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https://github.com/gnss-sdr/gnss-sdr
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Add acquisition performance test for GPS L1 C/A signals
This commit is contained in:
Carles Fernandez
commit
5e96e531e4
@ -32,6 +32,7 @@
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#define GNSS_SDR_SIGNAL_GENERATOR_FLAGS_H_
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#include <gflags/gflags.h>
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#include <limits>
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DEFINE_bool(disable_generator, false, "Disable the signal generator (a external signal file must be available for the test)");
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DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
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@ -44,5 +45,6 @@ DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data
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DEFINE_int32(fs_gen_sps, 2600000, "Sampling frequency [sps]");
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DEFINE_int32(test_satellite_PRN, 1, "PRN of the satellite under test (must be visible during the observation time)");
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DEFINE_int32(test_satellite_PRN2, 2, "PRN of the satellite under test (must be visible during the observation time)");
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DEFINE_double(CN0_dBHz, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 [dB-Hz]");
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#endif
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@ -145,6 +145,7 @@ DECLARE_string(log_dir);
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#if EXTRA_TESTS
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#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
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#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
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#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
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#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc"
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@ -0,0 +1,901 @@
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/*!
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* \file gps_l1_acq_performance_test.cc
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* \brief This class implements an acquisition performance test
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* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "test_flags.h"
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#include "signal_generator_flags.h"
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#include "tracking_true_obs_reader.h"
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#include "true_observables_reader.h"
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#include "display.h"
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#include "gnuplot_i.h"
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#include <boost/filesystem.hpp>
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#include <gnuradio/top_block.h>
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#include <glog/logging.h>
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#include <gtest/gtest.h>
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DEFINE_string(config_file_ptest, std::string(""), "File containing alternative configuration parameters for the acquisition performance test.");
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DEFINE_string(acq_test_input_file, std::string(""), "File containing raw signal data, must be in int8_t format. The signal generator will not be used.");
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DEFINE_int32(acq_test_doppler_max, 5000, "Maximum Doppler, in Hz");
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DEFINE_int32(acq_test_doppler_step, 125, "Doppler step, in Hz.");
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DEFINE_int32(acq_test_coherent_time_ms, 1, "Acquisition coherent time, in ms");
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DEFINE_int32(acq_test_max_dwells, 1, "Number of non-coherent integrations");
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DEFINE_bool(acq_test_use_CFAR_algorithm, true, "Use CFAR algorithm");
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DEFINE_bool(acq_test_bit_transition_flag, false, "Bit transition flag");
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DEFINE_int32(acq_test_signal_duration_s, 2, "Generated signal duration, in s");
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DEFINE_int32(acq_test_num_meas, 0, "Number of measurements per run. 0 means the complete file.");
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DEFINE_double(acq_test_cn0_init, 33.0, "Initial CN0, in dBHz.");
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DEFINE_double(acq_test_cn0_final, 45.0, "Final CN0, in dBHz.");
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DEFINE_double(acq_test_cn0_step, 3.0, "CN0 step, in dB.");
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DEFINE_double(acq_test_threshold_init, 11.0, "Initial acquisition threshold");
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DEFINE_double(acq_test_threshold_final, 16.0, "Final acquisition threshold");
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DEFINE_double(acq_test_threshold_step, 1.0, "Acquisition threshold step");
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DEFINE_double(acq_test_pfa_init, 1e-5, "Set initial threshold via probability of false alarm. Disable with -1.0");
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DEFINE_int32(acq_test_PRN, 1, "PRN number of a present satellite");
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DEFINE_int32(acq_test_fake_PRN, 33, "PRN number of a non-present satellite");
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DEFINE_int32(acq_test_iterations, 1, "Number of iterations (same signal, different noise realization)");
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DEFINE_bool(plot_acq_test, false, "Plots results with gnuplot, if available");
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DEFINE_bool(show_plots, true, "Show plots on screen. Disable for non-interactive testing.");
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class AcqPerfTest_msg_rx;
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typedef boost::shared_ptr<AcqPerfTest_msg_rx> AcqPerfTest_msg_rx_sptr;
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AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(concurrent_queue<int>& queue);
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class AcqPerfTest_msg_rx : public gr::block
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{
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private:
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friend AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(concurrent_queue<int>& queue);
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void msg_handler_events(pmt::pmt_t msg);
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AcqPerfTest_msg_rx(concurrent_queue<int>& queue);
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concurrent_queue<int>& channel_internal_queue;
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public:
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int rx_message;
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~AcqPerfTest_msg_rx();
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};
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AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(concurrent_queue<int>& queue)
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{
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return AcqPerfTest_msg_rx_sptr(new AcqPerfTest_msg_rx(queue));
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}
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void AcqPerfTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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long int message = pmt::to_long(msg);
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rx_message = message;
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channel_internal_queue.push(rx_message);
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}
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catch (boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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AcqPerfTest_msg_rx::AcqPerfTest_msg_rx(concurrent_queue<int>& queue) : gr::block("AcqPerfTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&AcqPerfTest_msg_rx::msg_handler_events, this, _1));
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rx_message = 0;
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}
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AcqPerfTest_msg_rx::~AcqPerfTest_msg_rx()
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{
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}
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// -----------------------------------------
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class AcquisitionPerformanceTest : public ::testing::Test
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{
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protected:
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AcquisitionPerformanceTest()
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{
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config = std::make_shared<InMemoryConfiguration>();
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item_size = sizeof(gr_complex);
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gnss_synchro = Gnss_Synchro();
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doppler_max = static_cast<unsigned int>(FLAGS_acq_test_doppler_max);
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doppler_step = static_cast<unsigned int>(FLAGS_acq_test_doppler_step);
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stop = false;
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if (FLAGS_acq_test_input_file.empty())
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{
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cn0_vector.push_back(FLAGS_acq_test_cn0_init);
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double aux = FLAGS_acq_test_cn0_init + FLAGS_acq_test_cn0_step;
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while (aux <= FLAGS_acq_test_cn0_final)
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{
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cn0_vector.push_back(aux);
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aux = aux + FLAGS_acq_test_cn0_step;
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}
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}
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else
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{
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cn0_vector = {0.0};
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}
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init();
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if (FLAGS_acq_test_pfa_init > 0.0)
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{
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pfa_vector.push_back(FLAGS_acq_test_pfa_init);
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float aux = 1.0;
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while ((FLAGS_acq_test_pfa_init * std::pow(10, aux)) < 1)
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{
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pfa_vector.push_back(FLAGS_acq_test_pfa_init * std::pow(10, aux));
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aux = aux + 1.0;
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}
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pfa_vector.push_back(1.0);
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}
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else
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{
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float aux = static_cast<float>(FLAGS_acq_test_threshold_init);
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pfa_vector.push_back(aux);
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aux = aux + static_cast<float>(FLAGS_acq_test_threshold_step);
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while (aux <= static_cast<float>(FLAGS_acq_test_threshold_final))
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{
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pfa_vector.push_back(aux);
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aux = aux + static_cast<float>(FLAGS_acq_test_threshold_step);
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}
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}
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num_thresholds = pfa_vector.size();
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int aux2 = ((generated_signal_duration_s * 1000 - FLAGS_acq_test_coherent_time_ms) / FLAGS_acq_test_coherent_time_ms);
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if ((FLAGS_acq_test_num_meas > 0) and (FLAGS_acq_test_num_meas < aux2))
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{
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num_of_measurements = static_cast<unsigned int>(FLAGS_acq_test_num_meas);
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}
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else
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{
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num_of_measurements = static_cast<unsigned int>(aux2);
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}
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Pd.resize(cn0_vector.size());
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for (int i = 0; i < static_cast<int>(cn0_vector.size()); i++) Pd[i].reserve(num_thresholds);
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Pfa.resize(cn0_vector.size());
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for (int i = 0; i < static_cast<int>(cn0_vector.size()); i++) Pfa[i].reserve(num_thresholds);
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Pd_correct.resize(cn0_vector.size());
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for (int i = 0; i < static_cast<int>(cn0_vector.size()); i++) Pd_correct[i].reserve(num_thresholds);
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}
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~AcquisitionPerformanceTest()
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{
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}
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std::vector<double> cn0_vector;
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std::vector<float> pfa_vector;
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int N_iterations = FLAGS_acq_test_iterations;
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void init();
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int configure_generator(double cn0);
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int generate_signal();
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int configure_receiver(double cn0, float pfa, unsigned int iter);
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void start_queue();
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void wait_message();
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void process_message();
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void stop_queue();
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int run_receiver();
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int count_executions(const std::string& basename, unsigned int sat);
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void check_results();
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void plot_results();
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concurrent_queue<int> channel_internal_queue;
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gr::msg_queue::sptr queue;
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gr::top_block_sptr top_block;
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std::shared_ptr<GpsL1CaPcpsAcquisition> acquisition;
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std::shared_ptr<InMemoryConfiguration> config;
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std::shared_ptr<FileConfiguration> config_f;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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unsigned int doppler_max;
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unsigned int doppler_step;
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bool stop;
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int message;
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boost::thread ch_thread;
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std::string implementation = "GPS_L1_CA_PCPS_Acquisition";
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const double baseband_sampling_freq = static_cast<double>(FLAGS_fs_gen_sps);
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const int coherent_integration_time_ms = FLAGS_acq_test_coherent_time_ms;
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const int in_acquisition = 1;
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const int dump_channel = 0;
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int generated_signal_duration_s = FLAGS_acq_test_signal_duration_s;
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unsigned int num_of_measurements;
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unsigned int measurement_counter = 0;
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unsigned int observed_satellite = FLAGS_acq_test_PRN;
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std::string path_str = "./acq-perf-test";
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int num_thresholds;
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std::vector<std::vector<float>> Pd;
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std::vector<std::vector<float>> Pfa;
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std::vector<std::vector<float>> Pd_correct;
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private:
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std::string generator_binary;
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std::string p1;
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std::string p2;
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std::string p3;
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std::string p4;
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std::string p5;
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std::string p6;
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std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
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std::string filename_raw_data = FLAGS_filename_raw_data;
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double compute_stdev_precision(const std::vector<double>& vec);
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double compute_stdev_accuracy(const std::vector<double>& vec, double ref);
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};
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void AcquisitionPerformanceTest::init()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'G';
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std::string signal = "1C";
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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = observed_satellite;
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message = 0;
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measurement_counter = 0;
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}
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void AcquisitionPerformanceTest::start_queue()
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{
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stop = false;
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ch_thread = boost::thread(&AcquisitionPerformanceTest::wait_message, this);
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}
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void AcquisitionPerformanceTest::wait_message()
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{
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while (!stop)
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{
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channel_internal_queue.wait_and_pop(message);
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process_message();
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}
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}
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void AcquisitionPerformanceTest::process_message()
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{
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measurement_counter++;
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acquisition->reset();
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acquisition->set_state(1);
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std::cout << "Progress: " << round(static_cast<float>(measurement_counter) / static_cast<float>(num_of_measurements) * 100.0) << "% \r" << std::flush;
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if (measurement_counter == num_of_measurements)
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{
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stop_queue();
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top_block->stop();
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}
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}
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void AcquisitionPerformanceTest::stop_queue()
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{
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stop = true;
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}
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int AcquisitionPerformanceTest::configure_generator(double cn0)
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
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if (FLAGS_dynamic_position.empty())
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{
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p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(generated_signal_duration_s * 10, 3000));
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}
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else
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{
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p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
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}
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
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p6 = std::string("-CN0_dBHz=") + std::to_string(cn0);
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return 0;
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}
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int AcquisitionPerformanceTest::generate_signal()
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{
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pid_t wait_result;
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int child_status;
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std::cout << "Generating signal for " << p6 << "..." << std::endl;
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char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], &p6[0], NULL};
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int pid;
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if ((pid = fork()) == -1)
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perror("fork error");
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else if (pid == 0)
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{
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execv(&generator_binary[0], parmList);
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std::cout << "Return not expected. Must be an execv error." << std::endl;
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std::terminate();
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}
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wait_result = waitpid(pid, &child_status, 0);
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if (wait_result == -1) perror("waitpid error");
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return 0;
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}
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int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsigned int iter)
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{
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if (FLAGS_config_file_ptest.empty())
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{
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config = std::make_shared<InMemoryConfiguration>();
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const int sampling_rate_internal = baseband_sampling_freq;
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", implementation);
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.threshold", std::to_string(pfa));
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//if (FLAGS_acq_test_pfa_init > 0.0) config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa));
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if (FLAGS_acq_test_pfa_init > 0.0)
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{
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config->supersede_property("Acquisition_1C.pfa", std::to_string(pfa));
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}
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if (FLAGS_acq_test_use_CFAR_algorithm)
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{
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config->set_property("Acquisition_1C.use_CFAR_algorithm", "true");
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}
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else
|
||||
{
|
||||
config->set_property("Acquisition_1C.use_CFAR_algorithm", "false");
|
||||
}
|
||||
|
||||
config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
|
||||
if (FLAGS_acq_test_bit_transition_flag)
|
||||
{
|
||||
config->set_property("Acquisition_1C.bit_transition_flag", "true");
|
||||
}
|
||||
else
|
||||
{
|
||||
config->set_property("Acquisition_1C.bit_transition_flag", "false");
|
||||
}
|
||||
|
||||
config->set_property("Acquisition_1C.max_dwells", std::to_string(FLAGS_acq_test_max_dwells));
|
||||
|
||||
config->set_property("Acquisition_1C.repeat_satellite", "true");
|
||||
|
||||
config->set_property("Acquisition_1C.blocking", "true");
|
||||
config->set_property("Acquisition_1C.make_two_steps", "false");
|
||||
config->set_property("Acquisition_1C.second_nbins", std::to_string(4));
|
||||
config->set_property("Acquisition_1C.second_doppler_step", std::to_string(125));
|
||||
|
||||
config->set_property("Acquisition_1C.dump", "true");
|
||||
std::string dump_file = path_str + std::string("/acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter) + "_" + std::to_string(pfa);
|
||||
config->set_property("Acquisition_1C.dump_filename", dump_file);
|
||||
config->set_property("Acquisition_1C.dump_channel", std::to_string(dump_channel));
|
||||
config->set_property("Acquisition_1C.blocking_on_standby", "true");
|
||||
|
||||
config_f = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
config_f = std::make_shared<FileConfiguration>(FLAGS_config_file_ptest);
|
||||
config = 0;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int AcquisitionPerformanceTest::run_receiver()
|
||||
{
|
||||
std::string file;
|
||||
if (FLAGS_acq_test_input_file.empty())
|
||||
{
|
||||
file = "./" + filename_raw_data;
|
||||
}
|
||||
else
|
||||
{
|
||||
file = FLAGS_acq_test_input_file;
|
||||
}
|
||||
const char* file_name = file.c_str();
|
||||
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
|
||||
|
||||
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
|
||||
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
boost::shared_ptr<AcqPerfTest_msg_rx> msg_rx = AcqPerfTest_msg_rx_make(channel_internal_queue);
|
||||
|
||||
queue = gr::msg_queue::make(0);
|
||||
gnss_synchro = Gnss_Synchro();
|
||||
init();
|
||||
|
||||
int nsamples = floor(config->property("GNSS-SDR.internal_fs_sps", 2000000) * generated_signal_duration_s);
|
||||
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 0);
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
acquisition->set_channel(0);
|
||||
acquisition->set_local_code();
|
||||
acquisition->set_doppler_max(config->property("Acquisition_1C.doppler_max", 10000));
|
||||
acquisition->set_doppler_step(config->property("Acquisition_1C.doppler_step", 500));
|
||||
acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
|
||||
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
|
||||
acquisition->connect(top_block);
|
||||
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
|
||||
acquisition->init();
|
||||
|
||||
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
|
||||
top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
|
||||
start_queue();
|
||||
|
||||
top_block->run(); // Start threads and wait
|
||||
|
||||
#ifdef OLD_BOOST
|
||||
ch_thread.timed_join(boost::posix_time::seconds(1));
|
||||
#endif
|
||||
#ifndef OLD_BOOST
|
||||
ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int AcquisitionPerformanceTest::count_executions(const std::string& basename, unsigned int sat)
|
||||
{
|
||||
FILE* fp;
|
||||
std::string argum2 = std::string("/usr/bin/find ") + path_str + std::string(" -maxdepth 1 -name ") + basename.substr(path_str.length() + 1, basename.length() - path_str.length()) + std::string("* | grep sat_") + std::to_string(sat) + std::string(" | wc -l");
|
||||
char buffer[1024];
|
||||
fp = popen(&argum2[0], "r");
|
||||
int num_executions = 1;
|
||||
if (fp == NULL)
|
||||
{
|
||||
std::cout << "Failed to run command: " << argum2 << std::endl;
|
||||
return 0;
|
||||
}
|
||||
while (fgets(buffer, sizeof(buffer), fp) != NULL)
|
||||
{
|
||||
std::string aux = std::string(buffer);
|
||||
EXPECT_EQ(aux.empty(), false);
|
||||
num_executions = std::stoi(aux);
|
||||
}
|
||||
pclose(fp);
|
||||
return num_executions;
|
||||
}
|
||||
|
||||
|
||||
void AcquisitionPerformanceTest::plot_results()
|
||||
{
|
||||
if (FLAGS_plot_acq_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if (gnuplot_executable.empty())
|
||||
{
|
||||
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl;
|
||||
std::cout << "gnuplot has not been found in your system." << std::endl;
|
||||
std::cout << "Test results will not be plotted." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
Gnuplot g1("linespoints");
|
||||
g1.cmd("set font \"Times,18\"");
|
||||
g1.set_title("Receiver Operating Characteristic for GPS L1 C/A acquisition");
|
||||
g1.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition_1C.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition_1C.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\"");
|
||||
g1.cmd("set logscale x");
|
||||
g1.cmd("set yrange [0:1]");
|
||||
g1.cmd("set xrange[0.0001:1]");
|
||||
g1.cmd("set grid mxtics");
|
||||
g1.cmd("set grid ytics");
|
||||
g1.set_xlabel("Pfa");
|
||||
g1.set_ylabel("Pd");
|
||||
g1.set_grid();
|
||||
g1.cmd("show grid");
|
||||
for (int i = 0; i < static_cast<int>(cn0_vector.size()); i++)
|
||||
{
|
||||
std::vector<float> Pd_i;
|
||||
std::vector<float> Pfa_i;
|
||||
for (int k = 0; k < num_thresholds; k++)
|
||||
{
|
||||
Pd_i.push_back(Pd[i][k]);
|
||||
Pfa_i.push_back(Pfa[i][k]);
|
||||
}
|
||||
g1.plot_xy(Pfa_i, Pd_i, "CN0 = " + std::to_string(static_cast<int>(cn0_vector[i])) + " dBHz");
|
||||
}
|
||||
g1.set_legend();
|
||||
g1.savetops("ROC");
|
||||
g1.savetopdf("ROC", 18);
|
||||
if (FLAGS_show_plots) g1.showonscreen(); // window output
|
||||
|
||||
Gnuplot g2("linespoints");
|
||||
g2.cmd("set font \"Times,18\"");
|
||||
g2.set_title("Receiver Operating Characteristic for GPS L1 C/A valid acquisition");
|
||||
g2.cmd("set label 1 \"" + std::string("Coherent integration time: ") + std::to_string(config->property("Acquisition_1C.coherent_integration_time_ms", 1)) + " ms, Non-coherent integrations: " + std::to_string(config->property("Acquisition_1C.max_dwells", 1)) + " \" at screen 0.12, 0.83 font \"Times,16\"");
|
||||
g2.cmd("set logscale x");
|
||||
g2.cmd("set yrange [0:1]");
|
||||
g2.cmd("set xrange[0.0001:1]");
|
||||
g2.cmd("set grid mxtics");
|
||||
g2.cmd("set grid ytics");
|
||||
g2.set_xlabel("Pfa");
|
||||
g2.set_ylabel("Valid Pd");
|
||||
g2.set_grid();
|
||||
g2.cmd("show grid");
|
||||
for (int i = 0; i < static_cast<int>(cn0_vector.size()); i++)
|
||||
{
|
||||
std::vector<float> Pd_i_correct;
|
||||
std::vector<float> Pfa_i;
|
||||
for (int k = 0; k < num_thresholds; k++)
|
||||
{
|
||||
Pd_i_correct.push_back(Pd_correct[i][k]);
|
||||
Pfa_i.push_back(Pfa[i][k]);
|
||||
}
|
||||
g2.plot_xy(Pfa_i, Pd_i_correct, "CN0 = " + std::to_string(static_cast<int>(cn0_vector[i])) + " dBHz");
|
||||
}
|
||||
g2.set_legend();
|
||||
g2.savetops("ROC-valid-detection");
|
||||
g2.savetopdf("ROC-valid-detection", 18);
|
||||
if (FLAGS_show_plots) g2.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException& ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_F(AcquisitionPerformanceTest, ROC)
|
||||
{
|
||||
tracking_true_obs_reader true_trk_data;
|
||||
|
||||
if (boost::filesystem::exists(path_str))
|
||||
{
|
||||
boost::filesystem::remove_all(path_str);
|
||||
}
|
||||
boost::system::error_code ec;
|
||||
ASSERT_TRUE(boost::filesystem::create_directory(path_str, ec)) << "Could not create the " << path_str << " folder.";
|
||||
|
||||
unsigned int cn0_index = 0;
|
||||
for (std::vector<double>::const_iterator it = cn0_vector.cbegin(); it != cn0_vector.cend(); ++it)
|
||||
{
|
||||
std::vector<double> meas_Pd_;
|
||||
std::vector<double> meas_Pd_correct_;
|
||||
std::vector<double> meas_Pfa_;
|
||||
|
||||
if (FLAGS_acq_test_input_file.empty()) std::cout << "Execution for CN0 = " << *it << " dB-Hz" << std::endl;
|
||||
|
||||
// Do N_iterations of the experiment
|
||||
for (int pfa_iter = 0; pfa_iter < static_cast<int>(pfa_vector.size()); pfa_iter++)
|
||||
{
|
||||
if (FLAGS_acq_test_pfa_init > 0.0)
|
||||
{
|
||||
std::cout << "Setting threshold for Pfa = " << pfa_vector[pfa_iter] << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Setting threshold to " << pfa_vector[pfa_iter] << std::endl;
|
||||
}
|
||||
|
||||
// Configure the signal generator
|
||||
if (FLAGS_acq_test_input_file.empty()) configure_generator(*it);
|
||||
|
||||
for (int iter = 0; iter < N_iterations; iter++)
|
||||
{
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if (FLAGS_acq_test_input_file.empty()) generate_signal();
|
||||
|
||||
for (unsigned k = 0; k < 2; k++)
|
||||
{
|
||||
if (k == 0)
|
||||
{
|
||||
observed_satellite = FLAGS_acq_test_PRN;
|
||||
}
|
||||
else
|
||||
{
|
||||
observed_satellite = FLAGS_acq_test_fake_PRN;
|
||||
}
|
||||
init();
|
||||
|
||||
// Configure the receiver
|
||||
configure_receiver(*it, pfa_vector[pfa_iter], iter);
|
||||
|
||||
// Run it
|
||||
run_receiver();
|
||||
|
||||
// count executions
|
||||
std::string basename = path_str + std::string("/acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + std::to_string(pfa_vector[pfa_iter]) + "_" + gnss_synchro.System + "_1C";
|
||||
int num_executions = count_executions(basename, observed_satellite);
|
||||
|
||||
// Read measured data
|
||||
int ch = config->property("Acquisition_1C.dump_channel", 0);
|
||||
arma::vec meas_timestamp_s = arma::zeros(num_executions, 1);
|
||||
arma::vec meas_doppler = arma::zeros(num_executions, 1);
|
||||
arma::vec positive_acq = arma::zeros(num_executions, 1);
|
||||
arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1);
|
||||
|
||||
double coh_time_ms = config->property("Acquisition_1C.coherent_integration_time_ms", 1);
|
||||
|
||||
std::cout << "Num executions: " << num_executions << std::endl;
|
||||
for (int execution = 1; execution <= num_executions; execution++)
|
||||
{
|
||||
acquisition_dump_reader acq_dump(basename, observed_satellite, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD * static_cast<double>(coh_time_ms), ch, execution);
|
||||
acq_dump.read_binary_acq();
|
||||
if (acq_dump.positive_acq)
|
||||
{
|
||||
//std::cout << "Meas acq_delay_samples: " << acq_dump.acq_delay_samples << " chips: " << acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS) << std::endl;
|
||||
meas_timestamp_s(execution - 1) = acq_dump.sample_counter / baseband_sampling_freq;
|
||||
meas_doppler(execution - 1) = acq_dump.acq_doppler_hz;
|
||||
meas_acq_delay_chips(execution - 1) = acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
positive_acq(execution - 1) = acq_dump.positive_acq;
|
||||
}
|
||||
else
|
||||
{
|
||||
//std::cout << "Failed acquisition." << std::endl;
|
||||
meas_timestamp_s(execution - 1) = arma::datum::inf;
|
||||
meas_doppler(execution - 1) = arma::datum::inf;
|
||||
meas_acq_delay_chips(execution - 1) = arma::datum::inf;
|
||||
positive_acq(execution - 1) = acq_dump.positive_acq;
|
||||
}
|
||||
}
|
||||
|
||||
// Read reference data
|
||||
std::string true_trk_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_trk_file.append(std::to_string(observed_satellite));
|
||||
true_trk_file.append(".dat");
|
||||
true_trk_data.close_obs_file();
|
||||
true_trk_data.open_obs_file(true_trk_file);
|
||||
|
||||
// load the true values
|
||||
long int n_true_epochs = true_trk_data.num_epochs();
|
||||
arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_tow_s = arma::zeros(n_true_epochs, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
int num_clean_executions = 0;
|
||||
while (true_trk_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_trk_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_trk_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_trk_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_trk_data.tow;
|
||||
epoch_counter++;
|
||||
//std::cout << "True PRN_Delay chips = " << GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips << " at " << true_trk_data.signal_timestamp_s << std::endl;
|
||||
}
|
||||
|
||||
// Process results
|
||||
arma::vec clean_doppler_estimation_error;
|
||||
arma::vec clean_delay_estimation_error;
|
||||
|
||||
if (epoch_counter > 2)
|
||||
{
|
||||
arma::vec true_interpolated_doppler = arma::zeros(num_executions, 1);
|
||||
arma::vec true_interpolated_prn_delay_chips = arma::zeros(num_executions, 1);
|
||||
interp1(true_timestamp_s, true_Doppler_Hz, meas_timestamp_s, true_interpolated_doppler);
|
||||
interp1(true_timestamp_s, true_prn_delay_chips, meas_timestamp_s, true_interpolated_prn_delay_chips);
|
||||
|
||||
arma::vec doppler_estimation_error = true_interpolated_doppler - meas_doppler;
|
||||
arma::vec delay_estimation_error = true_interpolated_prn_delay_chips - (meas_acq_delay_chips - ((1.0 / baseband_sampling_freq) / GPS_L1_CA_CHIP_PERIOD)); // compensate 1 sample delay
|
||||
|
||||
// Cut measurements without reference
|
||||
for (int i = 0; i < num_executions; i++)
|
||||
{
|
||||
if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i)))
|
||||
{
|
||||
num_clean_executions++;
|
||||
}
|
||||
}
|
||||
clean_doppler_estimation_error = arma::zeros(num_clean_executions, 1);
|
||||
clean_delay_estimation_error = arma::zeros(num_clean_executions, 1);
|
||||
num_clean_executions = 0;
|
||||
for (int i = 0; i < num_executions; i++)
|
||||
{
|
||||
if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i)))
|
||||
{
|
||||
clean_doppler_estimation_error(num_clean_executions) = doppler_estimation_error(i);
|
||||
clean_delay_estimation_error(num_clean_executions) = delay_estimation_error(i);
|
||||
num_clean_executions++;
|
||||
}
|
||||
}
|
||||
|
||||
/* std::cout << "Doppler estimation error [Hz]: ";
|
||||
for (int i = 0; i < num_executions - 1; i++)
|
||||
{
|
||||
std::cout << doppler_estimation_error(i) << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
std::cout << "Delay estimation error [chips]: ";
|
||||
for (int i = 0; i < num_executions - 1; i++)
|
||||
{
|
||||
std::cout << delay_estimation_error(i) << " ";
|
||||
|
||||
}
|
||||
std::cout << std::endl; */
|
||||
}
|
||||
if (k == 0)
|
||||
{
|
||||
double detected = arma::accu(positive_acq);
|
||||
double computed_Pd = detected / static_cast<double>(num_executions);
|
||||
if (num_executions > 0)
|
||||
{
|
||||
meas_Pd_.push_back(computed_Pd);
|
||||
}
|
||||
else
|
||||
{
|
||||
meas_Pd_.push_back(0.0);
|
||||
}
|
||||
std::cout << TEXT_BOLD_BLACK << "Probability of detection for channel=" << ch << ", CN0=" << *it << " dBHz"
|
||||
<< ": " << (num_executions > 0 ? computed_Pd : 0.0) << TEXT_RESET << std::endl;
|
||||
}
|
||||
if (num_clean_executions > 0)
|
||||
{
|
||||
arma::vec correct_acq = arma::zeros(num_executions, 1);
|
||||
double correctly_detected = 0.0;
|
||||
for (int i = 0; i < num_clean_executions - 1; i++)
|
||||
|
||||
{
|
||||
if (abs(clean_delay_estimation_error(i)) < 0.5 and abs(clean_doppler_estimation_error(i)) < static_cast<float>(config->property("Acquisition_1C.doppler_step", 1)) / 2.0)
|
||||
{
|
||||
correctly_detected = correctly_detected + 1.0;
|
||||
}
|
||||
}
|
||||
double computed_Pd_correct = correctly_detected / static_cast<double>(num_clean_executions);
|
||||
meas_Pd_correct_.push_back(computed_Pd_correct);
|
||||
std::cout << TEXT_BOLD_BLACK << "Probability of correct detection for channel=" << ch << ", CN0=" << *it << " dBHz"
|
||||
<< ": " << computed_Pd_correct << TEXT_RESET << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
//std::cout << "No reference data has been found. Maybe a non-present satellite?" << num_executions << std::endl;
|
||||
if (k == 1)
|
||||
{
|
||||
double wrongly_detected = arma::accu(positive_acq);
|
||||
double computed_Pfa = wrongly_detected / static_cast<double>(num_executions);
|
||||
if (num_executions > 0)
|
||||
{
|
||||
meas_Pfa_.push_back(computed_Pfa);
|
||||
}
|
||||
else
|
||||
{
|
||||
meas_Pfa_.push_back(0.0);
|
||||
}
|
||||
std::cout << TEXT_BOLD_BLACK << "Probability of false alarm for channel=" << ch << ", CN0=" << *it << " dBHz"
|
||||
<< ": " << (num_executions > 0 ? computed_Pfa : 0.0) << TEXT_RESET << std::endl;
|
||||
}
|
||||
}
|
||||
true_trk_data.restart();
|
||||
}
|
||||
}
|
||||
true_trk_data.close_obs_file();
|
||||
float sum_pd = static_cast<float>(std::accumulate(meas_Pd_.begin(), meas_Pd_.end(), 0.0));
|
||||
float sum_pd_correct = static_cast<float>(std::accumulate(meas_Pd_correct_.begin(), meas_Pd_correct_.end(), 0.0));
|
||||
float sum_pfa = static_cast<float>(std::accumulate(meas_Pfa_.begin(), meas_Pfa_.end(), 0.0));
|
||||
if (meas_Pd_.size() > 0 and meas_Pfa_.size() > 0)
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = sum_pd / static_cast<float>(meas_Pd_.size());
|
||||
Pfa[cn0_index][pfa_iter] = sum_pfa / static_cast<float>(meas_Pfa_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
if (meas_Pd_.size() > 0)
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = sum_pd / static_cast<float>(meas_Pd_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pd[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
if (meas_Pfa_.size() > 0)
|
||||
{
|
||||
Pfa[cn0_index][pfa_iter] = sum_pfa / static_cast<float>(meas_Pfa_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pfa[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
}
|
||||
if (meas_Pd_correct_.size() > 0)
|
||||
{
|
||||
Pd_correct[cn0_index][pfa_iter] = sum_pd_correct / static_cast<float>(meas_Pd_correct_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
Pd_correct[cn0_index][pfa_iter] = 0.0;
|
||||
}
|
||||
meas_Pd_.clear();
|
||||
meas_Pfa_.clear();
|
||||
meas_Pd_correct_.clear();
|
||||
}
|
||||
cn0_index++;
|
||||
}
|
||||
|
||||
// Compute results
|
||||
unsigned int aux_index = 0;
|
||||
for (std::vector<double>::const_iterator it = cn0_vector.cbegin(); it != cn0_vector.cend(); ++it)
|
||||
{
|
||||
std::cout << "Results for CN0 = " << *it << " dBHz:" << std::endl;
|
||||
std::cout << "Pd = ";
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pd[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
std::cout << "Pd_correct = ";
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pd_correct[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
std::cout << "Pfa = ";
|
||||
for (int pfa_iter = 0; pfa_iter < num_thresholds; pfa_iter++)
|
||||
{
|
||||
std::cout << Pfa[aux_index][pfa_iter] << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
aux_index++;
|
||||
}
|
||||
|
||||
plot_results();
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user