mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
44d829f84d
@ -484,7 +484,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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if (T_rx_clock_step_samples == 0)
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{
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T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3); // 1 ms
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std::cout << "Observables clock step samples set to " << T_rx_clock_step_samples << std::endl;
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LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples;
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usleep(1000000);
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}
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@ -228,7 +228,10 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
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find_package(GPSTK)
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if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
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message(STATUS "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing 'make'.")
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if ("${TOOLCHAIN_ARG}" STREQUAL "")
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set(TOOLCHAIN_ARG "-DCMAKE_CXX_FLAGS=\"-Wno-deprecated\"")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated")
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endif("${TOOLCHAIN_ARG}" STREQUAL "")
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# if(NOT ENABLE_FPGA)
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if(CMAKE_VERSION VERSION_LESS 3.2)
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ExternalProject_Add(
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@ -322,7 +325,7 @@ else(ENABLE_INSTALL_TESTS)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
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add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
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endif(ENABLE_INSTALL_TESTS)
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@ -512,7 +515,7 @@ if(ENABLE_SYSTEM_TESTING)
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${GTEST_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES}
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${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES}
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${GNURADIO_ANALOG_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}
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gnss_sp_libs gnss_rx gnss_system_parameters
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gnss_sp_libs gnss_rx gnss_system_parameters
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system_testing_lib)
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add_system_test(position_test)
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@ -28,10 +28,10 @@
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*
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* -------------------------------------------------------------------------
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*/
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#include "geofunctions.h"
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const double STRP_G_SI = 9.80665;
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const double STRP_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
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const double STRP_PI = 3.1415926535898; // Pi as defined in IS-GPS-200E
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arma::mat Skew_symmetric(const arma::vec &a)
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{
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@ -205,17 +205,17 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
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cosphi = cos(*dphi);
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// compute radius of curvature in prime vertical direction
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N_phi = a / sqrt(1 - esq * sinphi * sinphi);
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N_phi = a / sqrt(1.0 - esq * sinphi * sinphi);
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// compute residuals in P and Z
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// compute residuals in P and Z
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dP = P - (N_phi + (*h)) * cosphi;
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dZ = Z - (N_phi * oneesq + (*h)) * sinphi;
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// update height and latitude
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// update height and latitude
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*h = *h + (sinphi * dZ + cosphi * dP);
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*dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
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// test for convergence
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// test for convergence
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if ((dP * dP + dZ * dZ) < tolsq)
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{
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break;
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@ -233,7 +233,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
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arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
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{
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// Parameters
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const double R_0 = 6378137; // WGS84 Equatorial radius in meters
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const double R_0 = 6378137.0; // WGS84 Equatorial radius in meters
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const double mu = 3.986004418E14; // WGS84 Earth gravitational constant (m^3 s^-2)
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const double J_2 = 1.082627E-3; // WGS84 Earth's second gravitational constant
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const double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
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@ -259,12 +259,14 @@ arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
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}
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arma::vec LLH_to_deg(arma::vec &LLH)
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arma::vec LLH_to_deg(const arma::vec &LLH)
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{
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const double rtd = 180.0 / STRP_PI;
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LLH(0) = LLH(0) * rtd;
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LLH(1) = LLH(1) * rtd;
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return LLH;
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arma::vec deg = arma::zeros(3, 1);
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deg(0) = LLH(0) * rtd;
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deg(1) = LLH(1) * rtd;
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deg(2) = LLH(2);
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return deg;
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}
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@ -296,15 +298,16 @@ double mstokph(double MetersPerSeconds)
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}
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arma::vec CTM_to_Euler(arma::mat &C)
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arma::vec CTM_to_Euler(const arma::mat &C)
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{
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// Calculate Euler angles using (2.23)
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arma::mat CTM = C;
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arma::vec eul = arma::zeros(3, 1);
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eul(0) = atan2(C(1, 2), C(2, 2)); // roll
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if (C(0, 2) < -1.0) C(0, 2) = -1.0;
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if (C(0, 2) > 1.0) C(0, 2) = 1.0;
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eul(1) = -asin(C(0, 2)); // pitch
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eul(2) = atan2(C(0, 1), C(0, 0)); // yaw
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eul(0) = atan2(CTM(1, 2), CTM(2, 2)); // roll
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if (CTM(0, 2) < -1.0) CTM(0, 2) = -1.0;
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if (CTM(0, 2) > 1.0) CTM(0, 2) = 1.0;
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eul(1) = -asin(CTM(0, 2)); // pitch
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eul(2) = atan2(CTM(0, 1), CTM(0, 0)); // yaw
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return eul;
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}
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@ -353,19 +356,19 @@ arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
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do
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{
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oldh = h;
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N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
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N = c / sqrt(1.0 + ex2 * (cos(phi) * cos(phi)));
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phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
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h = sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) / cos(phi) - N;
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iterations = iterations + 1;
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if (iterations > 100)
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{
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//std::cout << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
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// std::cout << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
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break;
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}
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}
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while (std::abs(h - oldh) > 1.0e-12);
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while (std::fabs(h - oldh) > 1.0e-12);
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arma::vec LLH = {{phi, lambda, h}}; //radians
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arma::vec LLH = {{phi, lambda, h}}; // radians
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return LLH;
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}
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@ -398,11 +401,11 @@ void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::m
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void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
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{
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// Parameters
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double R_0 = 6378137; // WGS84 Equatorial radius in meters
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double R_0 = 6378137.0; // WGS84 Equatorial radius in meters
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double e = 0.0818191908425; // WGS84 eccentricity
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// Calculate transverse radius of curvature using (2.105)
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double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
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double R_E = R_0 / sqrt(1.0 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
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// Convert position using (2.112)
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double cos_lat = cos(LLH(0));
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@ -434,7 +437,7 @@ void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat
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void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
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{
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// Parameters
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const double R_0 = 6378137; // WGS84 Equatorial radius in meters
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const double R_0 = 6378137.0; // WGS84 Equatorial radius in meters
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const double e = 0.0818191908425; // WGS84 eccentricity
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// Calculate transverse radius of curvature using (2.105)
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@ -459,9 +462,10 @@ void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_
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v_eb_e = C_e_n.t() * v_eb_n;
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}
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double great_circle_distance(double lat1, double lon1, double lat2, double lon2)
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{
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//The Haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes.
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// The Haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes.
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// generally used geo measurement function
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double R = 6378.137; // Radius of earth in KM
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double dLat = lat2 * STRP_PI / 180.0 - lat1 * STRP_PI / 180.0;
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@ -473,3 +477,299 @@ double great_circle_distance(double lat1, double lon1, double lat2, double lon2)
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double d = R * c;
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return d * 1000.0; // meters
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}
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void cart2utm(const arma::vec &r_eb_e, int zone, arma::vec &r_enu)
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{
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// Transformation of (X,Y,Z) to (E,N,U) in UTM, zone 'zone'
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//
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// Inputs:
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// r_eb_e - Cartesian coordinates. Coordinates are referenced
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// with respect to the International Terrestrial Reference
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// Frame 1996 (ITRF96)
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// zone - UTM zone of the given position
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//
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// Outputs:
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// r_enu - UTM coordinates (Easting, Northing, Uping)
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//
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// Originally written in Matlab by Kai Borre, Nov. 1994
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// Implemented in C++ by J.Arribas
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//
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// This implementation is based upon
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// O. Andersson & K. Poder (1981) Koordinattransformationer
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// ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
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// Vol. 30: 552--571 and Vol. 31: 76
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//
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// An excellent, general reference (KW) is
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// R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
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// h\"oheren Geod\"asie und Kartographie.
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// Erster Band, Springer Verlag
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//
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// Explanation of variables used:
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// f flattening of ellipsoid
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// a semi major axis in m
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// m0 1 - scale at central meridian; for UTM 0.0004
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// Q_n normalized meridian quadrant
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// E0 Easting of central meridian
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// L0 Longitude of central meridian
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// bg constants for ellipsoidal geogr. to spherical geogr.
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// gb constants for spherical geogr. to ellipsoidal geogr.
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// gtu constants for ellipsoidal N, E to spherical N, E
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// utg constants for spherical N, E to ellipoidal N, E
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// tolutm tolerance for utm, 1.2E-10*meridian quadrant
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// tolgeo tolerance for geographical, 0.00040 second of arc
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//
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// B, L refer to latitude and longitude. Southern latitude is negative
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// International ellipsoid of 1924, valid for ED50
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double a = 6378388.0;
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double f = 1.0 / 297.0;
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double ex2 = (2.0 - f) * f / ((1.0 - f) * (1.0 - f));
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double c = a * sqrt(1.0 + ex2);
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arma::vec vec = r_eb_e;
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vec(2) = vec(2) - 4.5;
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double alpha = 0.756e-6;
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arma::mat R = {{1.0, -alpha, 0.0}, {alpha, 1.0, 0.0}, {0.0, 0.0, 1.0}};
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arma::vec trans = {89.5, 93.8, 127.6};
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double scale = 0.9999988;
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arma::vec v = scale * R * vec + trans; // coordinate vector in ED50
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double L = atan2(v(1), v(0));
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double N1 = 6395000.0; // preliminary value
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double B = atan2(v(2) / ((1.0 - f) * (1.0 - f) * N1), arma::norm(v.subvec(0, 1)) / N1); // preliminary value
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double U = 0.1;
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double oldU = 0.0;
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int iterations = 0;
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while (fabs(U - oldU) > 1.0E-4)
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{
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oldU = U;
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N1 = c / sqrt(1.0 + ex2 * (cos(B) * cos(B)));
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B = atan2(v(2) / ((1.0 - f) * (1.0 - f) * N1 + U), arma::norm(v.subvec(0, 1)) / (N1 + U));
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U = arma::norm(v.subvec(0, 1)) / cos(B) - N1;
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iterations = iterations + 1;
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if (iterations > 100)
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{
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std::cout << "Failed to approximate U with desired precision. U-oldU:" << U - oldU << std::endl;
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break;
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}
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}
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// Normalized meridian quadrant, KW p. 50 (96), p. 19 (38b), p. 5 (21)
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double m0 = 0.0004;
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double n = f / (2.0 - f);
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double m = n * n * (1.0 / 4.0 + n * n / 64.0);
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double w = (a * (-n - m0 + m * (1.0 - m0))) / (1.0 + n);
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double Q_n = a + w;
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// Easting and longitude of central meridian
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double E0 = 500000.0;
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double L0 = (zone - 30) * 6.0 - 3.0;
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// Check tolerance for reverse transformation
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// double tolutm = STRP_PI / 2.0 * 1.2e-10 * Q_n;
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// double tolgeo = 0.000040;
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// Coefficients of trigonometric series
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//
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// ellipsoidal to spherical geographical, KW p .186 --187, (51) - (52)
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// bg[1] = n * (-2 + n * (2 / 3 + n * (4 / 3 + n * (-82 / 45))));
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// bg[2] = n ^ 2 * (5 / 3 + n * (-16 / 15 + n * (-13 / 9)));
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// bg[3] = n ^ 3 * (-26 / 15 + n * 34 / 21);
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// bg[4] = n ^ 4 * 1237 / 630;
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//
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||||
// spherical to ellipsoidal geographical, KW p.190 --191, (61) - (62) % gb[1] = n * (2 + n * (-2 / 3 + n * (-2 + n * 116 / 45)));
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// gb[2] = n ^ 2 * (7 / 3 + n * (-8 / 5 + n * (-227 / 45)));
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// gb[3] = n ^ 3 * (56 / 15 + n * (-136 / 35));
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// gb[4] = n ^ 4 * 4279 / 630;
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//
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||||
// spherical to ellipsoidal N, E, KW p.196, (69) % gtu[1] = n * (1 / 2 + n * (-2 / 3 + n * (5 / 16 + n * 41 / 180)));
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// gtu[2] = n ^ 2 * (13 / 48 + n * (-3 / 5 + n * 557 / 1440));
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// gtu[3] = n ^ 3 * (61 / 240 + n * (-103 / 140));
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// gtu[4] = n ^ 4 * 49561 / 161280;
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//
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// ellipsoidal to spherical N, E, KW p.194, (65) % utg[1] = n * (-1 / 2 + n * (2 / 3 + n * (-37 / 96 + n * 1 / 360)));
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||||
// utg[2] = n ^ 2 * (-1 / 48 + n * (-1 / 15 + n * 437 / 1440));
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||||
// utg[3] = n ^ 3 * (-17 / 480 + n * 37 / 840);
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||||
// utg[4] = n ^ 4 * (-4397 / 161280);
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//
|
||||
// With f = 1 / 297 we get
|
||||
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||||
arma::colvec bg = {-3.37077907e-3,
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4.73444769e-6,
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-8.29914570e-9,
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1.58785330e-11};
|
||||
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||||
arma::colvec gb = {3.37077588e-3,
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||||
6.62769080e-6,
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1.78718601e-8,
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5.49266312e-11};
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||||
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||||
arma::colvec gtu = {8.41275991e-4,
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7.67306686e-7,
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||||
1.21291230e-9,
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2.48508228e-12};
|
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arma::colvec utg = {-8.41276339e-4,
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||||
-5.95619298e-8,
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-1.69485209e-10,
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||||
-2.20473896e-13};
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||||
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||||
// Ellipsoidal latitude, longitude to spherical latitude, longitude
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||||
bool neg_geo = false;
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if (B < 0.0) neg_geo = true;
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||||
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double Bg_r = fabs(B);
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double res_clensin = clsin(bg, 4, 2.0 * Bg_r);
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Bg_r = Bg_r + res_clensin;
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L0 = L0 * STRP_PI / 180.0;
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double Lg_r = L - L0;
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||||
// Spherical latitude, longitude to complementary spherical latitude % i.e.spherical N, E
|
||||
double cos_BN = cos(Bg_r);
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||||
double Np = atan2(sin(Bg_r), cos(Lg_r) * cos_BN);
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||||
double Ep = atanh(sin(Lg_r) * cos_BN);
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||||
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||||
// Spherical normalized N, E to ellipsoidal N, E
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||||
Np = 2.0 * Np;
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||||
Ep = 2.0 * Ep;
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||||
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||||
double dN;
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||||
double dE;
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||||
clksin(gtu, 4, Np, Ep, &dN, &dE);
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||||
Np = Np / 2.0;
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Ep = Ep / 2.0;
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||||
Np = Np + dN;
|
||||
Ep = Ep + dE;
|
||||
double N = Q_n * Np;
|
||||
double E = Q_n * Ep + E0;
|
||||
if (neg_geo)
|
||||
{
|
||||
N = -N + 20000000.0;
|
||||
}
|
||||
r_enu(0) = E;
|
||||
r_enu(1) = N;
|
||||
r_enu(2) = U;
|
||||
}
|
||||
|
||||
|
||||
double clsin(const arma::colvec &ar, int degree, double argument)
|
||||
{
|
||||
// Clenshaw summation of sinus of argument.
|
||||
//
|
||||
// result = clsin(ar, degree, argument);
|
||||
//
|
||||
// Originally written in Matlab by Kai Borre
|
||||
// Implemented in C++ by J.Arribas
|
||||
|
||||
double cos_arg = 2.0 * cos(argument);
|
||||
double hr1 = 0.0;
|
||||
double hr = 0.0;
|
||||
double hr2;
|
||||
for (int t = degree; t > 0; t--)
|
||||
{
|
||||
hr2 = hr1;
|
||||
hr1 = hr;
|
||||
hr = ar(t - 1) + cos_arg * hr1 - hr2;
|
||||
}
|
||||
|
||||
return (hr * sin(argument));
|
||||
}
|
||||
|
||||
|
||||
void clksin(const arma::colvec &ar, int degree, double arg_real, double arg_imag, double *re, double *im)
|
||||
{
|
||||
// Clenshaw summation of sinus with complex argument
|
||||
// [re, im] = clksin(ar, degree, arg_real, arg_imag);
|
||||
//
|
||||
// Originally written in Matlab by Kai Borre
|
||||
// Implemented in C++ by J.Arribas
|
||||
|
||||
double sin_arg_r = sin(arg_real);
|
||||
double cos_arg_r = cos(arg_real);
|
||||
double sinh_arg_i = sinh(arg_imag);
|
||||
double cosh_arg_i = cosh(arg_imag);
|
||||
|
||||
double r = 2.0 * cos_arg_r * cosh_arg_i;
|
||||
double i = -2.0 * sin_arg_r * sinh_arg_i;
|
||||
|
||||
double hr1 = 0.0;
|
||||
double hr = 0.0;
|
||||
double hi1 = 0.0;
|
||||
double hi = 0.0;
|
||||
double hi2;
|
||||
double hr2;
|
||||
for (int t = degree; t > 0; t--)
|
||||
{
|
||||
hr2 = hr1;
|
||||
hr1 = hr;
|
||||
hi2 = hi1;
|
||||
hi1 = hi;
|
||||
double z = ar(t - 1) + r * hr1 - i * hi - hr2;
|
||||
hi = i * hr1 + r * hi1 - hi2;
|
||||
hr = z;
|
||||
}
|
||||
|
||||
r = sin_arg_r * cosh_arg_i;
|
||||
i = cos_arg_r * sinh_arg_i;
|
||||
|
||||
*re = r * hr - i * hi;
|
||||
*im = r * hi + i * hr;
|
||||
}
|
||||
|
||||
|
||||
int findUtmZone(double latitude_deg, double longitude_deg)
|
||||
{
|
||||
// Function finds the UTM zone number for given longitude and latitude.
|
||||
// The longitude value must be between -180 (180 degree West) and 180 (180
|
||||
// degree East) degree. The latitude must be within -80 (80 degree South) and
|
||||
// 84 (84 degree North).
|
||||
//
|
||||
// utmZone = findUtmZone(latitude, longitude);
|
||||
//
|
||||
// Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
|
||||
// 15 deg 30 min).
|
||||
//
|
||||
// Originally written in Matlab by Darius Plausinaitis
|
||||
// Implemented in C++ by J.Arribas
|
||||
|
||||
// Check value bounds
|
||||
if ((longitude_deg > 180.0) || (longitude_deg < -180.0))
|
||||
std::cout << "Longitude value exceeds limits (-180:180).\n";
|
||||
|
||||
if ((latitude_deg > 84.0) || (latitude_deg < -80.0))
|
||||
std::cout << "Latitude value exceeds limits (-80:84).\n";
|
||||
|
||||
//
|
||||
// Find zone
|
||||
//
|
||||
|
||||
// Start at 180 deg west = -180 deg
|
||||
int utmZone = floor((180 + longitude_deg) / 6) + 1;
|
||||
|
||||
// Correct zone numbers for particular areas
|
||||
if (latitude_deg > 72.0)
|
||||
{
|
||||
// Corrections for zones 31 33 35 37
|
||||
if ((longitude_deg >= 0.0) && (longitude_deg < 9.0))
|
||||
{
|
||||
utmZone = 31;
|
||||
}
|
||||
else if ((longitude_deg >= 9.0) && (longitude_deg < 21.0))
|
||||
{
|
||||
utmZone = 33;
|
||||
}
|
||||
else if ((longitude_deg >= 21.0) && (longitude_deg < 33.0))
|
||||
{
|
||||
utmZone = 35;
|
||||
}
|
||||
else if ((longitude_deg >= 33.0) && (longitude_deg < 42.0))
|
||||
{
|
||||
utmZone = 37;
|
||||
}
|
||||
}
|
||||
else if ((latitude_deg >= 56.0) && (latitude_deg < 64.0))
|
||||
{
|
||||
// Correction for zone 32
|
||||
if ((longitude_deg >= 3.0) && (longitude_deg < 12.0))
|
||||
utmZone = 32;
|
||||
}
|
||||
return utmZone;
|
||||
}
|
||||
|
||||
@ -94,7 +94,7 @@ arma::mat Gravity_ECEF(const arma::vec &r_eb_e); //!< Calculates acceleration d
|
||||
*/
|
||||
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
|
||||
|
||||
arma::vec LLH_to_deg(arma::vec &LLH);
|
||||
arma::vec LLH_to_deg(const arma::vec &LLH);
|
||||
|
||||
double degtorad(double angleInDegrees);
|
||||
|
||||
@ -104,7 +104,7 @@ double mstoknotsh(double MetersPerSeconds);
|
||||
|
||||
double mstokph(double Kph);
|
||||
|
||||
arma::vec CTM_to_Euler(arma::mat &C);
|
||||
arma::vec CTM_to_Euler(const arma::mat &C);
|
||||
|
||||
arma::mat Euler_to_CTM(const arma::vec &eul);
|
||||
|
||||
@ -151,10 +151,34 @@ void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat
|
||||
*/
|
||||
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief The Haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes.
|
||||
*/
|
||||
double great_circle_distance(double lat1, double lon1, double lat2, double lon2);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Transformation of ECEF (X,Y,Z) to (E,N,U) in UTM, zone 'zone'.
|
||||
*/
|
||||
void cart2utm(const arma::vec &r_eb_e, int zone, arma::vec &r_enu);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Function finds the UTM zone number for given longitude and latitude.
|
||||
*/
|
||||
int findUtmZone(double latitude_deg, double longitude_deg);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Clenshaw summation of sinus of argument.
|
||||
*/
|
||||
double clsin(const arma::colvec &ar, int degree, double argument);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Clenshaw summation of sinus with complex argument.
|
||||
*/
|
||||
void clksin(const arma::colvec &ar, int degree, double arg_real, double arg_imag, double *re, double *im);
|
||||
|
||||
#endif
|
||||
|
||||
@ -32,6 +32,7 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "geofunctions.h"
|
||||
#include "position_test_flags.h"
|
||||
#include "rtklib_solver_dump_reader.h"
|
||||
#include "spirent_motion_csv_dump_reader.h"
|
||||
@ -54,6 +55,7 @@
|
||||
#include <fstream>
|
||||
#include <numeric>
|
||||
#include <thread>
|
||||
#include <armadillo>
|
||||
|
||||
// For GPS NAVIGATION (L1)
|
||||
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||
@ -82,118 +84,13 @@ private:
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string filename_raw_data = FLAGS_filename_raw_data;
|
||||
|
||||
void print_results(const std::vector<double>& east,
|
||||
const std::vector<double>& north,
|
||||
const std::vector<double>& up);
|
||||
|
||||
double compute_stdev_precision(const std::vector<double>& vec);
|
||||
double compute_stdev_accuracy(const std::vector<double>& vec, double ref);
|
||||
|
||||
void geodetic2Enu(const double latitude, const double longitude, const double altitude,
|
||||
double* east, double* north, double* up);
|
||||
|
||||
void geodetic2Ecef(const double latitude, const double longitude, const double altitude,
|
||||
double* x, double* y, double* z);
|
||||
|
||||
void print_results(arma::mat R_eb_enu);
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
std::shared_ptr<FileConfiguration> config_f;
|
||||
std::string generated_kml_file;
|
||||
};
|
||||
|
||||
|
||||
void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
|
||||
double* x, double* y, double* z)
|
||||
{
|
||||
const double a = 6378137.0; // WGS84
|
||||
const double b = 6356752.314245; // WGS84
|
||||
|
||||
double aux_x, aux_y, aux_z;
|
||||
|
||||
// Convert to ECEF (See https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_geodetic_to_ECEF_coordinates )
|
||||
const double cLat = cos(latitude);
|
||||
const double cLon = cos(longitude);
|
||||
const double sLon = sin(longitude);
|
||||
const double sLat = sin(latitude);
|
||||
double N = std::pow(a, 2.0) / sqrt(std::pow(a, 2.0) * std::pow(cLat, 2.0) + std::pow(b, 2.0) * std::pow(sLat, 2.0));
|
||||
|
||||
aux_x = (N + altitude) * cLat * cLon;
|
||||
aux_y = (N + altitude) * cLat * sLon;
|
||||
aux_z = ((std::pow(b, 2.0) / std::pow(a, 2.0)) * N + altitude) * sLat;
|
||||
|
||||
*x = aux_x;
|
||||
*y = aux_y;
|
||||
*z = aux_z;
|
||||
}
|
||||
|
||||
|
||||
void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
|
||||
double* east, double* north, double* up)
|
||||
{
|
||||
double x, y, z;
|
||||
const double d2r = PI / 180.0;
|
||||
|
||||
geodetic2Ecef(latitude * d2r, longitude * d2r, altitude, &x, &y, &z);
|
||||
|
||||
double aux_north, aux_east, aux_down;
|
||||
|
||||
std::istringstream iss2(FLAGS_static_position);
|
||||
std::string str_aux;
|
||||
std::getline(iss2, str_aux, ',');
|
||||
double ref_long = std::stod(str_aux);
|
||||
std::getline(iss2, str_aux, ',');
|
||||
double ref_lat = std::stod(str_aux);
|
||||
std::getline(iss2, str_aux, '\n');
|
||||
double ref_h = std::stod(str_aux);
|
||||
double ref_x, ref_y, ref_z;
|
||||
|
||||
geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z);
|
||||
|
||||
double aux_x = x; // - ref_x;
|
||||
double aux_y = y; // - ref_y;
|
||||
double aux_z = z; // - ref_z;
|
||||
|
||||
// ECEF to NED matrix
|
||||
double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0)));
|
||||
const double sLat = sin(phiP);
|
||||
const double sLon = sin(ref_long * d2r);
|
||||
const double cLat = cos(phiP);
|
||||
const double cLon = cos(ref_long * d2r);
|
||||
|
||||
aux_north = -aux_x * sLat * cLon - aux_y * sLon + aux_z * cLat * cLon;
|
||||
aux_east = -aux_x * sLat * sLon + aux_y * cLon + aux_z * cLat * sLon;
|
||||
aux_down = aux_x * cLat + aux_z * sLat;
|
||||
|
||||
*east = aux_east;
|
||||
*north = aux_north;
|
||||
*up = -aux_down;
|
||||
}
|
||||
|
||||
|
||||
double PositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
|
||||
{
|
||||
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
|
||||
double mean__ = sum__ / vec.size();
|
||||
double accum__ = 0.0;
|
||||
std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
|
||||
accum__ += (d - mean__) * (d - mean__);
|
||||
});
|
||||
double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
|
||||
return stdev__;
|
||||
}
|
||||
|
||||
|
||||
double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
|
||||
{
|
||||
const double mean__ = ref;
|
||||
double accum__ = 0.0;
|
||||
std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
|
||||
accum__ += (d - mean__) * (d - mean__);
|
||||
});
|
||||
double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
|
||||
return stdev__;
|
||||
}
|
||||
|
||||
|
||||
int PositionSystemTest::configure_generator()
|
||||
{
|
||||
// Configure signal generator
|
||||
@ -261,23 +158,23 @@ int PositionSystemTest::configure_receiver()
|
||||
const int grid_density = 16;
|
||||
|
||||
const float zero = 0.0;
|
||||
const int number_of_channels = 12;
|
||||
const int number_of_channels = 11;
|
||||
const int in_acquisition = 1;
|
||||
|
||||
const float threshold = 0.01;
|
||||
const float doppler_max = 8000.0;
|
||||
const float doppler_step = 500.0;
|
||||
const int max_dwells = 1;
|
||||
const float threshold = 2.5;
|
||||
const float doppler_max = 5000.0;
|
||||
const float doppler_step = 250.0;
|
||||
const int max_dwells = 10;
|
||||
const int tong_init_val = 2;
|
||||
const int tong_max_val = 10;
|
||||
const int tong_max_dwells = 30;
|
||||
const int coherent_integration_time_ms = 1;
|
||||
|
||||
const float pll_bw_hz = 30.0;
|
||||
const float dll_bw_hz = 4.0;
|
||||
const float pll_bw_hz = 35.0;
|
||||
const float dll_bw_hz = 1.5;
|
||||
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 float pll_bw_narrow_hz = 1.0;
|
||||
const float dll_bw_narrow_hz = 0.1;
|
||||
const int extend_correlation_ms = 1;
|
||||
|
||||
const int display_rate_ms = 500;
|
||||
@ -307,7 +204,7 @@ int PositionSystemTest::configure_receiver()
|
||||
// Set the Signal Conditioner
|
||||
config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
|
||||
config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
|
||||
config->set_property("InputFilter.dump", "false");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
@ -324,7 +221,7 @@ int PositionSystemTest::configure_receiver()
|
||||
config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
|
||||
config->set_property("InputFilter.band1_error", std::to_string(band1_error));
|
||||
config->set_property("InputFilter.band2_error", std::to_string(band2_error));
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.filter_type", "lowpass");
|
||||
config->set_property("InputFilter.grid_density", std::to_string(grid_density));
|
||||
config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
|
||||
config->set_property("InputFilter.IF", std::to_string(zero));
|
||||
@ -358,7 +255,6 @@ int PositionSystemTest::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.dump", "false");
|
||||
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
||||
@ -369,6 +265,8 @@ int PositionSystemTest::configure_receiver()
|
||||
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_symbols", std::to_string(extend_correlation_ms));
|
||||
//config->set_property("Tracking_1C.high_dyn", "true");
|
||||
//config->set_property("Tracking_1C.smoother_length", "200");
|
||||
|
||||
// Set Telemetry
|
||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||
@ -381,7 +279,7 @@ int PositionSystemTest::configure_receiver()
|
||||
|
||||
// Set PVT
|
||||
config->set_property("PVT.implementation", "RTKLIB_PVT");
|
||||
config->set_property("PVT.positioning_mode", "Single");
|
||||
config->set_property("PVT.positioning_mode", "PPP_Static");
|
||||
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");
|
||||
@ -460,13 +358,10 @@ int PositionSystemTest::run_receiver()
|
||||
|
||||
void PositionSystemTest::check_results()
|
||||
{
|
||||
std::vector<double> pos_e;
|
||||
std::vector<double> pos_n;
|
||||
std::vector<double> pos_u;
|
||||
|
||||
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat V_eb_e; //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat LLH; //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
|
||||
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat R_eb_enu; //ENU position (N,E,U) estimation in UTM (Nx3)
|
||||
arma::mat V_eb_e; //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat LLH; //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
|
||||
arma::vec receiver_time_s;
|
||||
|
||||
arma::mat ref_R_eb_e; //ECEF position (x,y,z) reference in the Earth frame (Nx3)
|
||||
@ -482,10 +377,15 @@ void PositionSystemTest::check_results()
|
||||
double ref_long = std::stod(str_aux);
|
||||
std::getline(iss2, str_aux, '\n');
|
||||
double ref_h = std::stod(str_aux);
|
||||
double ref_e, ref_n, ref_u;
|
||||
geodetic2Enu(ref_lat, ref_long, ref_h,
|
||||
&ref_e, &ref_n, &ref_u);
|
||||
int utm_zone = findUtmZone(ref_lat, ref_long);
|
||||
|
||||
arma::vec v_eb_n = {0.0, 0.0, 0.0};
|
||||
arma::vec true_r_eb_e = {0.0, 0.0, 0.0};
|
||||
arma::vec true_v_eb_e = {0.0, 0.0, 0.0};
|
||||
pv_Geo_to_ECEF(degtorad(ref_lat), degtorad(ref_long), ref_h, v_eb_n, true_r_eb_e, true_v_eb_e);
|
||||
ref_R_eb_e.insert_cols(0, true_r_eb_e);
|
||||
arma::vec ref_r_enu = {0, 0, 0};
|
||||
cart2utm(true_r_eb_e, utm_zone, ref_r_enu);
|
||||
if (!FLAGS_use_pvt_solver_dump)
|
||||
{
|
||||
//fall back to read receiver KML output (position only)
|
||||
@ -503,8 +403,8 @@ void PositionSystemTest::check_results()
|
||||
if (found != std::string::npos) is_header = false;
|
||||
}
|
||||
bool is_data = true;
|
||||
|
||||
//read data
|
||||
int64_t current_epoch = 0;
|
||||
while (is_data)
|
||||
{
|
||||
if (!std::getline(myfile, line))
|
||||
@ -532,18 +432,20 @@ void PositionSystemTest::check_results()
|
||||
if (i == 2) h = value;
|
||||
}
|
||||
|
||||
double north, east, up;
|
||||
geodetic2Enu(lat, longitude, h, &east, &north, &up);
|
||||
arma::vec tmp_v_ecef;
|
||||
arma::vec tmp_r_ecef;
|
||||
pv_Geo_to_ECEF(degtorad(lat), degtorad(longitude), h, arma::vec{0, 0, 0}, tmp_r_ecef, tmp_v_ecef);
|
||||
R_eb_e.insert_cols(current_epoch, tmp_r_ecef);
|
||||
arma::vec tmp_r_enu = {0, 0, 0};
|
||||
cart2utm(tmp_r_ecef, utm_zone, tmp_r_enu);
|
||||
R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
|
||||
// std::cout << "lat = " << lat << ", longitude = " << longitude << " h = " << h << std::endl;
|
||||
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
|
||||
pos_e.push_back(east);
|
||||
pos_n.push_back(north);
|
||||
pos_u.push_back(up);
|
||||
// getchar();
|
||||
}
|
||||
}
|
||||
myfile.close();
|
||||
ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
|
||||
ASSERT_FALSE(R_eb_e.n_cols == 0) << "KML file is empty";
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -551,33 +453,27 @@ void PositionSystemTest::check_results()
|
||||
rtklib_solver_dump_reader pvt_reader;
|
||||
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
|
||||
int64_t n_epochs = pvt_reader.num_epochs();
|
||||
R_eb_e = arma::zeros(n_epochs, 3);
|
||||
V_eb_e = arma::zeros(n_epochs, 3);
|
||||
LLH = arma::zeros(n_epochs, 3);
|
||||
R_eb_e = arma::zeros(3, n_epochs);
|
||||
V_eb_e = arma::zeros(3, n_epochs);
|
||||
LLH = arma::zeros(3, n_epochs);
|
||||
receiver_time_s = arma::zeros(n_epochs, 1);
|
||||
int64_t current_epoch = 0;
|
||||
while (pvt_reader.read_binary_obs())
|
||||
{
|
||||
double north, east, up;
|
||||
geodetic2Enu(pvt_reader.latitude, pvt_reader.longitude, pvt_reader.height, &east, &north, &up);
|
||||
// std::cout << "lat = " << pvt_reader.latitude << ", longitude = " << pvt_reader.longitude << " h = " << pvt_reader.height << std::endl;
|
||||
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
|
||||
pos_e.push_back(east);
|
||||
pos_n.push_back(north);
|
||||
pos_u.push_back(up);
|
||||
// getchar();
|
||||
|
||||
// receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
|
||||
receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
|
||||
R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
|
||||
R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
|
||||
R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
|
||||
V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
|
||||
V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
|
||||
V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
|
||||
LLH(current_epoch, 0) = pvt_reader.latitude;
|
||||
LLH(current_epoch, 1) = pvt_reader.longitude;
|
||||
LLH(current_epoch, 2) = pvt_reader.height;
|
||||
R_eb_e(0, current_epoch) = pvt_reader.rr[0];
|
||||
R_eb_e(1, current_epoch) = pvt_reader.rr[1];
|
||||
R_eb_e(2, current_epoch) = pvt_reader.rr[2];
|
||||
V_eb_e(0, current_epoch) = pvt_reader.rr[3];
|
||||
V_eb_e(1, current_epoch) = pvt_reader.rr[4];
|
||||
V_eb_e(2, current_epoch) = pvt_reader.rr[5];
|
||||
LLH(0, current_epoch) = pvt_reader.latitude;
|
||||
LLH(1, current_epoch) = pvt_reader.longitude;
|
||||
LLH(2, current_epoch) = pvt_reader.height;
|
||||
|
||||
arma::vec tmp_r_enu = {0, 0, 0};
|
||||
cart2utm(R_eb_e.col(current_epoch), utm_zone, tmp_r_enu);
|
||||
R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
|
||||
|
||||
//debug check
|
||||
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
|
||||
@ -593,20 +489,21 @@ void PositionSystemTest::check_results()
|
||||
|
||||
if (FLAGS_static_scenario)
|
||||
{
|
||||
double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
|
||||
double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
|
||||
double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
|
||||
double sigma_E_2_precision = arma::var(R_eb_enu.row(0));
|
||||
double sigma_N_2_precision = arma::var(R_eb_enu.row(1));
|
||||
double sigma_U_2_precision = arma::var(R_eb_enu.row(2));
|
||||
|
||||
double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, ref_e), 2.0);
|
||||
double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, ref_n), 2.0);
|
||||
double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, ref_u), 2.0);
|
||||
arma::rowvec tmp_vec;
|
||||
tmp_vec = R_eb_enu.row(0) - ref_r_enu(0);
|
||||
double sigma_E_2_accuracy = sqrt(arma::sum(arma::square(tmp_vec)) / tmp_vec.n_cols);
|
||||
tmp_vec = R_eb_enu.row(1) - ref_r_enu(1);
|
||||
double sigma_N_2_accuracy = sqrt(arma::sum(arma::square(tmp_vec)) / tmp_vec.n_cols);
|
||||
tmp_vec = R_eb_enu.row(2) - ref_r_enu(2);
|
||||
double sigma_U_2_accuracy = sqrt(arma::sum(arma::square(tmp_vec)) / tmp_vec.n_cols);
|
||||
|
||||
double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
|
||||
double mean__e = sum__e / pos_e.size();
|
||||
double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
|
||||
double mean__n = sum__n / pos_n.size();
|
||||
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
|
||||
double mean__u = sum__u / pos_u.size();
|
||||
double mean__e = arma::mean(R_eb_enu.row(0));
|
||||
double mean__n = arma::mean(R_eb_enu.row(1));
|
||||
double mean__u = arma::mean(R_eb_enu.row(2));
|
||||
|
||||
std::stringstream stm;
|
||||
std::ofstream position_test_file;
|
||||
@ -614,25 +511,23 @@ void PositionSystemTest::check_results()
|
||||
{
|
||||
stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
|
||||
}
|
||||
if (FLAGS_static_scenario)
|
||||
{
|
||||
stm << "---- ACCURACY ----" << std::endl;
|
||||
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, ref_n) + 0.56 * compute_stdev_accuracy(pos_e, ref_e) << " [m]" << std::endl;
|
||||
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "Bias 2D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0)) << " [m]" << std::endl;
|
||||
stm << "Bias 3D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0) + std::pow(abs(mean__u - ref_u), 2.0)) << " [m]" << std::endl;
|
||||
stm << std::endl;
|
||||
}
|
||||
|
||||
stm << "---- ACCURACY ----" << std::endl;
|
||||
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "CEP = " << 0.62 * sqrt(sigma_N_2_accuracy) + 0.56 * sqrt(sigma_E_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
stm << "Bias 2D = " << sqrt(std::pow(fabs(mean__e - ref_r_enu(0)), 2.0) + std::pow(fabs(mean__n - ref_r_enu(1)), 2.0)) << " [m]" << std::endl;
|
||||
stm << "Bias 3D = " << sqrt(std::pow(fabs(mean__e - ref_r_enu(0)), 2.0) + std::pow(fabs(mean__n - ref_r_enu(1)), 2.0) + std::pow(fabs(mean__u - ref_r_enu(2)), 2.0)) << " [m]" << std::endl;
|
||||
stm << std::endl;
|
||||
|
||||
stm << "---- PRECISION ----" << std::endl;
|
||||
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
|
||||
stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
|
||||
stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
|
||||
stm << "CEP = " << 0.62 * sqrt(sigma_N_2_precision) + 0.56 * sqrt(sigma_E_2_precision) << " [m]" << std::endl;
|
||||
stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
|
||||
stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
|
||||
stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
|
||||
@ -649,11 +544,11 @@ void PositionSystemTest::check_results()
|
||||
|
||||
// Sanity Check
|
||||
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
|
||||
ASSERT_LT(precision_SEP, 20.0);
|
||||
ASSERT_LT(precision_SEP, 1.0);
|
||||
|
||||
if (FLAGS_plot_position_test == true)
|
||||
{
|
||||
print_results(pos_e, pos_n, pos_u);
|
||||
print_results(R_eb_enu);
|
||||
}
|
||||
}
|
||||
else
|
||||
@ -662,56 +557,55 @@ void PositionSystemTest::check_results()
|
||||
spirent_motion_csv_dump_reader ref_reader;
|
||||
ref_reader.open_obs_file(FLAGS_ref_motion_filename);
|
||||
int64_t n_epochs = ref_reader.num_epochs();
|
||||
ref_R_eb_e = arma::zeros(n_epochs, 3);
|
||||
ref_V_eb_e = arma::zeros(n_epochs, 3);
|
||||
ref_LLH = arma::zeros(n_epochs, 3);
|
||||
ref_R_eb_e = arma::zeros(3, n_epochs);
|
||||
ref_V_eb_e = arma::zeros(3, n_epochs);
|
||||
ref_LLH = arma::zeros(3, n_epochs);
|
||||
ref_time_s = arma::zeros(n_epochs, 1);
|
||||
int64_t current_epoch = 0;
|
||||
while (ref_reader.read_csv_obs())
|
||||
{
|
||||
ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
|
||||
ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
|
||||
ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
|
||||
ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
|
||||
ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
|
||||
ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
|
||||
ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
|
||||
ref_LLH(current_epoch, 0) = ref_reader.Lat;
|
||||
ref_LLH(current_epoch, 1) = ref_reader.Long;
|
||||
ref_LLH(current_epoch, 2) = ref_reader.Height;
|
||||
ref_R_eb_e(0, current_epoch) = ref_reader.Pos_X;
|
||||
ref_R_eb_e(1, current_epoch) = ref_reader.Pos_Y;
|
||||
ref_R_eb_e(2, current_epoch) = ref_reader.Pos_Z;
|
||||
ref_V_eb_e(0, current_epoch) = ref_reader.Vel_X;
|
||||
ref_V_eb_e(1, current_epoch) = ref_reader.Vel_Y;
|
||||
ref_V_eb_e(2, current_epoch) = ref_reader.Vel_Z;
|
||||
ref_LLH(0, current_epoch) = ref_reader.Lat;
|
||||
ref_LLH(1, current_epoch) = ref_reader.Long;
|
||||
ref_LLH(2, current_epoch) = ref_reader.Height;
|
||||
current_epoch++;
|
||||
}
|
||||
|
||||
//interpolation of reference data to receiver epochs timestamps
|
||||
arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
|
||||
arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
|
||||
arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
|
||||
arma::mat ref_interp_R_eb_e = arma::zeros(3, R_eb_e.n_cols);
|
||||
arma::mat ref_interp_V_eb_e = arma::zeros(3, V_eb_e.n_cols);
|
||||
arma::mat ref_interp_LLH = arma::zeros(3, LLH.n_cols);
|
||||
arma::vec tmp_vector;
|
||||
for (int n = 0; n < 3; n++)
|
||||
{
|
||||
arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_R_eb_e.col(n) = tmp_vector;
|
||||
arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_V_eb_e.col(n) = tmp_vector;
|
||||
arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_LLH.col(n) = tmp_vector;
|
||||
arma::interp1(ref_time_s, ref_R_eb_e.row(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_R_eb_e.row(n) = tmp_vector.t();
|
||||
arma::interp1(ref_time_s, ref_V_eb_e.row(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_V_eb_e.row(n) = tmp_vector.t();
|
||||
arma::interp1(ref_time_s, ref_LLH.row(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_LLH.row(n) = tmp_vector.t();
|
||||
}
|
||||
|
||||
//compute error vectors
|
||||
|
||||
arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
|
||||
arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
|
||||
arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
|
||||
arma::mat error_R_eb_e = arma::zeros(3, R_eb_e.n_cols);
|
||||
arma::mat error_V_eb_e = arma::zeros(3, V_eb_e.n_cols);
|
||||
arma::mat error_LLH = arma::zeros(3, LLH.n_cols);
|
||||
error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
|
||||
error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
|
||||
error_LLH = LLH - ref_interp_LLH;
|
||||
arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
|
||||
arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
|
||||
for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
|
||||
arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_cols, 1);
|
||||
arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_cols, 1);
|
||||
for (uint64_t n = 0; n < R_eb_e.n_cols; n++)
|
||||
{
|
||||
error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
|
||||
error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
|
||||
error_module_R_eb_e(n) = arma::norm(error_R_eb_e.col(n));
|
||||
error_module_V_eb_e(n) = arma::norm(error_V_eb_e.col(n));
|
||||
}
|
||||
|
||||
//Error statistics
|
||||
arma::vec tmp_vec;
|
||||
//RMSE, Mean, Variance and peaks
|
||||
@ -750,103 +644,112 @@ void PositionSystemTest::check_results()
|
||||
<< " [m/s]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
|
||||
//plots
|
||||
Gnuplot g1("points");
|
||||
if (FLAGS_show_plots)
|
||||
// plots
|
||||
if (FLAGS_plot_position_test == true)
|
||||
{
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.disablescreen();
|
||||
}
|
||||
g1.set_title("3D ECEF error coordinates");
|
||||
g1.set_grid();
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
|
||||
std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
|
||||
std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if (!gnuplot_executable.empty())
|
||||
{
|
||||
Gnuplot g1("points");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.disablescreen();
|
||||
}
|
||||
g1.set_title("3D ECEF error coordinates");
|
||||
g1.set_grid();
|
||||
//conversion between arma::vec and std:vector
|
||||
arma::rowvec arma_vec_error_x = error_R_eb_e.row(0);
|
||||
arma::rowvec arma_vec_error_y = error_R_eb_e.row(1);
|
||||
arma::rowvec arma_vec_error_z = error_R_eb_e.row(2);
|
||||
|
||||
g1.cmd("set key box opaque");
|
||||
g1.plot_xyz(X, Y, Z, "ECEF 3D error");
|
||||
g1.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g1.savetops("ECEF_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
|
||||
}
|
||||
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
|
||||
Gnuplot g3("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g3.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g3.disablescreen();
|
||||
}
|
||||
g3.set_title("3D Position estimation error module [m]");
|
||||
g3.set_grid();
|
||||
g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g3.set_ylabel("3D Position error [m]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
|
||||
g3.cmd("set key box opaque");
|
||||
g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error");
|
||||
double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
|
||||
std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
|
||||
g3.set_style("lines");
|
||||
g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
|
||||
g3.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g3.savetops("Position_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g3.savetops("Position_3d_error_" + config_filename_no_extension);
|
||||
}
|
||||
std::vector<double> X(arma_vec_error_x.colptr(0), arma_vec_error_x.colptr(0) + arma_vec_error_x.n_rows);
|
||||
std::vector<double> Y(arma_vec_error_y.colptr(0), arma_vec_error_y.colptr(0) + arma_vec_error_y.n_rows);
|
||||
std::vector<double> Z(arma_vec_error_z.colptr(0), arma_vec_error_z.colptr(0) + arma_vec_error_z.n_rows);
|
||||
|
||||
Gnuplot g4("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g4.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g4.disablescreen();
|
||||
}
|
||||
g4.set_title("3D Velocity estimation error module [m/s]");
|
||||
g4.set_grid();
|
||||
g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g4.set_ylabel("3D Velocity error [m/s]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
|
||||
g4.cmd("set key box opaque");
|
||||
g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error");
|
||||
double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
|
||||
std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
|
||||
g4.set_style("lines");
|
||||
g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
|
||||
g4.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g4.savetops("Velocity_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
|
||||
g1.cmd("set key box opaque");
|
||||
g1.plot_xyz(X, Y, Z, "ECEF 3D error");
|
||||
g1.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g1.savetops("ECEF_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
|
||||
}
|
||||
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
|
||||
Gnuplot g3("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g3.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g3.disablescreen();
|
||||
}
|
||||
g3.set_title("3D Position estimation error module [m]");
|
||||
g3.set_grid();
|
||||
g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g3.set_ylabel("3D Position error [m]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
|
||||
g3.cmd("set key box opaque");
|
||||
g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error");
|
||||
double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
|
||||
std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
|
||||
g3.set_style("lines");
|
||||
g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
|
||||
g3.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g3.savetops("Position_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g3.savetops("Position_3d_error_" + config_filename_no_extension);
|
||||
}
|
||||
|
||||
Gnuplot g4("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g4.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g4.disablescreen();
|
||||
}
|
||||
g4.set_title("3D Velocity estimation error module [m/s]");
|
||||
g4.set_grid();
|
||||
g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g4.set_ylabel("3D Velocity error [m/s]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
|
||||
g4.cmd("set key box opaque");
|
||||
g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error");
|
||||
double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
|
||||
std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
|
||||
g4.set_style("lines");
|
||||
g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
|
||||
g4.set_legend();
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g4.savetops("Velocity_3d_error");
|
||||
}
|
||||
else
|
||||
{
|
||||
g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void PositionSystemTest::print_results(const std::vector<double>& east,
|
||||
const std::vector<double>& north,
|
||||
const std::vector<double>& up)
|
||||
void PositionSystemTest::print_results(arma::mat R_eb_enu)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if (gnuplot_executable.empty())
|
||||
@ -857,29 +760,40 @@ void PositionSystemTest::print_results(const std::vector<double>& east,
|
||||
}
|
||||
else
|
||||
{
|
||||
double sigma_E_2_precision = std::pow(compute_stdev_precision(east), 2.0);
|
||||
double sigma_N_2_precision = std::pow(compute_stdev_precision(north), 2.0);
|
||||
double sigma_U_2_precision = std::pow(compute_stdev_precision(up), 2.0);
|
||||
double sigma_E_2_precision = arma::var(R_eb_enu.row(0));
|
||||
double sigma_N_2_precision = arma::var(R_eb_enu.row(1));
|
||||
double sigma_U_2_precision = arma::var(R_eb_enu.row(2));
|
||||
|
||||
double mean_east = std::accumulate(east.begin(), east.end(), 0.0) / east.size();
|
||||
double mean_north = std::accumulate(north.begin(), north.end(), 0.0) / north.size();
|
||||
double mean_east = arma::mean(R_eb_enu.row(0));
|
||||
double mean_north = arma::mean(R_eb_enu.row(1));
|
||||
double mean_up = arma::mean(R_eb_enu.row(2));
|
||||
|
||||
auto it_max_east = std::max_element(std::begin(east), std::end(east));
|
||||
auto it_min_east = std::min_element(std::begin(east), std::end(east));
|
||||
auto it_max_north = std::max_element(std::begin(north), std::end(north));
|
||||
auto it_min_north = std::min_element(std::begin(north), std::end(north));
|
||||
auto it_max_up = std::max_element(std::begin(up), std::end(up));
|
||||
auto it_min_up = std::min_element(std::begin(up), std::end(up));
|
||||
double it_max_east = arma::max(R_eb_enu.row(0) - mean_east);
|
||||
double it_min_east = arma::min(R_eb_enu.row(0) - mean_east);
|
||||
|
||||
auto east_range = std::max(*it_max_east, std::abs(*it_min_east));
|
||||
auto north_range = std::max(*it_max_north, std::abs(*it_min_north));
|
||||
auto up_range = std::max(*it_max_up, std::abs(*it_min_up));
|
||||
double it_max_north = arma::max(R_eb_enu.row(1) - mean_north);
|
||||
double it_min_north = arma::min(R_eb_enu.row(1) - mean_north);
|
||||
|
||||
double it_max_up = arma::max(R_eb_enu.row(2) - mean_up);
|
||||
double it_min_up = arma::min(R_eb_enu.row(2) - mean_up);
|
||||
|
||||
double east_range = std::max(it_max_east, std::abs(it_min_east));
|
||||
double north_range = std::max(it_max_north, std::abs(it_min_north));
|
||||
double up_range = std::max(it_max_up, std::abs(it_min_up));
|
||||
|
||||
double range = std::max(east_range, north_range) * 1.1;
|
||||
double range_3d = std::max(std::max(east_range, north_range), up_range) * 1.1;
|
||||
|
||||
double two_drms = 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision);
|
||||
double ninty_sas = 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
|
||||
arma::rowvec arma_east = R_eb_enu.row(0) - mean_east;
|
||||
arma::rowvec arma_north = R_eb_enu.row(1) - mean_north;
|
||||
arma::rowvec arma_up = R_eb_enu.row(2) - mean_up;
|
||||
|
||||
std::vector<double> east(arma_east.colptr(0), arma_east.row(0).colptr(0) + arma_east.row(0).n_cols);
|
||||
std::vector<double> north(arma_north.colptr(0), arma_north.colptr(0) + arma_north.n_cols);
|
||||
std::vector<double> up(arma_up.colptr(0), arma_up.colptr(0) + arma_up.n_cols);
|
||||
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
@ -903,6 +817,7 @@ void PositionSystemTest::print_results(const std::vector<double>& east,
|
||||
g1.cmd("set xrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
|
||||
g1.cmd("set yrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
|
||||
|
||||
|
||||
g1.plot_xy(east, north, "2D Position Fixes");
|
||||
g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms, "2DRMS");
|
||||
g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms / 2.0, "DRMS");
|
||||
|
||||
@ -452,7 +452,7 @@ TEST(RTKLibSolverTest, test1)
|
||||
std::cout << "3D positioning error: " << error_3d_m << " [meters]" << std::endl;
|
||||
|
||||
//check results against the test tolerance
|
||||
ASSERT_LT(error_3d_m, 1.0);
|
||||
ASSERT_LT(error_3d_m, 0.2);
|
||||
pvt_valid = true;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user