mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-01-17 20:53:02 +00:00
Code Issues Releases Wiki Activity

Merge remote-tracking branch 'cf/plot-corr' into next

Browse Source 
Add 2 new plots: correlators output and constellation diagram
This commit is contained in:
Carles Fernandez 2017-10-24 14:54:38 +02:00
commit 498dc22940
6 changed files with 194 additions and 130 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/tests/common-files/gnuplot_i.h
View File

@ -490,10 +490,13 @@ public:
Gnuplot& plotfile_xy(const std::string &filename,
const unsigned int column_x = 1,
const unsigned int column_y = 2,
const std::string &title = "");
const std::string &title = "",
const unsigned int decimate = 1);
/// from data
template<typename X, typename Y>
Gnuplot& plot_xy(const X& x, const Y& y, const std::string &title = "");
Gnuplot& plot_xy(const X& x, const Y& y,
const std::string &title = "",
const unsigned int decimate = 1);
/// plot x,y pairs with dy errorbars: x y dy
/// from file
@ -724,7 +727,7 @@ Gnuplot& Gnuplot::plot_x(const X& x, const std::string &title)
/// Plots a 2d graph from a list of doubles: x y
//
template<typename X, typename Y>
Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title)
Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title, const unsigned int decimate)
{
if (x.size() == 0 || y.size() == 0)
{
@ -752,7 +755,7 @@ Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title)
tmp.flush();
tmp.close();
plotfile_xy(name, 1, 2, title);
plotfile_xy(name, 1, 2, title, decimate);
return *this;
}
@ -1483,7 +1486,8 @@ Gnuplot& Gnuplot::plotfile_x(const std::string &filename,
Gnuplot& Gnuplot::plotfile_xy(const std::string &filename,
const unsigned int column_x,
const unsigned int column_y,
const std::string &title)
const std::string &title,
const unsigned int decimate)
{
//
// check if file exists
@ -1499,7 +1503,7 @@ Gnuplot& Gnuplot::plotfile_xy(const std::string &filename,
else
cmdstr << "plot ";
cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y;
cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y << " every " << std::to_string(decimate);
if (title == "")
cmdstr << " notitle ";

2
src/tests/common-files/test_flags.h
View File

@ -39,4 +39,6 @@
DEFINE_string(gnuplot_executable, "", "Gnuplot binary path");
#endif
DEFINE_int32(plot_decimate, 1, "Decimate plots");
#endif

2
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
View File

@ -54,7 +54,7 @@ bool tracking_dump_reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&aux2), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&PRN), sizeof(unsigned int));
}
catch (const std::exception &e)
catch (const std::ifstream::failure &e)
{
return false;
}

2
src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
View File

@ -40,7 +40,7 @@ bool tracking_true_obs_reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&prn_delay_chips), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&tow), sizeof(double));
}
catch (const std::exception &e)
catch (const std::ifstream::failure &e)
{
return false;
}

2
src/tests/unit-tests/signal-processing-blocks/libs/true_observables_reader.cc
View File

@ -34,7 +34,7 @@ bool true_observables_reader::read_binary_obs()
{
try
{
for(int i=0;i<12;i++)
for(int i = 0; i < 12; i++)
{
d_dump_file.read(reinterpret_cast<char *>(&gps_time_sec[i]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&doppler_l1_hz), sizeof(double));

186
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -30,10 +30,12 @@
* -------------------------------------------------------------------------
*/
#include <chrono>
#include <iostream>
#include <unistd.h>
#include <vector>
#include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
@ -44,15 +46,15 @@
#include <gtest/gtest.h>
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h"
#include "in_memory_configuration.h"
#include "gnss_synchro.h"
//#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
#include "signal_generator_flags.h"
#include "gnuplot_i.h"
#include "test_flags.h"
DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
@ -121,6 +123,8 @@ public:
std::string p4;
std::string p5;
std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; //"GPS_L1_CA_DLL_PLL_C_Aid_Tracking";
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
@ -216,14 +220,14 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
// Set Tracking
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
config->set_property("Tracking_1C.implementation", implementation);
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "30.0");
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.extend_correlation_ms", "1");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
}
@ -232,8 +236,7 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec & true_time_s,
arma::vec & meas_time_s,
arma::vec & meas_value)
{
//1. True value interpolation to match the measurement times
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid);
@ -244,26 +247,26 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec & true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
// 2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
// 3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
// 5. Peaks
// 4. Peaks
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
// 5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
std::cout.precision (ss);
}
@ -273,7 +276,7 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
arma::vec & meas_time_s,
arma::vec & meas_value)
{
//1. True value interpolation to match the measurement times
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid);
@ -284,13 +287,13 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
// 2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
// 3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
@ -298,7 +301,7 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
// 5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
<< ", mean=" << error_mean
@ -312,7 +315,7 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
arma::vec & meas_time_s,
arma::vec & meas_value)
{
//1. True value interpolation to match the measurement times
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid);
@ -323,14 +326,14 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
// 2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
// 3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
@ -338,7 +341,7 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
// 5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
<< ", mean=" << error_mean
@ -358,41 +361,33 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
generate_signal();
}
struct timeval tv;
long long int begin = 0;
long long int end = 0;
std::chrono::time_point<std::chrono::system_clock> start, end;
configure_receiver();
//open true observables log file written by the simulator
// open true observables log file written by the simulator
tracking_true_obs_reader true_obs_data;
int test_satellite_PRN = FLAGS_test_satellite_PRN;
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat");
ASSERT_NO_THROW({
if (true_obs_data.open_obs_file(true_obs_file) == false)
{
throw std::exception();
};
}) << "Failure opening true observables file" << std::endl;
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
top_block = gr::make_top_block("Tracking test");
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);//std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
// load acquisition data based on the first epoch of the true observations
ASSERT_NO_THROW({
if (true_obs_data.read_binary_obs() == false)
{
throw std::exception();
};
}) << "Failure reading true observables file" << std::endl;
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
<< "Failure reading true tracking dump file." << std::endl
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
" is not available?";
//restart the epoch counter
// restart the epoch counter
true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
@ -402,15 +397,15 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
}) << "Failure setting channel.";
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW( {
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl;
}) << "Failure connecting tracking to the top_block.";
ASSERT_NO_THROW( {
std::string file = "./" + filename_raw_data;
@ -422,20 +417,18 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of tracking test." << std::endl;
}) << "Failure connecting the blocks of tracking test.";
tracking->start_tracking();
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec * 1000000 + tv.tv_usec;
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec * 1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
end = std::chrono::system_clock::now();
}) << "Failure running the top_block.";
//check results
//load the true values
// check results
// load the true values
long int nepoch = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << nepoch << std::endl;
@ -458,13 +451,9 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
//load the measured values
tracking_dump_reader trk_dump;
ASSERT_NO_THROW({
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
{
throw std::exception();
};
}) << "Failure opening tracking dump file" << std::endl;
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
<< "Failure opening tracking dump file";
nepoch = trk_dump.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl;
@ -474,6 +463,12 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
std::vector<double> prompt;
std::vector<double> early;
std::vector<double> late;
std::vector<double> promptI;
std::vector<double> promptQ;
epoch_counter = 0;
while(trk_dump.read_binary_obs())
{
@ -486,9 +481,14 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
trk_prn_delay_chips(epoch_counter) = delay_chips;
epoch_counter++;
prompt.push_back(trk_dump.abs_P);
early.push_back(trk_dump.abs_E);
late.push_back(trk_dump.abs_L);
promptI.push_back(trk_dump.prompt_I);
promptQ.push_back(trk_dump.prompt_Q);
}
//Align initial measurements and cut the tracking pull-in transitory
// Align initial measurements and cut the tracking pull-in transitory
double pull_in_offset_s = 1.0;
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
@ -501,6 +501,64 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
}
std::chrono::duration<double> elapsed_seconds = end - start;
std::cout << "Signal tracking completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
if(FLAGS_plot_gps_l1_tracking_test == true)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
std::vector<double> timevec;
double t = 0.0;
for (auto it = prompt.begin(); it != prompt.end(); it++)
{
timevec.push_back(t);
t = t + GPS_L1_CA_CODE_PERIOD;
}
Gnuplot g1("linespoints");
g1.set_title("GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g1.set_grid();
g1.set_xlabel("Time [s]");
g1.set_ylabel("Correlators' output");
g1.cmd("set key box opaque");
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
g1.plot_xy( timevec, prompt, "Prompt", decimate);
g1.plot_xy( timevec, early, "Early", decimate);
g1.plot_xy( timevec, late, "Late", decimate);
g1.savetops("Correlators_outputs");
g1.savetopdf("Correlators_outputs", 18);
g1.showonscreen(); // window output
Gnuplot g2("points");
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g2.set_grid();
g2.set_xlabel("Inphase");
g2.set_ylabel("Quadrature");
g2.cmd("set size ratio -1");
g2.plot_xy( promptI, promptQ);
g2.savetops("Constellation");
g2.savetopdf("Constellation", 18);
g2.showonscreen(); // window output
}
catch (GnuplotException ge)
{
std::cout << ge.what() << std::endl;
}
}
}
}