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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into tracking_debug

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This commit is contained in:
Javier Arribas 2019-06-13 17:59:58 +02:00
commit 5a43e757dd
43 changed files with 742 additions and 120 deletions
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38
CMakeLists.txt
View File

@ -752,18 +752,34 @@ endif()
################################################################################
# Log4cpp - http://log4cpp.sourceforge.net/
################################################################################
find_package(LOG4CPP)
set_package_properties(LOG4CPP PROPERTIES
URL "http://log4cpp.sourceforge.net/"
DESCRIPTION "Library of C++ classes for flexible logging to files"
PURPOSE "Required by GNU Radio."
TYPE REQUIRED
)
if(NOT LOG4CPP_FOUND)
message(FATAL_ERROR "*** Log4cpp is required to build gnss-sdr")
endif()
################################################################################
# Dectect availability of std::filesystem
################################################################################
set(FILESYSTEM_FOUND FALSE)
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8))
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
# Check if we have std::filesystem
if(NOT (CMAKE_VERSION VERSION_LESS 3.8))
if(POLICY CMP0057)
cmake_policy(SET CMP0057 NEW)
endif()
if(NOT ENABLE_UNIT_TESTING_EXTRA) # Workaround for GPSTk
find_package(FILESYSTEM)
find_package(FILESYSTEM COMPONENTS Final Experimental)
set_package_properties(FILESYSTEM PROPERTIES
URL "https://en.cppreference.com/w/cpp/filesystem"
DESCRIPTION "Provides facilities for performing operations on file systems and their components"
@ -894,8 +910,6 @@ endif()
################################################################################
# VOLK - Vector-Optimized Library of Kernels
################################################################################
@ -912,22 +926,6 @@ endif()
################################################################################
# Log4cpp - http://log4cpp.sourceforge.net/
################################################################################
find_package(LOG4CPP)
set_package_properties(LOG4CPP PROPERTIES
URL "http://log4cpp.sourceforge.net/"
DESCRIPTION "Library of C++ classes for flexible logging to files"
PURPOSE "Required by GNU Radio."
TYPE REQUIRED
)
if(NOT LOG4CPP_FOUND)
message(FATAL_ERROR "*** Log4cpp is required to build gnss-sdr")
endif()
################################################################################
# volk_gnsssdr module - GNSS-SDR's own VOLK library
################################################################################

14
cmake/Modules/FindLOG4CPP.cmake
View File

@ -39,6 +39,20 @@ find_path(LOG4CPP_INCLUDE_DIR log4cpp/Category.hh
$ENV{LOG4CPP_ROOT}/include
)
if(LOG4CPP_INCLUDE_DIR)
file(STRINGS ${LOG4CPP_INCLUDE_DIR}/log4cpp/Priority.hh _log4cpp_Priority)
set(_log4cpp_cxx17 TRUE)
foreach(_loop_var IN LISTS _log4cpp_Priority)
string(STRIP "${_loop_var}" _file_line)
if("throw(std::invalid_argument);" STREQUAL "${_file_line}")
set(_log4cpp_cxx17 FALSE)
endif()
endforeach()
if(${_log4cpp_cxx17})
set(LOG4CPP_READY_FOR_CXX17 TRUE)
endif()
endif()
set(LOG4CPP_NAMES log4cpp)
find_library(LOG4CPP_LIBRARY
NAMES ${LOG4CPP_NAMES}

3
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -30,6 +30,9 @@ add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
if(${FILESYSTEM_FOUND})
target_compile_definitions(pvt_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(pvt_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(pvt_gr_blocks PRIVATE std::filesystem)
else()
target_link_libraries(pvt_gr_blocks PRIVATE Boost::filesystem Boost::system)

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -83,10 +83,15 @@
#include <sys/msg.h> // for msgctl
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
namespace fs = std::filesystem;
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/path.hpp>
#include <boost/system/error_code.hpp> // for error_code

3
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -63,6 +63,9 @@ add_library(pvt_libs ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
if(${FILESYSTEM_FOUND})
target_compile_definitions(pvt_libs PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(pvt_libs PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(pvt_libs PRIVATE std::filesystem)
else()
target_link_libraries(pvt_libs PRIVATE Boost::filesystem Boost::system)

22
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -33,15 +33,6 @@
#include "geojson_printer.h"
#include "pvt_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
@ -51,9 +42,20 @@
#include <sstream> // for stringstream
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

22
src/algorithms/PVT/libs/gpx_printer.cc
View File

@ -33,15 +33,6 @@
#include "gpx_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
@ -51,9 +42,20 @@
#include <sstream> // for stringstream
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

22
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -33,15 +33,6 @@
#include "kml_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <glog/logging.h>
#include <cstdio> // for remove
#include <cstdlib> // for mkstemp
@ -55,9 +46,20 @@
#include <sys/types.h> //for mode_t
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

22
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -36,15 +36,6 @@
#include "nmea_printer.h"
#include "rtklib_solution.h"
#include "rtklib_solver.h"
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <glog/logging.h>
#include <cstdint>
#include <exception>
@ -53,9 +44,20 @@
#include <termios.h>
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

22
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -53,15 +53,6 @@
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>
#include <boost/date_time/time_zone_base.hpp>
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <glog/logging.h>
#include <algorithm> // for min and max
#include <cmath> // for floor
@ -76,9 +67,20 @@
#include <vector>
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

23
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -39,16 +39,6 @@
#include "gps_cnav_ephemeris.h"
#include "gps_ephemeris.h"
#include "rtcm.h"
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_codes
#endif
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
@ -59,9 +49,20 @@
#include <unistd.h> // for close, write
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

3
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -68,6 +68,9 @@ add_library(acquisition_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADE
if(${FILESYSTEM_FOUND})
target_compile_definitions(acquisition_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(acquisition_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(acquisition_gr_blocks PRIVATE std::filesystem)
else()
target_link_libraries(acquisition_gr_blocks PRIVATE Boost::filesystem)

8
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -40,7 +40,11 @@
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
#else
#include <filesystem>
#endif
#else
#include <boost/filesystem/path.hpp>
#endif
@ -58,7 +62,11 @@
#include <map>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
namespace fs = std::experimental::filesystem;
#else
namespace fs = std::filesystem;
#endif
#else
namespace fs = boost::filesystem;
#endif

8
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -35,7 +35,11 @@
#include "gnss_sdr_create_directory.h"
#include "gps_sdr_signal_processing.h"
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
#else
#include <filesystem>
#endif
#else
#include <boost/filesystem/path.hpp>
#endif
@ -48,7 +52,11 @@
#include <sstream>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
namespace fs = std::experimental::filesystem;
#else
namespace fs = std::filesystem;
#endif
#else
namespace fs = boost::filesystem;
#endif

6
src/algorithms/libs/CMakeLists.txt
View File

@ -90,6 +90,9 @@ add_library(algorithms_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
if(${FILESYSTEM_FOUND})
target_compile_definitions(algorithms_libs PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(algorithms_libs PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(algorithms_libs PRIVATE std::filesystem)
else()
target_link_libraries(algorithms_libs PRIVATE Boost::filesystem Boost::system)
@ -141,6 +144,9 @@ add_library(gnss_sdr_flags gnss_sdr_flags.cc gnss_sdr_flags.h)
if(${FILESYSTEM_FOUND})
target_compile_definitions(gnss_sdr_flags PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
add_definitions(-DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(gnss_sdr_flags PRIVATE std::filesystem)
else()
target_link_libraries(gnss_sdr_flags PRIVATE Boost::filesystem)

20
src/algorithms/libs/gnss_sdr_create_directory.cc
View File

@ -29,22 +29,24 @@
*/
#include "gnss_sdr_create_directory.h"
#include <exception> // for exception
#include <fstream> // for ofstream
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <exception> // for exception
#include <fstream> // for ofstream
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
namespace errorlib = std;
#else
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

14
src/algorithms/libs/gnss_sdr_flags.cc
View File

@ -30,18 +30,20 @@
#include "gnss_sdr_flags.h"
#if HAS_STD_FILESYSTEM
#include <filesystem>
#else
#include <boost/filesystem/operations.hpp> // for exists
#endif
#include <cstdint>
#include <iostream>
#include <string>
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for exists
namespace fs = boost::filesystem;
#endif

3
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
View File

@ -30,6 +30,9 @@ add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
if(${FILESYSTEM_FOUND})
target_compile_definitions(obs_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(obs_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(obs_gr_blocks PRIVATE std::filesystem)
else()
target_link_libraries(obs_gr_blocks PRIVATE Boost::filesystem)

6
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -46,13 +46,19 @@
#include <utility> // for move
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/path.hpp>
namespace fs = boost::filesystem;
#endif
hybrid_observables_gs_sptr hybrid_observables_gs_make(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, bool dump_mat, std::string dump_filename)
{
return hybrid_observables_gs_sptr(new hybrid_observables_gs(nchannels_in, nchannels_out, dump, dump_mat, std::move(dump_filename)));

3
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -78,6 +78,9 @@ add_library(tracking_gr_blocks
if(${FILESYSTEM_FOUND})
target_compile_definitions(tracking_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(tracking_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(tracking_gr_blocks PRIVATE std::filesystem)
else()
target_link_libraries(tracking_gr_blocks PRIVATE Boost::filesystem)

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -67,8 +67,13 @@
#include <map>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/path.hpp>
namespace fs = boost::filesystem;

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -60,8 +60,13 @@
#include <map>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/path.hpp>
namespace fs = boost::filesystem;

2
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -33,6 +33,7 @@ set(TRACKING_LIB_SOURCES
cpu_multicorrelator.cc
cpu_multicorrelator_real_codes.cc
cpu_multicorrelator_16sc.cc
cubature_filter.cc
lock_detectors.cc
tcp_communication.cc
tcp_packet_data.cc
@ -50,6 +51,7 @@ set(TRACKING_LIB_HEADERS
cpu_multicorrelator.h
cpu_multicorrelator_real_codes.h
cpu_multicorrelator_16sc.h
cubature_filter.h
lock_detectors.h
tcp_communication.h
tcp_packet_data.h

199
src/algorithms/tracking/libs/cubature_filter.cc Normal file
View File

@ -0,0 +1,199 @@
/*!
* \file cubature_filter.cc
* \brief Interface of a library with Bayesian noise statistic estimation
*
* Cubature_Filter implements the functionality of the Cubature Kalman
* Filter, which uses multidimensional cubature rules to estimate the
* time evolution of a nonlinear system.
*
* [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
* Transactions on Automatic Control, 54(6):1254–1269,2009.
*
* \authors <ul>
* <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
* <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
* </ul>
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "cubature_filter.h"
Cubature_filter::Cubature_filter()
{
int nx = 1;
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(int nx)
{
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::~Cubature_filter() = default;
void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
/*
* Perform the prediction step of the cubature Kalman filter
*/
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_post.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Initialize predicted mean and covariance
arma::vec x_pred = arma::zeros(nx, 1);
arma::mat P_x_pred = arma::zeros(nx, nx);
// Factorize posterior covariance
arma::mat Sm_post = arma::chol(P_x_post, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_post;
arma::vec Xi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_post = Sm_post * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_post;
Xi_pred = (*transition_fcn)(Xi_post);
x_pred = x_pred + Xi_pred;
P_x_pred = P_x_pred + Xi_pred * Xi_pred.t();
}
// Estimate predicted state and error covariance
x_pred = x_pred / static_cast<float>(np);
P_x_pred = P_x_pred / static_cast<float>(np) - x_pred * x_pred.t() + noise_covariance;
// Store predicted state and error covariance
x_pred_out = x_pred;
P_x_pred_out = P_x_pred;
}
/*
* Perform the update step of the cubature Kalman filter
*/
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_pred.n_elem;
int nz = z_upd.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Evaluate predicted measurement and covariances
arma::mat z_pred = arma::zeros(nz, 1);
arma::mat P_zz_pred = arma::zeros(nz, nz);
arma::mat P_xz_pred = arma::zeros(nx, nz);
// Factorize predicted covariance
arma::mat Sm_pred = arma::chol(P_x_pred, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_pred;
arma::vec Zi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_pred = Sm_pred * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_pred;
Zi_pred = (*measurement_fcn)(Xi_pred);
z_pred = z_pred + Zi_pred;
P_zz_pred = P_zz_pred + Zi_pred * Zi_pred.t();
P_xz_pred = P_xz_pred + Xi_pred * Zi_pred.t();
}
// Estimate measurement covariance and cross covariances
z_pred = z_pred / static_cast<float>(np);
P_zz_pred = P_zz_pred / static_cast<float>(np) - z_pred * z_pred.t() + noise_covariance;
P_xz_pred = P_xz_pred / static_cast<float>(np) - x_pred * z_pred.t();
// Estimate cubature Kalman gain
arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
// Estimate and store the updated state and error covariance
x_est = x_pred + W_k * (z_upd - z_pred);
P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
}
arma::mat Cubature_filter::get_x_pred() const
{
return x_pred_out;
}
arma::mat Cubature_filter::get_P_x_pred() const
{
return P_x_pred_out;
}
arma::mat Cubature_filter::get_x_est() const
{
return x_est;
}
arma::mat Cubature_filter::get_P_x_est() const
{
return P_x_est;
}

84
src/algorithms/tracking/libs/cubature_filter.h Normal file
View File

@ -0,0 +1,84 @@
/*!
* \file cubature_filter.h
* \brief Interface of a library with Bayesian noise statistic estimation
*
* Cubature_Filter implements the functionality of the Cubature Kalman
* Filter, which uses multidimensional cubature rules to estimate the
* time evolution of a nonlinear system.
*
* [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
* Transactions on Automatic Control, 54(6):1254–1269,2009.
*
* \authors <ul>
* <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
* <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
* </ul>
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_CUBATURE_FILTER_H_
#define GNSS_SDR_CUBATURE_FILTER_H_
#include <armadillo>
#include <gnuradio/gr_complex.h>
// Abstract model function
class Model_Function{
public:
Model_Function() {};
virtual arma::vec operator() (arma::vec input) = 0;
virtual ~Model_Function() = default;
};
class Cubature_filter
{
public:
// Constructors and destructors
Cubature_filter();
Cubature_filter(int nx);
Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
~Cubature_filter();
// Reinitialization function
void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
// Prediction and estimation
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
// Getters
arma::mat get_x_pred() const;
arma::mat get_P_x_pred() const;
arma::mat get_x_est() const;
arma::mat get_P_x_est() const;
private:
arma::vec x_pred_out;
arma::mat P_x_pred_out;
arma::vec x_est;
arma::mat P_x_est;
};
#endif

3
src/main/CMakeLists.txt
View File

@ -21,6 +21,9 @@ add_executable(gnss-sdr ${CMAKE_CURRENT_SOURCE_DIR}/main.cc)
if(${FILESYSTEM_FOUND})
target_compile_definitions(gnss-sdr PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(gnss-sdr PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(gnss-sdr PRIVATE std::filesystem)
else()
target_link_libraries(gnss-sdr PRIVATE Boost::filesystem Boost::system)

35
src/main/main.cc
View File

@ -46,21 +46,13 @@
#include <boost/exception/diagnostic_information.hpp> // for diagnostic_informatio
#include <boost/exception/exception.hpp> // for exception
#include <boost/thread/exceptions.hpp> // for thread_resource_error
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/system/error_code.hpp> // for error_code
#endif
#include <gflags/gflags.h> // for ShutDownCommandLineFlags
#include <glog/logging.h> // for FLAGS_log_dir
#include <chrono> // for time_point
#include <exception> // for exception
#include <iostream> // for operator<<, endl
#include <memory> // for unique_ptr
#include <string> // for string
#include <gflags/gflags.h> // for ShutDownCommandLineFlags
#include <glog/logging.h> // for FLAGS_log_dir
#include <chrono> // for time_point
#include <exception> // for exception
#include <iostream> // for operator<<, endl
#include <memory> // for unique_ptr
#include <string> // for string
#if CUDA_GPU_ACCEL
// For the CUDA runtime routines (prefixed with "cuda_")
@ -68,9 +60,20 @@
#endif
#if HAS_STD_FILESYSTEM
namespace fs = std::filesystem;
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif

25
src/tests/CMakeLists.txt
View File

@ -356,6 +356,9 @@ if(ENABLE_UNIT_TESTING)
add_executable(run_tests ${CMAKE_CURRENT_SOURCE_DIR}/test_main.cc)
if(${FILESYSTEM_FOUND})
target_compile_definitions(run_tests PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(run_tests PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(run_tests PRIVATE std::filesystem)
else()
target_link_libraries(run_tests PRIVATE Boost::filesystem Boost::system)
@ -447,6 +450,9 @@ if(ENABLE_FPGA)
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(gps_l1_ca_dll_pll_tracking_test_fpga PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(gps_l1_ca_dll_pll_tracking_test_fpga PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(gps_l1_ca_dll_pll_tracking_test_fpga PRIVATE std::filesystem)
else()
target_link_libraries(gps_l1_ca_dll_pll_tracking_test_fpga PRIVATE Boost::filesystem Boost::system)
@ -492,6 +498,9 @@ function(add_system_test executable)
add_executable(${executable} ${SYSTEM_TEST_SOURCES})
if(${FILESYSTEM_FOUND})
target_compile_definitions(${executable} PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(${executable} PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(${executable} PRIVATE std::filesystem)
else()
target_link_libraries(${executable} PRIVATE Boost::filesystem Boost::system)
@ -585,6 +594,9 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(flowgraph_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(flowgraph_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(flowgraph_test PRIVATE std::filesystem)
else()
target_link_libraries(flowgraph_test PRIVATE Boost::filesystem Boost::system)
@ -634,6 +646,9 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(gnss_block_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(gnss_block_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(gnss_block_test PRIVATE std::filesystem)
else()
target_link_libraries(gnss_block_test PRIVATE Boost::filesystem Boost::system)
@ -681,6 +696,9 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(gnuradio_block_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(gnuradio_block_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(gnuradio_block_test PRIVATE std::filesystem)
else()
target_link_libraries(gnuradio_block_test PRIVATE Boost::filesystem Boost::system)
@ -781,9 +799,13 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(trk_test PRIVATE std::filesystem)
else()
target_link_libraries(trk_test PRIVATE Boost::filesystem Boost::system)
@ -825,6 +847,9 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(control_thread_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(control_thread_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(control_thread_test PRIVATE std::filesystem)
else()
target_link_libraries(control_thread_test PRIVATE Boost::filesystem Boost::system)

1
src/tests/test_main.cc
View File

@ -99,6 +99,7 @@ DECLARE_string(log_dir);
#endif
#include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"

5
src/tests/unit-tests/arithmetic/fft_length_test.cc
View File

@ -38,8 +38,13 @@
#include <random>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

12
src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
View File

@ -55,17 +55,23 @@
#include <utility>
#if HAS_STD_FILESYSTEM
#include <filesystem>
#include <system_error>
namespace fs = std::filesystem;
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
#include <boost/system/error_code.hpp>
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
DEFINE_string(config_file_ptest, std::string(""), "File containing alternative configuration parameters for the acquisition performance test.");
DEFINE_string(acq_test_input_file, std::string(""), "File containing raw signal data, must be in int8_t format. The signal generator will not be used.");
DEFINE_string(acq_test_implementation, std::string("GPS_L1_CA_PCPS_Acquisition"), "Acquisition block implementation under test. Alternatives: GPS_L1_CA_PCPS_Acquisition, GPS_L1_CA_PCPS_Acquisition_Fine_Doppler, Galileo_E1_PCPS_Ambiguous_Acquisition, GLONASS_L1_CA_PCPS_Acquisition, GLONASS_L2_CA_PCPS_Acquisition, GPS_L2_M_PCPS_Acquisition, Galileo_E5a_Pcps_Acquisition, GPS_L5i_PCPS_Acquisition");

5
src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc
View File

@ -59,8 +59,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

5
src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc
View File

@ -59,8 +59,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

6
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
View File

@ -60,13 +60,19 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx;

5
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
View File

@ -59,8 +59,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

5
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
View File

@ -60,8 +60,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

6
src/tests/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
View File

@ -1,7 +1,7 @@
/*!
* \file bayesian_estimation_positivity_test.cc
* \brief This file implements timing tests for the Bayesian covariance estimator
* \author Gerald LaMountain, 20168. gerald(at)ece.neu.edu
* \file bayesian_estimation_test.cc
* \brief This file implements feasability test for the BCE library.
* \author Gerald LaMountain, 2018. gerald(at)ece.neu.edu
*
*
* -------------------------------------------------------------------------

160
src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc Normal file
View File

@ -0,0 +1,160 @@
/*!
* \file cubature_filter_test.cc
* \brief This file implements numerical accuracy test for the CKF library.
* \author Gerald LaMountain, 2019. gerald(at)ece.neu.edu
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "cubature_filter.h"
#include <armadillo>
#include <gtest/gtest.h>
#include <random>
#define CUBATURE_TEST_N_TRIALS 1000
class Transition_Model : public Model_Function
{
public:
Transition_Model(arma::mat kf_F) { coeff_mat = kf_F; };
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
private:
arma::mat coeff_mat;
};
class Measurement_Model : public Model_Function
{
public:
Measurement_Model(arma::mat kf_H) { coeff_mat = kf_H; };
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
private:
arma::mat coeff_mat;
};
TEST(CubatureFilterComputationTest, CubatureFilterTest)
{
Cubature_filter kf_cubature;
arma::vec kf_x;
arma::mat kf_P_x;
arma::vec kf_x_pre;
arma::mat kf_P_x_pre;
arma::vec ckf_x_pre;
arma::mat ckf_P_x_pre;
arma::vec kf_x_post;
arma::mat kf_P_x_post;
arma::vec ckf_x_post;
arma::mat ckf_P_x_post;
arma::mat kf_F;
arma::mat kf_H;
arma::mat kf_Q;
arma::mat kf_R;
arma::vec eta;
arma::vec nu;
arma::vec kf_y;
arma::mat kf_P_y;
arma::mat kf_K;
Model_Function* transition_function;
Model_Function* measurement_function;
//--- Perform initializations ------------------------------
std::random_device r;
std::default_random_engine e1(r());
std::normal_distribution<float> normal_dist(0, 5);
std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
uint8_t nx = 0;
uint8_t ny = 0;
for (uint16_t k = 0; k < CUBATURE_TEST_N_TRIALS; k++)
{
nx = std::rand() % 5 + 1;
ny = std::rand() % 5 + 1;
kf_x = arma::randn<arma::vec>(nx, 1);
kf_P_x_post = 5.0 * arma::diagmat(arma::randu<arma::vec>(nx, 1));
kf_x_post = arma::mvnrnd(kf_x, kf_P_x_post);
kf_cubature.initialize(kf_x_post, kf_P_x_post);
// Prediction Step
kf_F = arma::randu<arma::mat>(nx, nx);
kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
transition_function = new Transition_Model(kf_F);
arma::mat ttx = (*transition_function)(kf_x_post);
kf_cubature.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
ckf_x_pre = kf_cubature.get_x_pred();
ckf_P_x_pre = kf_cubature.get_P_x_pred();
kf_x_pre = kf_F * kf_x_post;
kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", 0.01));
// Update Step
kf_H = arma::randu<arma::mat>(ny, nx);
kf_R = arma::diagmat(arma::randu<arma::vec>(ny, 1));
eta = arma::mvnrnd(arma::zeros<arma::vec>(nx, 1), kf_Q);
nu = arma::mvnrnd(arma::zeros<arma::vec>(ny, 1), kf_R);
kf_y = kf_H * (kf_F * kf_x + eta) + nu;
measurement_function = new Measurement_Model(kf_H);
kf_cubature.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
ckf_x_post = kf_cubature.get_x_est();
ckf_P_x_post = kf_cubature.get_P_x_est();
kf_P_y = kf_H * kf_P_x_pre * kf_H.t() + kf_R;
kf_K = (kf_P_x_pre * kf_H.t()) * arma::inv(kf_P_y);
kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre;
EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", 0.01));
delete transition_function;
delete measurement_function;
}
}

5
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -61,8 +61,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

5
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc
View File

@ -60,8 +60,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

5
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
View File

@ -76,8 +76,13 @@
#endif
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

5
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
View File

@ -60,8 +60,13 @@
#include <vector>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;

3
src/utils/front-end-cal/CMakeLists.txt
View File

@ -58,6 +58,9 @@ add_executable(front-end-cal ${CMAKE_CURRENT_SOURCE_DIR}/main.cc)
if(${FILESYSTEM_FOUND})
target_compile_definitions(front-end-cal PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(front-end-cal PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(front-end-cal PRIVATE std::filesystem)
else()
target_link_libraries(front-end-cal PRIVATE Boost::filesystem Boost::system)