mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-09 03:20:01 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Damian Miralles
commit
5c3753a0a5
@ -76,6 +76,7 @@ endif(ENABLE_PACKAGING)
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# Testing
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option(ENABLE_UNIT_TESTING "Build unit tests" ON)
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option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
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option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
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option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
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option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
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@ -341,7 +342,7 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
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set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
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set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
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set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
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set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0")
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set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
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set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
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set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
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set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
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12
README.md
12
README.md
@ -229,20 +229,20 @@ $ sudo ldconfig
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#### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test:
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~~~~~~
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$ wget https://github.com/google/googletest/archive/release-1.8.0.zip
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$ unzip release-1.8.0.zip
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$ cd googletest-release-1.8.0
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$ cmake -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF .
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$ wget https://github.com/google/googletest/archive/release-1.8.1.zip
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$ unzip release-1.8.1.zip
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$ cd googletest-release-1.8.1
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$ cmake -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF .
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$ make
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~~~~~~
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Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line:
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~~~~~~
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export GTEST_DIR=/home/username/googletest-release-1.8.0/googletest
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export GTEST_DIR=/home/username/googletest-release-1.8.1/googletest
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~~~~~~
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changing `/home/username/googletest-release-1.8.0/googletest` by the actual directory where you built googletest.
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changing `/home/username/googletest-release-1.8.1/googletest` by the actual directory where you built googletest.
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@ -135,6 +135,14 @@
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/usr/lib/sparc64-linux-gnu
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/usr/lib/x86_64-linux-gnux32
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/usr/lib/alpha-linux-gnu
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/usr/lib/gcc/x86_64-linux-gnu/8 # libgfortran8
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/usr/lib/gcc/aarch64-linux-gnu/8
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/usr/lib/gcc/arm-linux-gnueabihf/8
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/usr/lib/gcc/i686-linux-gnu/8
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/usr/lib/gcc/powerpc64le-linux-gnu/8
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/usr/lib/gcc/s390x-linux-gnu/8
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/usr/lib/gcc/alpha-linux-gnu/8
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)
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INCLUDE(FindPackageHandleStandardArgs)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)
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@ -73,16 +73,9 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
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omegatau = OMEGA_EARTH_DOT * traveltime;
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//--- Build a rotation matrix ----------------------------------------------
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arma::mat R3 = arma::zeros(3, 3);
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R3(0, 0) = cos(omegatau);
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R3(0, 1) = sin(omegatau);
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R3(0, 2) = 0.0;
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R3(1, 0) = -sin(omegatau);
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R3(1, 1) = cos(omegatau);
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R3(1, 2) = 0.0;
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R3(2, 0) = 0.0;
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R3(2, 1) = 0.0;
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R3(2, 2) = 1;
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arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
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{-sin(omegatau), cos(omegatau), 0.0},
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{0.0, 0.0, 1.0}};
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//--- Do the rotation ------------------------------------------------------
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arma::vec X_sat_rot;
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@ -394,19 +387,9 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x
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double cb = cos(phi * dtr);
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double sb = sin(phi * dtr);
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arma::mat F = arma::zeros(3, 3);
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F(0, 0) = -sl;
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F(0, 1) = -sb * cl;
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F(0, 2) = cb * cl;
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F(1, 0) = cl;
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F(1, 1) = -sb * sl;
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F(1, 2) = cb * sl;
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F(2, 0) = 0;
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F(2, 1) = cb;
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F(2, 2) = sb;
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arma::mat F = {{-sl, -sb * cl, cb * cl},
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{cl, -sb * sl, cb * sl},
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{0, 0, cb, sb}};
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arma::vec local_vector;
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@ -571,10 +571,32 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.rr[0]), sizeof(pvt_sol.rr));
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tmp_double = pvt_sol.rr[0];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.rr[1];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.rr[2];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.rr[3];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.rr[4];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.rr[5];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.qr[0]), sizeof(pvt_sol.qr));
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tmp_double = pvt_sol.qr[0];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.qr[1];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.qr[2];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.qr[3];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.qr[4];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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tmp_double = pvt_sol.qr[5];
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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// GEO user position Latitude [deg]
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tmp_double = get_latitude();
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@ -592,15 +614,16 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
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// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
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//AR ratio factor for validation
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tmp_double = pvt_sol.ratio;
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// AR ratio factor for validation
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
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//AR ratio threshold for validation
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tmp_double = pvt_sol.thres;
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// AR ratio threshold for validation
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d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
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//GDOP//PDOP//HDOP//VDOP
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d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(dop_));
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// GDOP / PDOP/ HDOP/ VDOP
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d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(double));
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d_dump_file.write(reinterpret_cast<char*>(&dop_[1]), sizeof(double));
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d_dump_file.write(reinterpret_cast<char*>(&dop_[2]), sizeof(double));
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d_dump_file.write(reinterpret_cast<char*>(&dop_[3]), sizeof(double));
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}
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catch (const std::ifstream::failure& e)
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{
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@ -37,6 +37,10 @@ include_directories(
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${VOLK_INCLUDE_DIRS}
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)
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if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
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add_definitions( -DGR_GREATER_38=1 )
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endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
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file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
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list(SORT INPUT_FILTER_ADAPTER_HEADERS)
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add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})
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@ -43,8 +43,12 @@
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#include <gnuradio/blocks/float_to_char.h>
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#include <gnuradio/blocks/float_to_complex.h>
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#include <gnuradio/blocks/float_to_short.h>
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#ifdef GR_GREATER_38
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#include <gnuradio/filter/fir_filter_blk.h>
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#else
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#include <gnuradio/filter/fir_filter_ccf.h>
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#include <gnuradio/filter/fir_filter_fff.h>
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#endif
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#include <cmath>
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#include <string>
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#include <vector>
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@ -36,9 +36,13 @@
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#include "gnss_block_interface.h"
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#include "short_x2_to_cshort.h"
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#include "complex_float_to_complex_byte.h"
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#ifdef GR_GREATER_38
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#include <gnuradio/filter/freq_xlating_fir_filter.h>
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#else
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#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
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#include <gnuradio/filter/freq_xlating_fir_filter_fcf.h>
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#include <gnuradio/filter/freq_xlating_fir_filter_scf.h>
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#endif
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#include <gnuradio/blocks/file_sink.h>
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#include <gnuradio/blocks/complex_to_float.h>
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#include <gnuradio/blocks/char_to_short.h>
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@ -35,7 +35,11 @@
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#include "gnss_block_interface.h"
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#include "pulse_blanking_cc.h"
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#include <gnuradio/blocks/file_sink.h>
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#ifdef GR_GREATER_38
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#include <gnuradio/filter/freq_xlating_fir_filter.h>
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#else
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#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
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#endif
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#include <string>
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|
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class ConfigurationInterface;
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|
||||
@ -108,7 +108,7 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
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void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
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{
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std::string _galileo_signal = _Signal;
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const uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
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const uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
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int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
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galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
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||||
for (uint32_t i = 0; i < _codeLength; i++)
|
||||
|
||||
@ -32,9 +32,9 @@ include_directories(
|
||||
)
|
||||
|
||||
|
||||
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
add_definitions( -DGR_GREATER_38=1 )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
|
||||
|
||||
file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")
|
||||
|
||||
@ -87,7 +87,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
{
|
||||
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
|
||||
d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL;
|
||||
@ -98,12 +98,13 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
|
||||
// preamble bits to sampled symbols
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_secondary_code_samples = nullptr;
|
||||
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
|
||||
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
|
||||
DataLength = (CodeLength / nn) - mm;
|
||||
break;
|
||||
}
|
||||
case 2: //FNAV
|
||||
case 2: // FNAV
|
||||
{
|
||||
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
|
||||
d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
|
||||
@ -114,7 +115,6 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
|
||||
// preamble bits to sampled symbols
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
|
||||
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
|
||||
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
|
||||
@ -133,6 +133,17 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
break;
|
||||
}
|
||||
default:
|
||||
d_bits_per_preamble = 0;
|
||||
d_samples_per_preamble = 0;
|
||||
d_preamble_period_symbols = 0;
|
||||
d_preamble_samples = nullptr;
|
||||
d_secondary_code_samples = nullptr;
|
||||
d_samples_per_symbol = 0U;
|
||||
d_PRN_code_period_ms = 0U;
|
||||
d_required_symbols = 0U;
|
||||
d_frame_length_symbols = 0.0;
|
||||
CodeLength = 0;
|
||||
DataLength = 0;
|
||||
std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
|
||||
}
|
||||
|
||||
@ -142,7 +153,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
{
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
{
|
||||
if (GALILEO_INAV_PREAMBLE.at(i) == '1')
|
||||
{
|
||||
@ -162,7 +173,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 2: //FNAV for E5a-I
|
||||
case 2: // FNAV for E5a-I
|
||||
{
|
||||
// Galileo E5a data channel (E5a-I) still has a secondary code
|
||||
int m = 0;
|
||||
@ -412,6 +423,7 @@ void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
|
||||
{
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
@ -525,7 +537,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
// call the decoder
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
// NEW Galileo page part is received
|
||||
// 0. fetch the symbols into an array
|
||||
if (corr_value > 0) //normal PLL lock
|
||||
@ -544,7 +556,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
}
|
||||
decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
|
||||
break;
|
||||
case 2: //FNAV
|
||||
case 2: // FNAV
|
||||
// NEW Galileo page part is received
|
||||
// 0. fetch the symbols into an array
|
||||
if (corr_value > 0) //normal PLL lock
|
||||
@ -620,7 +632,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
{
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
{
|
||||
if (d_inav_nav.flag_TOW_set == true)
|
||||
{
|
||||
@ -647,7 +659,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 2: //FNAV
|
||||
case 2: // FNAV
|
||||
{
|
||||
if (d_fnav_nav.flag_TOW_set == true)
|
||||
{
|
||||
@ -692,7 +704,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
{
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
{
|
||||
if (d_inav_nav.flag_TOW_set == true)
|
||||
{
|
||||
@ -700,7 +712,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 2: //FNAV
|
||||
case 2: // FNAV
|
||||
{
|
||||
if (d_fnav_nav.flag_TOW_set == true)
|
||||
{
|
||||
@ -720,7 +732,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
|
||||
switch (d_frame_type)
|
||||
{
|
||||
case 1: //INAV
|
||||
case 1: // INAV
|
||||
{
|
||||
if (d_inav_nav.flag_TOW_set)
|
||||
{
|
||||
@ -734,7 +746,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
|
||||
break;
|
||||
}
|
||||
|
||||
case 2: //FNAV
|
||||
case 2: // FNAV
|
||||
{
|
||||
if (d_fnav_nav.flag_TOW_set)
|
||||
{
|
||||
|
||||
@ -29,8 +29,8 @@
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H
|
||||
#define GNSS_SDR_galileo_telemetry_decoder_cc_H
|
||||
#ifndef GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
|
||||
#define GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
|
||||
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
@ -56,7 +56,6 @@ galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_S
|
||||
|
||||
/*!
|
||||
* \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
|
||||
*
|
||||
*/
|
||||
class galileo_telemetry_decoder_cc : public gr::block
|
||||
{
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
/*!
|
||||
* \file GPS_L1_CA_KF_Tracking.h
|
||||
* \file gps_l1_ca_kf_tracking.h
|
||||
* \brief Interface of an adapter of a DLL + Kalman carrier
|
||||
* tracking loop block for GPS L1 C/A signals
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
|
||||
@ -98,9 +98,9 @@ if(ENABLE_AD9361)
|
||||
set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
|
||||
endif(ENABLE_AD9361)
|
||||
|
||||
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
add_definitions( -DGR_GREATER_38=1 )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
|
||||
|
||||
include_directories(
|
||||
|
||||
@ -55,7 +55,7 @@ if(NOT ${GTEST_DIR_LOCAL})
|
||||
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
|
||||
UPDATE_COMMAND ""
|
||||
PATCH_COMMAND ""
|
||||
INSTALL_COMMAND ""
|
||||
@ -67,7 +67,7 @@ if(NOT ${GTEST_DIR_LOCAL})
|
||||
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
|
||||
UPDATE_COMMAND ""
|
||||
PATCH_COMMAND ""
|
||||
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
|
||||
@ -136,6 +136,10 @@ if(Boost_VERSION LESS 105000)
|
||||
add_definitions(-DOLD_BOOST=1)
|
||||
endif(Boost_VERSION LESS 105000)
|
||||
|
||||
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
add_definitions( -DGR_GREATER_38=1 )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
|
||||
|
||||
if(OPENSSL_FOUND)
|
||||
add_definitions( -DUSE_OPENSSL_FALLBACK=1 )
|
||||
endif(OPENSSL_FOUND)
|
||||
@ -167,6 +171,10 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
add_definitions( -DGR_GREATER_38=1 )
|
||||
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
|
||||
|
||||
if(ENABLE_UNIT_TESTING_MINIMAL)
|
||||
add_definitions(-DUNIT_TESTING_MINIMAL=1)
|
||||
endif(ENABLE_UNIT_TESTING_MINIMAL)
|
||||
|
||||
|
||||
################################################################################
|
||||
# Optional generator
|
||||
|
||||
@ -28,6 +28,7 @@ include_directories(
|
||||
${GLOG_INCLUDE_DIRS}
|
||||
${GFlags_INCLUDE_DIRS}
|
||||
${MATIO_INCLUDE_DIRS}
|
||||
${ARMADILLO_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
|
||||
@ -37,5 +38,7 @@ add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LI
|
||||
source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
|
||||
|
||||
if(NOT MATIO_FOUND)
|
||||
add_dependencies(system_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION})
|
||||
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
|
||||
else(NOT MATIO_FOUND)
|
||||
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE})
|
||||
endif(NOT MATIO_FOUND)
|
||||
@ -1,5 +1,5 @@
|
||||
/*!
|
||||
* \file geofunctions.h
|
||||
* \file geofunctions.cc
|
||||
* \brief A set of coordinate transformations functions and helpers,
|
||||
* some of them migrated from MATLAB, for geographic information systems.
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
@ -30,10 +30,10 @@
|
||||
*/
|
||||
#include "geofunctions.h"
|
||||
|
||||
#define STRP_G_SI 9.80665
|
||||
#define STRP_PI 3.1415926535898 //!< Pi as defined in IS-GPS-200E
|
||||
const double STRP_G_SI = 9.80665;
|
||||
const double STRP_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
|
||||
|
||||
arma::mat Skew_symmetric(arma::vec a)
|
||||
arma::mat Skew_symmetric(const arma::vec &a)
|
||||
{
|
||||
arma::mat A = arma::zeros(3, 3);
|
||||
|
||||
@ -50,45 +50,43 @@ arma::mat Skew_symmetric(arma::vec a)
|
||||
|
||||
double WGS84_g0(double Lat_rad)
|
||||
{
|
||||
double k = 0.001931853; //normal gravity constant
|
||||
double e2 = 0.00669438002290; //the square of the first numerical eccentricity
|
||||
double nge = 9.7803253359; //normal gravity value on the equator (m/sec^2)
|
||||
double b = sin(Lat_rad); //Lat in degrees
|
||||
const double k = 0.001931853; // normal gravity constant
|
||||
const double e2 = 0.00669438002290; // the square of the first numerical eccentricity
|
||||
const double nge = 9.7803253359; // normal gravity value on the equator (m/sec^2)
|
||||
double b = sin(Lat_rad); // Lat in degrees
|
||||
b = b * b;
|
||||
double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
|
||||
return g0;
|
||||
}
|
||||
|
||||
|
||||
double WGS84_geocentric_radius(double Lat_geodetic_rad)
|
||||
{
|
||||
//WGS84 earth model Geocentric radius (Eq. 2.88)
|
||||
// WGS84 earth model Geocentric radius (Eq. 2.88)
|
||||
const double WGS84_A = 6378137.0; // Semi-major axis of the Earth, a [m]
|
||||
const double WGS84_IF = 298.257223563; // Inverse flattening of the Earth
|
||||
const double WGS84_F = (1.0 / WGS84_IF); // The flattening of the Earth
|
||||
// double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
|
||||
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); // Eccentricity of the Earth
|
||||
|
||||
double WGS84_A = 6378137.0; //Semi-major axis of the Earth, a [m]
|
||||
double WGS84_IF = 298.257223563; //Inverse flattening of the Earth
|
||||
double WGS84_F = (1 / WGS84_IF); //The flattening of the Earth
|
||||
//double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
|
||||
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); //Eccentricity of the Earth
|
||||
// transverse radius of curvature
|
||||
double R_E = WGS84_A / sqrt(1 - WGS84_E * WGS84_E * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.66)
|
||||
|
||||
//transverse radius of curvature
|
||||
double R_E = WGS84_A / sqrt(1 -
|
||||
WGS84_E * WGS84_E *
|
||||
sin(Lat_geodetic_rad) *
|
||||
sin(Lat_geodetic_rad)); // (Eq. 2.66)
|
||||
|
||||
//gocentric radius at the Earth surface
|
||||
// geocentric radius at the Earth surface
|
||||
double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
|
||||
(1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88)
|
||||
return r_eS;
|
||||
}
|
||||
|
||||
|
||||
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
|
||||
{
|
||||
double lambda;
|
||||
double phi;
|
||||
double h;
|
||||
double dtr = STRP_PI / 180.0;
|
||||
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
|
||||
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
|
||||
const double dtr = STRP_PI / 180.0;
|
||||
const double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
|
||||
const double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
|
||||
|
||||
// Transform x into geodetic coordinates
|
||||
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
|
||||
@ -98,19 +96,9 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
|
||||
double cb = cos(phi * dtr);
|
||||
double sb = sin(phi * dtr);
|
||||
|
||||
arma::mat F = arma::zeros(3, 3);
|
||||
|
||||
F(0, 0) = -sl;
|
||||
F(0, 1) = -sb * cl;
|
||||
F(0, 2) = cb * cl;
|
||||
|
||||
F(1, 0) = cl;
|
||||
F(1, 1) = -sb * sl;
|
||||
F(1, 2) = cb * sl;
|
||||
|
||||
F(2, 0) = 0;
|
||||
F(2, 1) = cb;
|
||||
F(2, 2) = sb;
|
||||
arma::mat F = {{-sl, -sb * cl, cb * cl},
|
||||
{cl, -sb * sl, cb * sl},
|
||||
{0.0, cb, sb}};
|
||||
|
||||
arma::vec local_vector;
|
||||
|
||||
@ -125,8 +113,8 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
|
||||
|
||||
if (hor_dis < 1.0E-20)
|
||||
{
|
||||
*Az = 0;
|
||||
*El = 90;
|
||||
*Az = 0.0;
|
||||
*El = 90.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -146,10 +134,10 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
|
||||
|
||||
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
|
||||
{
|
||||
*h = 0;
|
||||
double tolsq = 1.e-10; // tolerance to accept convergence
|
||||
int maxit = 10; // max number of iterations
|
||||
double rtd = 180.0 / STRP_PI;
|
||||
*h = 0.0;
|
||||
const double tolsq = 1.e-10; // tolerance to accept convergence
|
||||
const int maxit = 10; // max number of iterations
|
||||
const double rtd = 180.0 / STRP_PI;
|
||||
|
||||
// compute square of eccentricity
|
||||
double esq;
|
||||
@ -165,7 +153,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
|
||||
// first guess
|
||||
double P = sqrt(X * X + Y * Y); // P is distance from spin axis
|
||||
|
||||
//direct calculation of longitude
|
||||
// direct calculation of longitude
|
||||
if (P > 1.0E-20)
|
||||
{
|
||||
*dlambda = atan2(Y, X) * rtd;
|
||||
@ -198,7 +186,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
|
||||
// approximate distance from origin to surface of ellipsoid
|
||||
if (r < 1.0E-20)
|
||||
{
|
||||
*h = 0;
|
||||
*h = 0.0;
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -241,27 +229,28 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
|
||||
return 0;
|
||||
}
|
||||
|
||||
arma::mat Gravity_ECEF(arma::vec r_eb_e)
|
||||
|
||||
arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
|
||||
{
|
||||
//Parameters
|
||||
double R_0 = 6378137; //WGS84 Equatorial radius in meters
|
||||
double mu = 3.986004418E14; //WGS84 Earth gravitational constant (m^3 s^-2)
|
||||
double J_2 = 1.082627E-3; //WGS84 Earth's second gravitational constant
|
||||
double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
|
||||
// Parameters
|
||||
const double R_0 = 6378137; // WGS84 Equatorial radius in meters
|
||||
const double mu = 3.986004418E14; // WGS84 Earth gravitational constant (m^3 s^-2)
|
||||
const double J_2 = 1.082627E-3; // WGS84 Earth's second gravitational constant
|
||||
const double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
|
||||
// Calculate distance from center of the Earth
|
||||
double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
|
||||
// If the input position is 0,0,0, produce a dummy output
|
||||
arma::vec g = arma::zeros(3, 1);
|
||||
if (mag_r != 0)
|
||||
{
|
||||
//Calculate gravitational acceleration using (2.142)
|
||||
// Calculate gravitational acceleration using (2.142)
|
||||
double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
|
||||
arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
|
||||
(1 - z_scale) * r_eb_e(1),
|
||||
(3 - z_scale) * r_eb_e(2)};
|
||||
arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
|
||||
|
||||
//Add centripetal acceleration using (2.133)
|
||||
// Add centripetal acceleration using (2.133)
|
||||
g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
|
||||
g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
|
||||
g(2) = gamma_(2);
|
||||
@ -269,20 +258,23 @@ arma::mat Gravity_ECEF(arma::vec r_eb_e)
|
||||
return g;
|
||||
}
|
||||
|
||||
arma::vec LLH_to_deg(arma::vec LLH)
|
||||
|
||||
arma::vec LLH_to_deg(arma::vec &LLH)
|
||||
{
|
||||
double rtd = 180.0 / STRP_PI;
|
||||
const double rtd = 180.0 / STRP_PI;
|
||||
LLH(0) = LLH(0) * rtd;
|
||||
LLH(1) = LLH(1) * rtd;
|
||||
return LLH;
|
||||
}
|
||||
|
||||
|
||||
double degtorad(double angleInDegrees)
|
||||
{
|
||||
double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
|
||||
return angleInRadians;
|
||||
}
|
||||
|
||||
|
||||
double radtodeg(double angleInRadians)
|
||||
{
|
||||
double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
|
||||
@ -296,15 +288,17 @@ double mstoknotsh(double MetersPerSeconds)
|
||||
return knots;
|
||||
}
|
||||
|
||||
|
||||
double mstokph(double MetersPerSeconds)
|
||||
{
|
||||
double kph = 3600.0 * MetersPerSeconds / 1e3;
|
||||
return kph;
|
||||
}
|
||||
|
||||
arma::vec CTM_to_Euler(arma::mat C)
|
||||
|
||||
arma::vec CTM_to_Euler(arma::mat &C)
|
||||
{
|
||||
//Calculate Euler angles using (2.23)
|
||||
// Calculate Euler angles using (2.23)
|
||||
arma::vec eul = arma::zeros(3, 1);
|
||||
eul(0) = atan2(C(1, 2), C(2, 2)); // roll
|
||||
if (C(0, 2) < -1.0) C(0, 2) = -1.0;
|
||||
@ -314,18 +308,19 @@ arma::vec CTM_to_Euler(arma::mat C)
|
||||
return eul;
|
||||
}
|
||||
|
||||
arma::mat Euler_to_CTM(arma::vec eul)
|
||||
|
||||
arma::mat Euler_to_CTM(const arma::vec &eul)
|
||||
{
|
||||
//Eq.2.15
|
||||
//Euler angles to Attitude matrix is equivalent to rotate the body
|
||||
//in the three axes:
|
||||
// Eq.2.15
|
||||
// Euler angles to Attitude matrix is equivalent to rotate the body
|
||||
// in the three axes:
|
||||
// arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
|
||||
// arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
|
||||
// arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
|
||||
// arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
|
||||
// C_b_n=C_b_n.t();
|
||||
|
||||
//Precalculate sines and cosines of the Euler angles
|
||||
// Precalculate sines and cosines of the Euler angles
|
||||
double sin_phi = sin(eul(0));
|
||||
double cos_phi = cos(eul(0));
|
||||
double sin_theta = sin(eul(1));
|
||||
@ -333,21 +328,15 @@ arma::mat Euler_to_CTM(arma::vec eul)
|
||||
double sin_psi = sin(eul(2));
|
||||
double cos_psi = cos(eul(2));
|
||||
|
||||
arma::mat C = arma::zeros(3, 3);
|
||||
//Calculate coordinate transformation matrix using (2.22)
|
||||
C(0, 0) = cos_theta * cos_psi;
|
||||
C(0, 1) = cos_theta * sin_psi;
|
||||
C(0, 2) = -sin_theta;
|
||||
C(1, 0) = -cos_phi * sin_psi + sin_phi * sin_theta * cos_psi;
|
||||
C(1, 1) = cos_phi * cos_psi + sin_phi * sin_theta * sin_psi;
|
||||
C(1, 2) = sin_phi * cos_theta;
|
||||
C(2, 0) = sin_phi * sin_psi + cos_phi * sin_theta * cos_psi;
|
||||
C(2, 1) = -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi;
|
||||
C(2, 2) = cos_phi * cos_theta;
|
||||
// Calculate coordinate transformation matrix using (2.22)
|
||||
arma::mat C = {{cos_theta * cos_psi, cos_theta * sin_psi, -sin_theta},
|
||||
{-cos_phi * sin_psi + sin_phi * sin_theta * cos_psi, cos_phi * cos_psi + sin_phi * sin_theta * sin_psi, sin_phi * cos_theta},
|
||||
{sin_phi * sin_psi + cos_phi * sin_theta * cos_psi, -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi, cos_phi * cos_theta}};
|
||||
return C;
|
||||
}
|
||||
|
||||
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
|
||||
|
||||
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
|
||||
{
|
||||
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
|
||||
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
|
||||
@ -380,37 +369,37 @@ arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
|
||||
return LLH;
|
||||
}
|
||||
|
||||
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
|
||||
|
||||
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
|
||||
{
|
||||
//Compute the Latitude of the ECEF position
|
||||
LLH = cart2geo(r_eb_e, 4); //ECEF -> WGS84 geographical
|
||||
// Compute the Latitude of the ECEF position
|
||||
LLH = cart2geo(r_eb_e, 4); // ECEF -> WGS84 geographical
|
||||
|
||||
// Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
|
||||
double cos_lat = cos(LLH(0));
|
||||
double sin_lat = sin(LLH(0));
|
||||
double cos_long = cos(LLH(1));
|
||||
double sin_long = sin(LLH(1));
|
||||
//C++11 and arma >= 5.2
|
||||
// C++11 and arma >= 5.2
|
||||
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
|
||||
// {-sin_long, cos_long, 0},
|
||||
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
|
||||
|
||||
//C++98 arma <5.2
|
||||
arma::mat C_e_n = arma::zeros(3, 3);
|
||||
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
|
||||
<< -sin_long << cos_long << 0 << arma::endr
|
||||
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; //ECEF to Geo
|
||||
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; // ECEF to Geo
|
||||
// Transform velocity using (2.73)
|
||||
v_eb_n = C_e_n * v_eb_e;
|
||||
|
||||
C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED
|
||||
}
|
||||
|
||||
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
|
||||
|
||||
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)
|
||||
{
|
||||
// Parameters
|
||||
double R_0 = 6378137; //WGS84 Equatorial radius in meters
|
||||
double e = 0.0818191908425; //WGS84 eccentricity
|
||||
double R_0 = 6378137; // WGS84 Equatorial radius in meters
|
||||
double e = 0.0818191908425; // WGS84 eccentricity
|
||||
|
||||
// Calculate transverse radius of curvature using (2.105)
|
||||
double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
|
||||
@ -424,13 +413,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
|
||||
(R_E + LLH(2)) * cos_lat * sin_long,
|
||||
((1 - e * e) * R_E + LLH(2)) * sin_lat};
|
||||
|
||||
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
|
||||
//C++11 and arma>=5.2
|
||||
// Calculate ECEF to Geo coordinate transformation matrix using (2.150)
|
||||
// C++11 and arma>=5.2
|
||||
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
|
||||
// {-sin_long, cos_long, 0},
|
||||
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
|
||||
//C++98 arma <5.2
|
||||
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
|
||||
arma::mat C_e_n = arma::zeros(3, 3);
|
||||
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
|
||||
<< -sin_long << cos_long << 0 << arma::endr
|
||||
@ -444,11 +431,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
|
||||
}
|
||||
|
||||
|
||||
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
|
||||
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)
|
||||
{
|
||||
//% Parameters
|
||||
double R_0 = 6378137; //WGS84 Equatorial radius in meters
|
||||
double e = 0.0818191908425; //WGS84 eccentricity
|
||||
// Parameters
|
||||
const double R_0 = 6378137; // WGS84 Equatorial radius in meters
|
||||
const double e = 0.0818191908425; // WGS84 eccentricity
|
||||
|
||||
// Calculate transverse radius of curvature using (2.105)
|
||||
double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));
|
||||
|
||||
@ -29,72 +29,72 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GEOFUNCTIONS_H
|
||||
#define GEOFUNCTIONS_H
|
||||
#ifndef GNSS_SDR_GEOFUNCTIONS_H
|
||||
#define GNSS_SDR_GEOFUNCTIONS_H
|
||||
|
||||
#include <armadillo>
|
||||
// %Skew_symmetric - Calculates skew-symmetric matrix
|
||||
arma::mat Skew_symmetric(arma::vec a);
|
||||
|
||||
arma::mat Skew_symmetric(const arma::vec &a); //!< Calculates skew-symmetric matrix
|
||||
|
||||
double WGS84_g0(double Lat_rad);
|
||||
|
||||
double WGS84_geocentric_radius(double Lat_geodetic_rad);
|
||||
|
||||
/* Transformation of vector dx into topocentric coordinate
|
||||
system with origin at x
|
||||
Inputs:
|
||||
x - vector origin coordinates (in ECEF system [X; Y; Z;])
|
||||
dx - vector ([dX; dY; dZ;]).
|
||||
|
||||
Outputs:
|
||||
D - vector length. Units like the input
|
||||
Az - azimuth from north positive clockwise, degrees
|
||||
El - elevation angle, degrees
|
||||
|
||||
Based on a Matlab function by Kai Borre
|
||||
/*!
|
||||
* \brief Transformation of vector dx into topocentric coordinate
|
||||
* system with origin at x
|
||||
* Inputs:
|
||||
* x - vector origin coordinates (in ECEF system [X; Y; Z;])
|
||||
* dx - vector ([dX; dY; dZ;]).
|
||||
*
|
||||
* Outputs:
|
||||
* D - vector length. Units like the input
|
||||
* Az - azimuth from north positive clockwise, degrees
|
||||
* El - elevation angle, degrees
|
||||
*
|
||||
* Based on a Matlab function by Kai Borre
|
||||
*/
|
||||
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
|
||||
|
||||
/* Subroutine to calculate geodetic coordinates latitude, longitude,
|
||||
height given Cartesian coordinates X,Y,Z, and reference ellipsoid
|
||||
values semi-major axis (a) and the inverse of flattening (finv).
|
||||
|
||||
The output units of angular quantities will be in decimal degrees
|
||||
(15.5 degrees not 15 deg 30 min). The output units of h will be the
|
||||
same as the units of X,Y,Z,a.
|
||||
|
||||
Inputs:
|
||||
a - semi-major axis of the reference ellipsoid
|
||||
finv - inverse of flattening of the reference ellipsoid
|
||||
X,Y,Z - Cartesian coordinates
|
||||
|
||||
Outputs:
|
||||
dphi - latitude
|
||||
dlambda - longitude
|
||||
h - height above reference ellipsoid
|
||||
|
||||
Based in a Matlab function by Kai Borre
|
||||
/*!
|
||||
* \brief Subroutine to calculate geodetic coordinates latitude, longitude,
|
||||
* height given Cartesian coordinates X,Y,Z, and reference ellipsoid
|
||||
* values semi-major axis (a) and the inverse of flattening (finv).
|
||||
*
|
||||
* The output units of angular quantities will be in decimal degrees
|
||||
* (15.5 degrees not 15 deg 30 min). The output units of h will be the
|
||||
* same as the units of X,Y,Z,a.
|
||||
*
|
||||
* Inputs:
|
||||
* a - semi-major axis of the reference ellipsoid
|
||||
* finv - inverse of flattening of the reference ellipsoid
|
||||
* X,Y,Z - Cartesian coordinates
|
||||
*
|
||||
* Outputs:
|
||||
* dphi - latitude
|
||||
* dlambda - longitude
|
||||
* h - height above reference ellipsoid
|
||||
*
|
||||
* Based in a Matlab function by Kai Borre
|
||||
*/
|
||||
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
|
||||
|
||||
arma::mat Gravity_ECEF(const arma::vec &r_eb_e); //!< Calculates acceleration due to gravity resolved about ECEF-frame
|
||||
|
||||
//Gravitation_ECI - Calculates acceleration due to gravity resolved about
|
||||
//ECEF-frame
|
||||
arma::mat Gravity_ECEF(arma::vec r_eb_e);
|
||||
|
||||
/* Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||
coordinates (latitude, longitude, h) on a selected reference ellipsoid.
|
||||
|
||||
Choices of Reference Ellipsoid for Geographical Coordinates
|
||||
0. International Ellipsoid 1924
|
||||
1. International Ellipsoid 1967
|
||||
2. World Geodetic System 1972
|
||||
3. Geodetic Reference System 1980
|
||||
4. World Geodetic System 1984
|
||||
/*!
|
||||
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||
* coordinates (latitude, longitude, h) on a selected reference ellipsoid.
|
||||
*
|
||||
* Choices of Reference Ellipsoid for Geographical Coordinates
|
||||
* 0. International Ellipsoid 1924
|
||||
* 1. International Ellipsoid 1967
|
||||
* 2. World Geodetic System 1972
|
||||
* 3. Geodetic Reference System 1980
|
||||
* 4. World Geodetic System 1984
|
||||
*/
|
||||
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection);
|
||||
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
|
||||
|
||||
arma::vec LLH_to_deg(arma::vec LLH);
|
||||
arma::vec LLH_to_deg(arma::vec &LLH);
|
||||
|
||||
double degtorad(double angleInDegrees);
|
||||
|
||||
@ -104,53 +104,51 @@ double mstoknotsh(double MetersPerSeconds);
|
||||
|
||||
double mstokph(double Kph);
|
||||
|
||||
arma::vec CTM_to_Euler(arma::mat &C);
|
||||
|
||||
arma::vec CTM_to_Euler(arma::mat C);
|
||||
arma::mat Euler_to_CTM(const arma::vec &eul);
|
||||
|
||||
arma::mat Euler_to_CTM(arma::vec eul);
|
||||
|
||||
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
|
||||
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
|
||||
|
||||
|
||||
// %
|
||||
// % Inputs:
|
||||
// % L_b latitude (rad)
|
||||
// % lambda_b longitude (rad)
|
||||
// % h_b height (m)
|
||||
// % v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
// % north, east, and down (m/s)
|
||||
// % C_b_n body-to-NED coordinate transformation matrix
|
||||
// %
|
||||
// % Outputs:
|
||||
// % r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
|
||||
// % along ECEF-frame axes (m)
|
||||
// % v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
// % ECEF-frame axes (m/s)
|
||||
// % C_b_e body-to-ECEF-frame coordinate transformation matrix
|
||||
//
|
||||
// % Copyright 2012, Paul Groves
|
||||
// % License: BSD; see license.txt for details
|
||||
|
||||
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
|
||||
/*!
|
||||
* \brief From Geographic to ECEF coordinates
|
||||
*
|
||||
* Inputs:
|
||||
* LLH latitude (rad), longitude (rad), height (m)
|
||||
* v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
* north, east, and down (m/s)
|
||||
* C_b_n body-to-NED coordinate transformation matrix
|
||||
*
|
||||
* Outputs:
|
||||
* r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
|
||||
* along ECEF-frame axes (m)
|
||||
* v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
* ECEF-frame axes (m/s)
|
||||
* C_b_e body-to-ECEF-frame coordinate transformation matrix
|
||||
*
|
||||
*/
|
||||
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);
|
||||
|
||||
|
||||
//pv_Geo_to_ECEF - Converts curvilinear to Cartesian position and velocity
|
||||
//resolving axes from NED to ECEF
|
||||
//This function created 11/4/2012 by Paul Groves
|
||||
//%
|
||||
//% Inputs:
|
||||
//% L_b latitude (rad)
|
||||
//% lambda_b longitude (rad)
|
||||
//% h_b height (m)
|
||||
//% v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
//% north, east, and down (m/s)
|
||||
//%
|
||||
//% Outputs:
|
||||
//% r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
|
||||
//% along ECEF-frame axes (m)
|
||||
//% v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
//% ECEF-frame axes (m/s)
|
||||
|
||||
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
|
||||
/*!
|
||||
* \brief Converts curvilinear to Cartesian position and velocity
|
||||
* resolving axes from NED to ECEF
|
||||
* This function created 11/4/2012 by Paul Groves
|
||||
*
|
||||
* Inputs:
|
||||
* L_b latitude (rad)
|
||||
* lambda_b longitude (rad)
|
||||
* h_b height (m)
|
||||
* v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
* north, east, and down (m/s)
|
||||
*
|
||||
* Outputs:
|
||||
* r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
|
||||
* along ECEF-frame axes (m)
|
||||
* v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
|
||||
* ECEF-frame axes (m/s)
|
||||
*/
|
||||
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);
|
||||
|
||||
#endif
|
||||
|
||||
@ -29,54 +29,40 @@
|
||||
*/
|
||||
|
||||
#include "rtklib_solver_dump_reader.h"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
bool rtklib_solver_dump_reader::read_binary_obs()
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(TOW_at_current_symbol_ms));
|
||||
// std::cout << "TOW_at_current_symbol_ms: " << TOW_at_current_symbol_ms << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(week));
|
||||
// std::cout << "week: " << week << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(RX_time));
|
||||
// std::cout << "RX_time: " << RX_time << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(clk_offset_s));
|
||||
// std::cout << "clk_offset_s: " << clk_offset_s << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(rr));
|
||||
// for (int n = 0; n < 6; n++)
|
||||
// {
|
||||
// std::cout << "rr: " << rr[n] << std::endl;
|
||||
// }
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(qr));
|
||||
// for (int n = 0; n < 6; n++)
|
||||
// {
|
||||
// std::cout << "qr" << qr[n] << std::endl;
|
||||
// }
|
||||
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude));
|
||||
std::cout << "latitude: " << latitude << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude));
|
||||
std::cout << "longitude: " << longitude << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height));
|
||||
std::cout << "height: " << height << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns));
|
||||
// std::cout << "ns: " << (int)ns << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status));
|
||||
// std::cout << "status: " << (int)status << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(type));
|
||||
// std::cout << "type: " << (int)type << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(AR_ratio));
|
||||
// std::cout << "AR_ratio: " << AR_ratio << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(AR_thres));
|
||||
// std::cout << "AR_thres: " << AR_thres << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(dop));
|
||||
|
||||
// for (int n = 0; n < 4; n++)
|
||||
// {
|
||||
// std::cout << "dop" << dop[n] << std::endl;
|
||||
// }
|
||||
// getchar();
|
||||
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(uint32_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(uint32_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[1]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[2]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[3]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[4]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&rr[5]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[1]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[2]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[3]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[4]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&qr[5]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(uint8_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(uint8_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(uint8_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&dop[1]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&dop[2]), sizeof(double));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&dop[3]), sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
@ -103,22 +89,19 @@ bool rtklib_solver_dump_reader::restart()
|
||||
|
||||
int64_t rtklib_solver_dump_reader::num_epochs()
|
||||
{
|
||||
// std::ifstream::pos_type size;
|
||||
// int number_of_double_vars = 1;
|
||||
// int number_of_float_vars = 17;
|
||||
// int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
||||
// sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
// std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
// if (tmpfile.is_open())
|
||||
// {
|
||||
// size = tmpfile.tellg();
|
||||
// int64_t nepoch = size / epoch_size_bytes;
|
||||
// return nepoch;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
std::ifstream::pos_type size;
|
||||
int epoch_size_bytes = 2 * sizeof(uint32_t) + 21 * sizeof(double) + 3 * sizeof(uint8_t) + 2 * sizeof(float);
|
||||
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
if (tmpfile.is_open())
|
||||
{
|
||||
size = tmpfile.tellg();
|
||||
int64_t nepoch = size / epoch_size_bytes;
|
||||
return nepoch;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -45,7 +45,7 @@ public:
|
||||
int64_t num_epochs();
|
||||
bool open_obs_file(std::string out_file);
|
||||
|
||||
//rtklib_solver dump variables
|
||||
// rtklib_solver dump variables
|
||||
// TOW
|
||||
uint32_t TOW_at_current_symbol_ms;
|
||||
// WEEK
|
||||
@ -57,7 +57,7 @@ public:
|
||||
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
|
||||
double rr[6];
|
||||
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
|
||||
float qr[6];
|
||||
double qr[6];
|
||||
|
||||
// GEO user position Latitude [deg]
|
||||
double latitude;
|
||||
@ -72,12 +72,12 @@ public:
|
||||
uint8_t status;
|
||||
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
|
||||
uint8_t type;
|
||||
//AR ratio factor for validation
|
||||
// AR ratio factor for validation
|
||||
float AR_ratio;
|
||||
//AR ratio threshold for validation
|
||||
// AR ratio threshold for validation
|
||||
float AR_thres;
|
||||
|
||||
//GDOP//PDOP//HDOP//VDOP
|
||||
// GDOP / PDOP / HDOP / VDOP
|
||||
double dop[4];
|
||||
|
||||
private:
|
||||
|
||||
@ -29,8 +29,63 @@
|
||||
*/
|
||||
|
||||
#include "spirent_motion_csv_dump_reader.h"
|
||||
#include <boost/tokenizer.hpp>
|
||||
#include <iostream>
|
||||
|
||||
|
||||
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
|
||||
{
|
||||
header_lines = 2;
|
||||
TOW_ms = 0.0;
|
||||
Pos_X = 0.0;
|
||||
Pos_Y = 0.0;
|
||||
Pos_Z = 0.0;
|
||||
Vel_X = 0.0;
|
||||
Vel_Y = 0.0;
|
||||
Vel_Z = 0.0;
|
||||
Acc_X = 0.0;
|
||||
Acc_Y = 0.0;
|
||||
Acc_Z = 0.0;
|
||||
Jerk_X = 0.0;
|
||||
Jerk_Y = 0.0;
|
||||
Jerk_Z = 0.0;
|
||||
Lat = 0.0;
|
||||
Long = 0.0;
|
||||
Height = 0.0;
|
||||
Heading = 0.0;
|
||||
Elevation = 0.0;
|
||||
Bank = 0.0;
|
||||
Ang_vel_X = 0.0;
|
||||
Ang_vel_Y = 0.0;
|
||||
Ang_vel_Z = 0.0;
|
||||
Ang_acc_X = 0.0;
|
||||
Ang_acc_Y = 0.0;
|
||||
Ang_acc_Z = 0.0;
|
||||
Ant1_Pos_X = 0.0;
|
||||
Ant1_Pos_Y = 0.0;
|
||||
Ant1_Pos_Z = 0.0;
|
||||
Ant1_Vel_X = 0.0;
|
||||
Ant1_Vel_Y = 0.0;
|
||||
Ant1_Vel_Z = 0.0;
|
||||
Ant1_Acc_X = 0.0;
|
||||
Ant1_Acc_Y = 0.0;
|
||||
Ant1_Acc_Z = 0.0;
|
||||
Ant1_Lat = 0.0;
|
||||
Ant1_Long = 0.0;
|
||||
Ant1_Height = 0.0;
|
||||
Ant1_DOP = 0.0;
|
||||
}
|
||||
|
||||
|
||||
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
|
||||
{
|
||||
if (d_dump_file.is_open() == true)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool spirent_motion_csv_dump_reader::read_csv_obs()
|
||||
{
|
||||
try
|
||||
@ -54,6 +109,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
|
||||
vec.push_back(0.0);
|
||||
}
|
||||
}
|
||||
parse_vector(vec);
|
||||
}
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
@ -63,6 +119,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
|
||||
{
|
||||
try
|
||||
@ -113,6 +170,8 @@ bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool spirent_motion_csv_dump_reader::restart()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
@ -135,13 +194,15 @@ bool spirent_motion_csv_dump_reader::restart()
|
||||
|
||||
int64_t spirent_motion_csv_dump_reader::num_epochs()
|
||||
{
|
||||
int64_t nepoch = 0;
|
||||
int64_t nepoch = 0LL;
|
||||
std::string line;
|
||||
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
std::ifstream tmpfile(d_dump_filename.c_str());
|
||||
if (tmpfile.is_open())
|
||||
{
|
||||
while (std::getline(tmpfile, line))
|
||||
{
|
||||
++nepoch;
|
||||
}
|
||||
return nepoch - header_lines;
|
||||
}
|
||||
else
|
||||
@ -179,6 +240,7 @@ bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void spirent_motion_csv_dump_reader::close_obs_file()
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
@ -186,17 +248,3 @@ void spirent_motion_csv_dump_reader::close_obs_file()
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
|
||||
{
|
||||
header_lines = 2;
|
||||
}
|
||||
|
||||
|
||||
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
|
||||
{
|
||||
if (d_dump_file.is_open() == true)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
@ -28,10 +28,9 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_spirent_motion_csv_dump_READER_H
|
||||
#define GNSS_SDR_spirent_motion_csv_dump_READER_H
|
||||
#ifndef GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
|
||||
#define GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
|
||||
|
||||
#include <boost/tokenizer.hpp>
|
||||
#include <cstdint>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
@ -49,7 +48,7 @@ public:
|
||||
void close_obs_file();
|
||||
|
||||
int header_lines;
|
||||
//dump variables
|
||||
// dump variables
|
||||
double TOW_ms;
|
||||
double Pos_X;
|
||||
double Pos_Y;
|
||||
@ -95,4 +94,4 @@ private:
|
||||
bool parse_vector(std::vector<double> &vec);
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_spirent_motion_csv_dump_READER_H
|
||||
#endif // GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
|
||||
|
||||
@ -59,7 +59,7 @@
|
||||
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
|
||||
class StaticPositionSystemTest : public ::testing::Test
|
||||
class PositionSystemTest : public ::testing::Test
|
||||
{
|
||||
public:
|
||||
int configure_generator();
|
||||
@ -67,6 +67,7 @@ public:
|
||||
int configure_receiver();
|
||||
int run_receiver();
|
||||
void check_results();
|
||||
std::string config_filename_no_extension;
|
||||
|
||||
private:
|
||||
std::string generator_binary;
|
||||
@ -100,7 +101,7 @@ private:
|
||||
};
|
||||
|
||||
|
||||
void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
|
||||
void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
|
||||
double* x, double* y, double* z)
|
||||
{
|
||||
const double a = 6378137.0; // WGS84
|
||||
@ -125,7 +126,7 @@ void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double
|
||||
}
|
||||
|
||||
|
||||
void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
|
||||
void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
|
||||
double* east, double* north, double* up)
|
||||
{
|
||||
double x, y, z;
|
||||
@ -168,7 +169,7 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
|
||||
}
|
||||
|
||||
|
||||
double StaticPositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
|
||||
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();
|
||||
@ -181,7 +182,7 @@ double StaticPositionSystemTest::compute_stdev_precision(const std::vector<doubl
|
||||
}
|
||||
|
||||
|
||||
double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
|
||||
double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
|
||||
{
|
||||
const double mean__ = ref;
|
||||
double accum__ = 0.0;
|
||||
@ -193,7 +194,7 @@ double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double
|
||||
}
|
||||
|
||||
|
||||
int StaticPositionSystemTest::configure_generator()
|
||||
int PositionSystemTest::configure_generator()
|
||||
{
|
||||
// Configure signal generator
|
||||
generator_binary = FLAGS_generator_binary;
|
||||
@ -215,7 +216,7 @@ int StaticPositionSystemTest::configure_generator()
|
||||
}
|
||||
|
||||
|
||||
int StaticPositionSystemTest::generate_signal()
|
||||
int PositionSystemTest::generate_signal()
|
||||
{
|
||||
pid_t wait_result;
|
||||
int child_status;
|
||||
@ -238,7 +239,7 @@ int StaticPositionSystemTest::generate_signal()
|
||||
}
|
||||
|
||||
|
||||
int StaticPositionSystemTest::configure_receiver()
|
||||
int PositionSystemTest::configure_receiver()
|
||||
{
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
@ -407,7 +408,7 @@ int StaticPositionSystemTest::configure_receiver()
|
||||
}
|
||||
|
||||
|
||||
int StaticPositionSystemTest::run_receiver()
|
||||
int PositionSystemTest::run_receiver()
|
||||
{
|
||||
std::shared_ptr<ControlThread> control_thread;
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
@ -448,20 +449,30 @@ int StaticPositionSystemTest::run_receiver()
|
||||
{
|
||||
std::string aux = std::string(buffer);
|
||||
EXPECT_EQ(aux.empty(), false);
|
||||
StaticPositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
|
||||
PositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
|
||||
}
|
||||
pclose(fp);
|
||||
EXPECT_EQ(StaticPositionSystemTest::generated_kml_file.empty(), false);
|
||||
EXPECT_EQ(PositionSystemTest::generated_kml_file.empty(), false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void StaticPositionSystemTest::check_results()
|
||||
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::vec receiver_time_s;
|
||||
|
||||
arma::mat ref_R_eb_e; //ECEF position (x,y,z) reference in the Earth frame (Nx3)
|
||||
arma::mat ref_V_eb_e; //ECEF velocity (x,y,z) reference in the Earth frame (Nx3)
|
||||
arma::mat ref_LLH; //Geodetic coordinates (latitude, longitude, height) reference in WGS84 datum
|
||||
arma::vec ref_time_s;
|
||||
|
||||
std::istringstream iss2(FLAGS_static_position);
|
||||
std::string str_aux;
|
||||
std::getline(iss2, str_aux, ',');
|
||||
@ -477,7 +488,7 @@ void StaticPositionSystemTest::check_results()
|
||||
if (!FLAGS_use_pvt_solver_dump)
|
||||
{
|
||||
//fall back to read receiver KML output (position only)
|
||||
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in);
|
||||
std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in);
|
||||
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
|
||||
std::string line;
|
||||
// Skip header
|
||||
@ -538,6 +549,12 @@ void StaticPositionSystemTest::check_results()
|
||||
//use complete binary dump from pvt solver
|
||||
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);
|
||||
receiver_time_s = arma::zeros(n_epochs, 1);
|
||||
int64_t current_epoch = 0;
|
||||
while (pvt_reader.read_binary_obs())
|
||||
{
|
||||
double north, east, up;
|
||||
@ -548,7 +565,27 @@ void StaticPositionSystemTest::check_results()
|
||||
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;
|
||||
|
||||
//debug check
|
||||
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
|
||||
// std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
|
||||
// std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
|
||||
// getchar();
|
||||
current_epoch++;
|
||||
}
|
||||
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
|
||||
}
|
||||
|
||||
// compute results
|
||||
@ -572,19 +609,22 @@ void StaticPositionSystemTest::check_results()
|
||||
|
||||
std::stringstream stm;
|
||||
std::ofstream position_test_file;
|
||||
|
||||
if (!FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
|
||||
}
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
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, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [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(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
|
||||
stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [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;
|
||||
}
|
||||
|
||||
@ -598,7 +638,7 @@ void StaticPositionSystemTest::check_results()
|
||||
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
|
||||
|
||||
std::cout << stm.rdbuf();
|
||||
std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
|
||||
std::string output_filename = "position_test_output_" + PositionSystemTest::generated_kml_file.erase(PositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
|
||||
position_test_file.open(output_filename.c_str());
|
||||
if (position_test_file.is_open())
|
||||
{
|
||||
@ -618,11 +658,192 @@ void StaticPositionSystemTest::check_results()
|
||||
else
|
||||
{
|
||||
//dynamic position
|
||||
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_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;
|
||||
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::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;
|
||||
}
|
||||
|
||||
//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);
|
||||
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++)
|
||||
{
|
||||
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 statistics
|
||||
arma::vec tmp_vec;
|
||||
//RMSE, Mean, Variance and peaks
|
||||
tmp_vec = arma::square(error_module_R_eb_e);
|
||||
double rmse_R_eb_e = sqrt(arma::mean(tmp_vec));
|
||||
double error_mean_R_eb_e = arma::mean(error_module_R_eb_e);
|
||||
double error_var_R_eb_e = arma::var(error_module_R_eb_e);
|
||||
double max_error_R_eb_e = arma::max(error_module_R_eb_e);
|
||||
double min_error_R_eb_e = arma::min(error_module_R_eb_e);
|
||||
|
||||
tmp_vec = arma::square(error_module_V_eb_e);
|
||||
double rmse_V_eb_e = sqrt(arma::mean(tmp_vec));
|
||||
double error_mean_V_eb_e = arma::mean(error_module_V_eb_e);
|
||||
double error_var_V_eb_e = arma::var(error_module_V_eb_e);
|
||||
double max_error_V_eb_e = arma::max(error_module_V_eb_e);
|
||||
double min_error_V_eb_e = arma::min(error_module_V_eb_e);
|
||||
|
||||
//report
|
||||
std::cout << "----- Position and Velocity 3D ECEF error statistics -----" << std::endl;
|
||||
if (!FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
std::cout << "---- Configuration file: " << FLAGS_config_file_ptest << std::endl;
|
||||
}
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "---- 3D ECEF Position RMSE = "
|
||||
<< rmse_R_eb_e << ", mean = " << error_mean_R_eb_e
|
||||
<< ", stdev = " << sqrt(error_var_R_eb_e)
|
||||
<< " (max,min) = " << max_error_R_eb_e
|
||||
<< "," << min_error_R_eb_e
|
||||
<< " [m]" << std::endl;
|
||||
std::cout << "---- 3D ECEF Velocity RMSE = "
|
||||
<< rmse_V_eb_e << ", mean = " << error_mean_V_eb_e
|
||||
<< ", stdev = " << sqrt(error_var_V_eb_e)
|
||||
<< " (max,min) = " << max_error_V_eb_e
|
||||
<< "," << min_error_V_eb_e
|
||||
<< " [m/s]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
|
||||
//plots
|
||||
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
|
||||
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);
|
||||
|
||||
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 StaticPositionSystemTest::print_results(const std::vector<double>& east,
|
||||
void PositionSystemTest::print_results(const std::vector<double>& east,
|
||||
const std::vector<double>& north,
|
||||
const std::vector<double>& up)
|
||||
{
|
||||
@ -687,9 +908,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
|
||||
|
||||
g1.cmd("set grid front");
|
||||
g1.cmd("replot");
|
||||
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g1.savetops("Position_test_2D");
|
||||
g1.savetopdf("Position_test_2D", 18);
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.savetops("Position_test_2D_" + config_filename_no_extension);
|
||||
g1.savetopdf("Position_test_2D_" + config_filename_no_extension, 18);
|
||||
}
|
||||
|
||||
Gnuplot g2("points");
|
||||
if (FLAGS_show_plots)
|
||||
@ -715,10 +943,17 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
|
||||
std::to_string(ninty_sas) +
|
||||
"\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n");
|
||||
g2.plot_xyz(east, north, up, "3D Position Fixes");
|
||||
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
g2.savetops("Position_test_3D");
|
||||
g2.savetopdf("Position_test_3D");
|
||||
}
|
||||
else
|
||||
{
|
||||
g2.savetops("Position_test_3D_" + config_filename_no_extension);
|
||||
g2.savetopdf("Position_test_3D_" + config_filename_no_extension);
|
||||
}
|
||||
}
|
||||
catch (const GnuplotException& ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
@ -726,7 +961,7 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(StaticPositionSystemTest, Position_system_test)
|
||||
TEST_F(PositionSystemTest, Position_system_test)
|
||||
{
|
||||
if (FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
@ -739,6 +974,11 @@ TEST_F(StaticPositionSystemTest, Position_system_test)
|
||||
generate_signal();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
config_filename_no_extension = FLAGS_config_file_ptest.substr(FLAGS_config_file_ptest.find_last_of("/\\") + 1);
|
||||
config_filename_no_extension = config_filename_no_extension.erase(config_filename_no_extension.length() - 5);
|
||||
}
|
||||
|
||||
// Configure receiver
|
||||
configure_receiver();
|
||||
|
||||
@ -69,6 +69,21 @@ using google::LogMessage;
|
||||
|
||||
DECLARE_string(log_dir);
|
||||
|
||||
#if UNIT_TESTING_MINIMAL
|
||||
|
||||
#include "unit-tests/arithmetic/matio_test.cc"
|
||||
#if EXTRA_TESTS
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
|
||||
#if ENABLE_FPGA
|
||||
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
|
||||
#endif
|
||||
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
|
||||
#endif
|
||||
|
||||
|
||||
#else
|
||||
|
||||
#include "unit-tests/arithmetic/complex_carrier_test.cc"
|
||||
#include "unit-tests/arithmetic/conjugate_test.cc"
|
||||
#include "unit-tests/arithmetic/magnitude_squared_test.cc"
|
||||
@ -138,11 +153,16 @@ DECLARE_string(log_dir);
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc"
|
||||
#endif
|
||||
|
||||
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
|
||||
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
|
||||
#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"
|
||||
|
||||
|
||||
#if EXTRA_TESTS
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
|
||||
@ -158,9 +178,7 @@ DECLARE_string(log_dir);
|
||||
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
|
||||
#endif
|
||||
|
||||
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
|
||||
#endif // UNIT_TESTING_MINIMAL
|
||||
|
||||
// For GPS NAVIGATION (L1)
|
||||
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||
|
||||
@ -37,6 +37,10 @@
|
||||
#include "glonass_l2_ca_pcps_acquisition.h"
|
||||
#include "gps_l2_m_pcps_acquisition.h"
|
||||
#include "gps_l5i_pcps_acquisition.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "file_configuration.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "acquisition_dump_reader.h"
|
||||
#include "display.h"
|
||||
#include "gnuplot_i.h"
|
||||
#include "signal_generator_flags.h"
|
||||
@ -45,6 +49,8 @@
|
||||
#include "true_observables_reader.h"
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
|
||||
@ -45,7 +45,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -37,7 +37,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -36,7 +36,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
|
||||
@ -39,7 +39,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
|
||||
@ -36,7 +36,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -33,7 +33,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -37,7 +37,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -38,7 +38,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -36,7 +36,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/throttle.h>
|
||||
|
||||
@ -36,7 +36,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
|
||||
@ -37,7 +37,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -36,7 +36,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -37,7 +37,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/interleaved_short_to_complex.h>
|
||||
#include <gnuradio/blocks/char_to_short.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <gflags/gflags.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <gflags/gflags.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <gflags/gflags.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <gflags/gflags.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
|
||||
set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
|
||||
acquisition_dump_reader.cc
|
||||
acquisition_msg_rx.cc
|
||||
tracking_dump_reader.cc
|
||||
tlm_dump_reader.cc
|
||||
observables_dump_reader.cc
|
||||
|
||||
@ -0,0 +1,70 @@
|
||||
/*!
|
||||
* \file acquisition_msg_rx.cc
|
||||
* \brief This is a helper class to catch the asynchronous messages
|
||||
* emitted by an acquisition block.
|
||||
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2018 (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 "acquisition_msg_rx.h"
|
||||
#include <cstdint>
|
||||
#include <boost/bind.hpp>
|
||||
#include <gflags/gflags.h>
|
||||
#include <glog/logging.h>
|
||||
|
||||
|
||||
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
|
||||
{
|
||||
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
|
||||
}
|
||||
|
||||
|
||||
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
int64_t message = pmt::to_long(msg);
|
||||
rx_message = message;
|
||||
top_block->stop(); // stop the flowgraph
|
||||
}
|
||||
catch (boost::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
this->message_port_register_in(pmt::mp("events"));
|
||||
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
Acquisition_msg_rx::~Acquisition_msg_rx() {}
|
||||
@ -0,0 +1,62 @@
|
||||
/*!
|
||||
* \file acquisition_msg_rx.h
|
||||
* \brief This is a helper class to catch the asynchronous messages
|
||||
* emitted by an acquisition block.
|
||||
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2018 (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_ACQUISITION_MSG_RX_H
|
||||
#define GNSS_SDR_ACQUISITION_MSG_RX_H
|
||||
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/block.h>
|
||||
#include <pmt/pmt.h>
|
||||
|
||||
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
|
||||
class Acquisition_msg_rx;
|
||||
|
||||
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
|
||||
|
||||
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
|
||||
|
||||
|
||||
class Acquisition_msg_rx : public gr::block
|
||||
{
|
||||
private:
|
||||
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
|
||||
void msg_handler_events(pmt::pmt_t msg);
|
||||
Acquisition_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
gr::top_block_sptr top_block;
|
||||
~Acquisition_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
@ -49,6 +49,15 @@
|
||||
#include "gnss_satellite.h"
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "acquisition_msg_rx.h"
|
||||
#include "gps_l1_ca_pcps_acquisition.h"
|
||||
#include "galileo_e1_pcps_ambiguous_acquisition.h"
|
||||
#include "galileo_e5a_pcps_acquisition.h"
|
||||
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
|
||||
#include "glonass_l1_ca_pcps_acquisition.h"
|
||||
#include "glonass_l2_ca_pcps_acquisition.h"
|
||||
#include "gps_l2_m_pcps_acquisition.h"
|
||||
#include "gps_l5i_pcps_acquisition.h"
|
||||
#include "tracking_interface.h"
|
||||
#include "telemetry_decoder_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
|
||||
@ -34,7 +34,11 @@
|
||||
#include <chrono>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_sdr_valve.h"
|
||||
|
||||
@ -32,7 +32,11 @@
|
||||
#include <chrono>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_sdr_valve.h"
|
||||
|
||||
@ -33,7 +33,11 @@
|
||||
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_f.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include "gnss_sdr_valve.h"
|
||||
|
||||
@ -33,9 +33,14 @@
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/blocks/vector_source.h>
|
||||
#include <gnuradio/blocks/vector_sink.h>
|
||||
#else
|
||||
#include <gnuradio/blocks/vector_source_b.h>
|
||||
#include <gnuradio/blocks/vector_source_s.h>
|
||||
#include <gnuradio/blocks/vector_sink_b.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "unpack_2bit_samples.h"
|
||||
|
||||
|
||||
@ -38,7 +38,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -39,7 +39,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -41,7 +41,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -38,7 +38,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
@ -546,7 +550,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
|
||||
g1.plot_xy(timevec, late, "Late", decimate);
|
||||
g1.savetops("Correlators_outputs");
|
||||
g1.savetopdf("Correlators_outputs", 18);
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.disablescreen();
|
||||
}
|
||||
|
||||
Gnuplot g2("points");
|
||||
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
@ -557,8 +568,15 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
|
||||
g2.plot_xy(promptI, promptQ);
|
||||
g2.savetops("Constellation");
|
||||
g2.savetopdf("Constellation", 18);
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g2.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g2.disablescreen();
|
||||
}
|
||||
}
|
||||
catch (const GnuplotException& ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
|
||||
@ -35,7 +35,11 @@
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
|
||||
@ -30,24 +30,14 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <chrono>
|
||||
#include <unistd.h>
|
||||
#include <vector>
|
||||
#include <armadillo>
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
#include <gnuradio/blocks/head.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "gnss_block_factory.h"
|
||||
#include "tracking_interface.h"
|
||||
#include "gps_l2_m_pcps_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
|
||||
#include "galileo_e1_pcps_ambiguous_acquisition.h"
|
||||
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
|
||||
#include "galileo_e5a_pcps_acquisition.h"
|
||||
#include "gps_l5i_pcps_acquisition.h"
|
||||
@ -58,61 +48,21 @@
|
||||
#include "gnuplot_i.h"
|
||||
#include "test_flags.h"
|
||||
#include "tracking_tests_flags.h"
|
||||
#include "acquisition_msg_rx.h"
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
#include <gnuradio/blocks/head.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <chrono>
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
#include <armadillo>
|
||||
|
||||
|
||||
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
|
||||
class Acquisition_msg_rx;
|
||||
|
||||
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
|
||||
|
||||
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
|
||||
|
||||
|
||||
class Acquisition_msg_rx : public gr::block
|
||||
{
|
||||
private:
|
||||
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
|
||||
void msg_handler_events(pmt::pmt_t msg);
|
||||
Acquisition_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
gr::top_block_sptr top_block;
|
||||
~Acquisition_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
|
||||
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
|
||||
{
|
||||
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
|
||||
}
|
||||
|
||||
|
||||
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
int64_t message = pmt::to_long(msg);
|
||||
rx_message = message;
|
||||
top_block->stop(); //stop the flowgraph
|
||||
}
|
||||
catch (boost::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
this->message_port_register_in(pmt::mp("events"));
|
||||
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
Acquisition_msg_rx::~Acquisition_msg_rx() {}
|
||||
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
|
||||
class TrackingPullInTest_msg_rx;
|
||||
|
||||
|
||||
@ -133,7 +133,7 @@ PVT.display_rate_ms=500
|
||||
|
||||
;# KML, GeoJSON, NMEA and RTCM output configuration
|
||||
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
|
||||
PVT.dump_filename=./data/PVT
|
||||
PVT.dump_filename=./data/access18
|
||||
|
||||
;#nmea_dump_filename: NMEA log path and filename
|
||||
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
|
||||
|
||||
@ -62,26 +62,46 @@ ylabel('Navigation data bits','fontname','Times','fontsize', fontsize)
|
||||
grid on
|
||||
|
||||
|
||||
fileID = fopen('data/PVT_ls_pvt.dat', 'r');
|
||||
dinfo = dir('data/PVT_ls_pvt.dat');
|
||||
fileID = fopen('data/access18_pvt.dat', 'r');
|
||||
dinfo = dir('data/access18_pvt.dat');
|
||||
filesize = dinfo.bytes;
|
||||
aux = 1;
|
||||
while ne(ftell(fileID), filesize)
|
||||
navsol.TOW_at_current_symbol_ms(aux) = fread(fileID, 1, 'uint32');
|
||||
navsol.week(aux) = fread(fileID, 1, 'uint32');
|
||||
navsol.RX_time(aux) = fread(fileID, 1, 'double');
|
||||
navsol.user_clock_offset(aux) = fread(fileID, 1, 'double');
|
||||
navsol.X(aux) = fread(fileID, 1, 'double');
|
||||
navsol.Y(aux) = fread(fileID, 1, 'double');
|
||||
navsol.Z(aux) = fread(fileID, 1, 'double');
|
||||
navsol.user_clock(aux) = fread(fileID, 1, 'double');
|
||||
navsol.lat(aux) = fread(fileID, 1, 'double');
|
||||
navsol.long(aux) = fread(fileID, 1, 'double');
|
||||
navsol.VX(aux) = fread(fileID, 1, 'double');
|
||||
navsol.VY(aux) = fread(fileID, 1, 'double');
|
||||
navsol.VZ(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varXX(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varYY(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varZZ(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varXY(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varYZ(aux) = fread(fileID, 1, 'double');
|
||||
navsol.varZX(aux) = fread(fileID, 1, 'double');
|
||||
navsol.latitude(aux) = fread(fileID, 1, 'double');
|
||||
navsol.longitude(aux) = fread(fileID, 1, 'double');
|
||||
navsol.height(aux) = fread(fileID, 1, 'double');
|
||||
navsol.number_sats(aux) = fread(fileID, 1, 'uint8');
|
||||
navsol.solution_status(aux) = fread(fileID, 1, 'uint8');
|
||||
navsol.solution_type(aux) = fread(fileID, 1, 'uint8');
|
||||
navsol.AR_ratio_factor(aux) = fread(fileID, 1, 'float');
|
||||
navsol.AR_ratio_threshold(aux) = fread(fileID, 1, 'float');
|
||||
navsol.GDOP(aux) = fread(fileID, 1, 'double');
|
||||
navsol.PDOP(aux) = fread(fileID, 1, 'double');
|
||||
navsol.HDOP(aux) = fread(fileID, 1, 'double');
|
||||
navsol.VDOP(aux) = fread(fileID, 1, 'double');
|
||||
aux = aux + 1;
|
||||
end
|
||||
fclose(fileID);
|
||||
|
||||
|
||||
mean_Latitude = mean(navsol.lat);
|
||||
mean_Longitude = mean(navsol.long);
|
||||
mean_Latitude = mean(navsol.latitude);
|
||||
mean_Longitude = mean(navsol.longitude);
|
||||
mean_h = mean(navsol.height);
|
||||
utmZone = findUtmZone(mean_Latitude, mean_Longitude);
|
||||
[ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user