands
// PLL commands
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
//DLL commands
// DLL commands
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
@ -494,9 +488,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
}
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
}

1
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
View File

@ -139,7 +139,6 @@ private:
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad;
double d_code_phase_samples;
double d_acc_code_phase_secs;
//PRN period in samples
int d_current_prn_length_samples;

44
src/tests/system-tests/obs_gps_l1_system_test.cc
View File

@ -29,7 +29,7 @@
* -------------------------------------------------------------------------
*/
#include <algorithm>
#include <exception>
#include <iostream>
#include <cstring>
@ -46,16 +46,15 @@
#include "Rinex3ObsData.hpp"
#include "Rinex3ObsHeader.hpp"
#include "Rinex3ObsStream.hpp"
#include "control_thread.h"
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "in_memory_configuration.h"
DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
DEFINE_int32(duration, 100, "Duration of the experiment [in seconds]");
DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]");
DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
@ -75,7 +74,7 @@ public:
std::string p4;
std::string p5;
const int baseband_sampling_freq = 2.6e6;
const double baseband_sampling_freq = 2.6e6;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
@ -131,7 +130,8 @@ int Obs_Gps_L1_System_Test::configure_generator()
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if(FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(FLAGS_duration * 10, 3000));
if(FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
}
else
{
@ -208,6 +208,9 @@ int Obs_Gps_L1_System_Test::configure_receiver()
const float pll_bw_hz = 30.0;
const float dll_bw_hz = 4.0;
const float early_late_space_chips = 0.5;
const float pll_bw_narrow_hz = 20.0;
const float dll_bw_narrow_hz = 2.0;
const int extend_correlation_ms = 1;
const int display_rate_ms = 500;
const int output_rate_ms = 1000;
@ -287,6 +290,7 @@ int Obs_Gps_L1_System_Test::configure_receiver()
// 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.if", std::to_string(zero));
config->set_property("Tracking_1C.dump", "false");
@ -295,6 +299,10 @@ int Obs_Gps_L1_System_Test::configure_receiver()
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");
@ -304,6 +312,7 @@ int Obs_Gps_L1_System_Test::configure_receiver()
config->set_property("Observables.implementation", "GPS_L1_CA_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", "GPS_L1_CA_PVT");
@ -344,12 +353,13 @@ int Obs_Gps_L1_System_Test::run_receiver()
}
// Get the name of the RINEX obs file generated by the receiver
FILE *fp;
std::string argum2 = std::string("/bin/ls *O | tail -1");
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;
}
char * without_trailing;
while (fgets(buffer, sizeof(buffer), fp) != NULL)
@ -519,10 +529,11 @@ void Obs_Gps_L1_System_Test::check_results()
// 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) < 0.001) // store measures closer than 1 ms.
if(std::abs(it->first - it2->first) < 0.01) // 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;
}
}
}
@ -537,7 +548,7 @@ void Obs_Gps_L1_System_Test::check_results()
// 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) < 0.001) // store measures closer than 1 ms.
if(std::abs(it->first - it2->first) < 0.01) // 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 );
@ -555,7 +566,7 @@ void Obs_Gps_L1_System_Test::check_results()
// If a measure exists for this sow, store it
for(it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
{
if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
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 );
@ -582,7 +593,10 @@ void Obs_Gps_L1_System_Test::check_results()
{
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 << " [m]" << std::endl;
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
{
@ -662,7 +676,7 @@ TEST_F(Obs_Gps_L1_System_Test, 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);
ASSERT_EQ(true, is_rinex_nav_valid);
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
@ -673,18 +687,18 @@ TEST_F(Obs_Gps_L1_System_Test, Observables_system_test)
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);
ASSERT_EQ(true, is_gen_rinex_obs_valid);
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
run_receiver();
EXPECT_EQ( run_receiver(), 0) << "Problem executing the software-defined signal generator";
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << generated_rinex_obs << " ..." << std::endl;
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs);
ASSERT_EQ(true, is_gen_rinex_obs_valid);
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Check results