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Carles Fernandez 2018-10-06 20:14:13 +02:00
commit 48a2d4a7c2
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6 changed files with 372 additions and 121 deletions
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4
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -506,12 +506,12 @@ bool RtklibPvt::save_assistance_to_XML()
if (eph_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (const std::exception& e)
@ -519,13 +519,13 @@ bool RtklibPvt::save_assistance_to_XML()
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
return true; // return variable (true == succeeded)
}

29
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -400,12 +400,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
ofs.close();
LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
}
catch (std::exception& e)
@ -423,12 +423,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_ephemeris_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
}
catch (const std::exception& e)
@ -446,12 +446,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
ofs.close();
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
catch (const std::exception& e)
@ -469,12 +469,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
ofs.close();
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
}
catch (std::exception& e)
@ -515,12 +515,12 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
{
if (gnss_observables_map.empty() == false)
{
std::ofstream ofs;
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
ofs.close();
LOG(INFO) << "Saved gnss_sychro map data";
}
catch (std::exception& e)
@ -537,17 +537,17 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
}
}
bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
{
//load from xml (boost serialize)
// load from xml (boost serialize)
std::ifstream ifs;
try
{
std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gnss_observables_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
ifs.close();
return true;
//std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
}
catch (std::exception& e)
@ -555,6 +555,7 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
std::cout << e.what() << "File: " << file_name;
return false;
}
return true;
}

22
src/core/libs/gnss_sdr_supl_client.cc
View File

@ -384,7 +384,6 @@ bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
ifs.close();
return true;
}
@ -399,7 +398,6 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
LOG(INFO) << "Saved Ephemeris map data";
}
catch (std::exception& e)
@ -407,14 +405,13 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
LOG(WARNING) << e.what();
return false;
}
ofs.close();
return true;
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
return true;
}
@ -426,7 +423,6 @@ bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_utc_map", this->gps_utc);
LOG(INFO) << "Loaded UTC model data";
}
catch (std::exception& e)
@ -434,7 +430,6 @@ bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
ifs.close();
return true;
}
@ -456,14 +451,13 @@ bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::ma
LOG(WARNING) << e.what();
return false;
}
ofs.close();
return true;
}
else
{
LOG(WARNING) << "Failed to save UTC model, map is empty";
return false;
}
return true;
}
@ -482,7 +476,6 @@ bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
ifs.close();
return true;
}
@ -504,14 +497,13 @@ bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::m
LOG(WARNING) << e.what();
return false;
}
ofs.close();
return true;
}
else
{
LOG(WARNING) << "Failed to save IONO model, map is empty";
return false;
}
return true;
}
@ -530,7 +522,6 @@ bool gnss_sdr_supl_client::load_ref_time_xml(const std::string file_name)
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
ifs.close();
return true;
}
@ -553,14 +544,13 @@ bool gnss_sdr_supl_client::save_ref_time_map_xml(const std::string file_name, st
LOG(WARNING) << e.what();
return false;
}
ofs.close();
return true;
}
else
{
LOG(WARNING) << "Failed to save Ref Time, map is empty";
return false;
}
return true;
}
@ -579,7 +569,6 @@ bool gnss_sdr_supl_client::load_ref_location_xml(const std::string file_name)
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
ifs.close();
return true;
}
@ -601,12 +590,11 @@ bool gnss_sdr_supl_client::save_ref_location_map_xml(const std::string file_name
LOG(WARNING) << e.what();
return false;
}
ofs.close();
return true;
}
else
{
LOG(WARNING) << "Failed to save Ref Location, map is empty";
return false;
}
return true;
}

3
src/tests/common-files/observable_tests_flags.h
View File

@ -37,5 +37,6 @@
DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies differences");
DEFINE_bool(duplicated_satellites_test, false, "Enable special observable test mode where the scenario contains duplicated satellite orbits");
DEFINE_string(duplicated_satellites_prns, "1,2,3,4", "List of duplicated satellites PRN pairs (i.e. 1,2,3,4 indicates that the PRNs 1,2 share the same orbit. The same applies for PRNs 3,4)");
#endif

2
src/tests/test_main.cc
View File

@ -161,7 +161,6 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
#if EXTRA_TESTS
@ -172,6 +171,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
#if ENABLE_FPGA
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
#endif

433
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -236,6 +236,11 @@ public:
arma::mat& measured_ch1,
std::string data_title);
void check_results_duplicated_satellite(
arma::mat& measured_sat1,
arma::mat& measured_sat2,
std::string data_title);
HybridObservablesTest()
{
factory = std::make_shared<GNSSBlockFactory>();
@ -987,6 +992,207 @@ void HybridObservablesTest::check_results_carrier_doppler(
ASSERT_LT(rmse_ch0, 30);
}
void HybridObservablesTest::check_results_duplicated_satellite(
arma::mat& measured_sat1,
arma::mat& measured_sat2,
std::string data_title)
{
//1. True value interpolation to match the measurement times
double t0 = measured_sat1(0, 0);
int size1 = measured_sat1.col(0).n_rows;
double t1 = measured_sat1(size1 - 1, 0);
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
//Doppler
arma::vec meas_sat1_doppler_interp;
arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
arma::vec meas_sat2_doppler_interp;
arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
//Carrier Phase
arma::vec meas_sat1_carrier_phase_interp;
arma::vec meas_sat2_carrier_phase_interp;
arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
// generate double difference accumulated carrier phases
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
//Pseudoranges
arma::vec meas_sat1_dist_interp;
arma::vec meas_sat2_dist_interp;
arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
// generate delta pseudoranges
arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
//Carrier Doppler error
//2. RMSE
arma::vec err_ch0_hz;
//compute error
err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
arma::vec err2_ch0 = arma::square(err_ch0_hz);
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
//3. Mean err and variance
double error_mean_ch0 = arma::mean(err_ch0_hz);
double error_var_ch0 = arma::var(err_ch0_hz);
// 4. Peaks
double max_error_ch0 = arma::max(err_ch0_hz);
double min_error_ch0 = arma::min(err_ch0_hz);
//5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
<< rmse_ch0 << ", mean = " << error_mean_ch0
<< ", stdev = " << sqrt(error_var_ch0)
<< " (max,min) = " << max_error_ch0
<< "," << min_error_ch0
<< " [Hz]" << std::endl;
std::cout.precision(ss);
//plots
if (FLAGS_show_plots)
{
Gnuplot g3("linespoints");
g3.set_title(data_title + "Carrier Doppler error [Hz]");
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Carrier Doppler error [Hz]");
//conversion between arma::vec and std:vector
std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector, error_vec,
"Carrier Doppler error");
g3.set_legend();
g3.savetops(data_title + "Carrier_doppler_error");
g3.showonscreen(); // window output
}
//check results against the test tolerance
ASSERT_LT(error_mean_ch0, 5);
ASSERT_GT(error_mean_ch0, -5);
//assuming PLL BW=35
ASSERT_LT(error_var_ch0, 250);
ASSERT_LT(max_error_ch0, 100);
ASSERT_GT(min_error_ch0, -100);
ASSERT_LT(rmse_ch0, 30);
//Carrier Phase error
//2. RMSE
arma::vec err_carrier_phase;
err_carrier_phase = delta_measured_carrier_phase_cycles;
arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
//3. Mean err and variance
double error_mean_carrier_phase = arma::mean(err_carrier_phase);
double error_var_carrier_phase = arma::var(err_carrier_phase);
// 4. Peaks
double max_error_carrier_phase = arma::max(err_carrier_phase);
double min_error_carrier_phase = arma::min(err_carrier_phase);
//5. report
ss = std::cout.precision();
std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
<< rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
<< ", stdev = " << sqrt(error_var_carrier_phase)
<< " (max,min) = " << max_error_carrier_phase
<< "," << min_error_carrier_phase
<< " [Cycles]" << std::endl;
std::cout.precision(ss);
//plots
if (FLAGS_show_plots)
{
Gnuplot g3("linespoints");
g3.set_title(data_title + "Carrier Phase error [Cycles]");
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Carrier Phase error [Cycles]");
//conversion between arma::vec and std:vector
std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector, range_error_m,
"Carrier Phase error");
g3.set_legend();
g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
g3.showonscreen(); // window output
}
//check results against the test tolerance
ASSERT_LT(rmse_carrier_phase, 0.25);
ASSERT_LT(error_mean_carrier_phase, 0.2);
ASSERT_GT(error_mean_carrier_phase, -0.2);
ASSERT_LT(error_var_carrier_phase, 0.5);
ASSERT_LT(max_error_carrier_phase, 0.5);
ASSERT_GT(min_error_carrier_phase, -0.5);
//Pseudorange error
//2. RMSE
arma::vec err_pseudorange;
err_pseudorange = delta_measured_dist_m;
arma::vec err2_pseudorange = arma::square(err_pseudorange);
double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
//3. Mean err and variance
double error_mean_pseudorange = arma::mean(err_pseudorange);
double error_var_pseudorange = arma::var(err_pseudorange);
// 4. Peaks
double max_error_pseudorange = arma::max(err_pseudorange);
double min_error_pseudorange = arma::min(err_pseudorange);
//5. report
ss = std::cout.precision();
std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
<< rmse_pseudorange << ", mean = " << error_mean_pseudorange
<< ", stdev = " << sqrt(error_var_pseudorange)
<< " (max,min) = " << max_error_pseudorange
<< "," << min_error_pseudorange
<< " [meters]" << std::endl;
std::cout.precision(ss);
//plots
if (FLAGS_show_plots)
{
Gnuplot g3("linespoints");
g3.set_title(data_title + "Pseudorange error [m]");
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Pseudorange error [m]");
//conversion between arma::vec and std:vector
std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector, range_error_m,
"Pseudorrange error");
g3.set_legend();
g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
g3.showonscreen(); // window output
}
//check results against the test tolerance
ASSERT_LT(rmse_pseudorange, 3.0);
ASSERT_LT(error_mean_pseudorange, 1.0);
ASSERT_GT(error_mean_pseudorange, -1.0);
ASSERT_LT(error_var_pseudorange, 10.0);
ASSERT_LT(max_error_pseudorange, 10.0);
ASSERT_GT(min_error_pseudorange, -10.0);
}
bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
{
try
@ -1535,7 +1741,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
}
//Cut measurement tail zeros
arma::uvec index;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
@ -1548,9 +1753,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
//Cut measurement initial transitory of the measurements
double initial_transitory_s = FLAGS_skip_obs_transitory_s;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
@ -1567,83 +1770,128 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
double min_pr = std::numeric_limits<double>::max();
unsigned int min_pr_ch_id = 0;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
if (FLAGS_duplicated_satellites_test)
{
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
//special test mode for duplicated satellites
std::vector<int> prn_pairs;
std::stringstream ss(FLAGS_duplicated_satellites_prns);
int i;
while (ss >> i)
{
{
if (measured_obs_vec.at(n)(0, 4) < min_pr)
{
min_pr = measured_obs_vec.at(n)(0, 4);
min_pr_ch_id = n;
}
}
prn_pairs.push_back(i);
if (ss.peek() == ',')
ss.ignore();
}
if (prn_pairs.size() % 2 != 0)
{
std::cout << "Test settings error: duplicated_satellites_prns are even\n";
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
for (unsigned int n = 0; n < prn_pairs.size(); n = n + 2)
{
int sat1_ch_id = -1;
int sat2_ch_id = -1;
for (unsigned int ch = 0; ch < measured_obs_vec.size(); ch++)
{
if (epoch_counters_vec.at(ch) > 10) //discard non-valid channels
{
if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n))
{
sat1_ch_id = ch;
}
if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n + 1))
{
sat2_ch_id = ch;
}
}
}
if (sat1_ch_id != -1 and sat2_ch_id != -1)
{
//compute single differences for the duplicated satellite
check_results_duplicated_satellite(
measured_obs_vec.at(sat1_ch_id),
measured_obs_vec.at(sat2_ch_id),
"Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " ");
}
else
{
std::cout << "Satellites PRNs " << prn_pairs.at(n) << "and " << prn_pairs.at(n) << " not found\n";
}
}
}
}
arma::vec receiver_time_offset_ref_channel_s;
receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
else
{
//debug save to .mat
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
//normal mode
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
double min_pr = std::numeric_limits<double>::max();
unsigned int min_pr_ch_id = 0;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
//Compare measured observables
if (min_pr_ch_id != n)
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
check_results_code_pseudorange(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
{
if (measured_obs_vec.at(n)(0, 4) < min_pr)
{
min_pr = measured_obs_vec.at(n)(0, 4);
min_pr_ch_id = n;
}
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
arma::vec receiver_time_offset_ref_channel_s;
receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
//debug save to .mat
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
//Compare measured observables
if (min_pr_ch_id != n)
{
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
check_results_code_pseudorange(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
@ -1651,34 +1899,47 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
{
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
}
if (FLAGS_compute_single_diffs)
{
check_results_carrier_phase(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler(true_obs_vec.at(n),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
if (FLAGS_compute_single_diffs)
{
check_results_carrier_phase(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;