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

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This commit is contained in:
Carles Fernandez
2018-04-05 10:15:39 +02:00
parent 2b3de84750 2f0de7e6d6
commit 6345b5dd15
61 changed files with 1495 additions and 1063 deletions
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3
src/tests/unit-tests/control-plane/control_thread_test.cc
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@@ -117,6 +117,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
@@ -177,6 +178,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages2)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::unique_ptr<ControlThread> control_thread2(new ControlThread(config));
@@ -240,6 +242,7 @@ TEST_F(ControlThreadTest, StopReceiverProgrammatically)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
gr::msg_queue::sptr control_queue = gr::msg_queue::make(0);

7
src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
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@@ -49,6 +49,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@@ -82,7 +83,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
TEST(GNSSFlowgraph, InstantiateConnectStartStop)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@@ -116,7 +117,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStop)
TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@@ -151,7 +152,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
TEST(GNSSFlowgraph, InstantiateConnectStartStopHybrid)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");

291
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@@ -36,11 +36,8 @@
#include <armadillo>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "GPS_L1_CA.h"
#include "gnss_satellite.h"
@@ -57,9 +54,10 @@
#include "observables_dump_reader.h"
#include "tlm_dump_reader.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "hybrid_observables.h"
#include "signal_generator_flags.h"
#include "gnss_sdr_sample_counter.h"
#include <matio.h>
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@@ -186,18 +184,17 @@ public:
int configure_generator();
int generate_signal();
void check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles,
arma::vec& true_ch1_phase_cycles,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_phase_cycles,
arma::vec& measuded_ch1_phase_cycles,
arma::vec& measuded_ch0_RX_time_s);
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1);
void check_results_code_psudorange(
arma::vec& true_ch0_dist_m, arma::vec& true_ch1_dist_m,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_Pseudorange_m,
arma::vec& measuded_ch1_Pseudorange_m,
arma::vec& measuded_ch0_RX_time_s);
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1);
HybridObservablesTest()
{
@@ -284,39 +281,49 @@ void HybridObservablesTest::configure_receiver()
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "15.0");
config->set_property("Tracking_1C.pll_bw_hz", "35.0");
config->set_property("Tracking_1C.dll_bw_hz", "0.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true");
config->set_property("Observables.dump", "true");
}
void HybridObservablesTest::check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles,
arma::vec& true_ch1_phase_cycles,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_phase_cycles,
arma::vec& measuded_ch1_phase_cycles,
arma::vec& measuded_ch0_RX_time_s)
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1)
{
//1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_phase_interp;
arma::vec true_ch1_phase_interp;
arma::interp1(true_ch0_tow_s, true_ch0_phase_cycles, measuded_ch0_RX_time_s, true_ch0_phase_interp);
arma::interp1(true_ch0_tow_s, true_ch1_phase_cycles, measuded_ch0_RX_time_s, true_ch1_phase_interp);
arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);
arma::interp1(true_tow_s, true_ch1.col(3), t, true_ch1_phase_interp);
arma::vec meas_ch0_phase_interp;
arma::vec meas_ch1_phase_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_phase_interp);
//2. RMSE
arma::vec err_ch0_cycles;
arma::vec err_ch1_cycles;
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
err_ch0_cycles = measuded_ch0_phase_cycles - true_ch0_phase_interp - measuded_ch0_phase_cycles(0) + true_ch0_phase_interp(0);
err_ch1_cycles = measuded_ch1_phase_cycles - true_ch1_phase_interp - measuded_ch1_phase_cycles(0) + true_ch1_phase_interp(0);
err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);
err_ch1_cycles = meas_ch1_phase_interp - true_ch1_phase_interp - meas_ch1_phase_interp(0) + true_ch1_phase_interp(0);
arma::vec err2_ch0 = arma::square(err_ch0_cycles);
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
@@ -343,58 +350,68 @@ void HybridObservablesTest::check_results_carrier_phase(
//5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE="
<< rmse_ch0 << ", mean=" << error_mean_ch0
<< ", stdev=" << sqrt(error_var_ch0)
<< " (max,min)=" << max_error_ch0
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE = "
<< rmse_ch0 << ", mean = " << error_mean_ch0
<< ", stdev = " << sqrt(error_var_ch0)
<< " (max,min) = " << max_error_ch0
<< "," << min_error_ch0
<< " [cycles]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse_ch0, 1e-2);
ASSERT_LT(error_mean_ch0, 1e-2);
ASSERT_GT(error_mean_ch0, -1e-2);
ASSERT_LT(error_var_ch0, 1e-2);
ASSERT_LT(rmse_ch0, 5e-2);
ASSERT_LT(error_mean_ch0, 5e-2);
ASSERT_GT(error_mean_ch0, -5e-2);
ASSERT_LT(error_var_ch0, 5e-2);
ASSERT_LT(max_error_ch0, 5e-2);
ASSERT_GT(min_error_ch0, -5e-2);
//5. report
ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE="
<< rmse_ch1 << ", mean=" << error_mean_ch1
<< ", stdev=" << sqrt(error_var_ch1)
<< " (max,min)=" << max_error_ch1
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE = "
<< rmse_ch1 << ", mean = " << error_mean_ch1
<< ", stdev = " << sqrt(error_var_ch1)
<< " (max,min) = " << max_error_ch1
<< "," << min_error_ch1
<< " [cycles]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse_ch1, 1e-2);
ASSERT_LT(error_mean_ch1, 1e-2);
ASSERT_GT(error_mean_ch1, -1e-2);
ASSERT_LT(error_var_ch1, 1e-2);
ASSERT_LT(rmse_ch1, 5e-2);
ASSERT_LT(error_mean_ch1, 5e-2);
ASSERT_GT(error_mean_ch1, -5e-2);
ASSERT_LT(error_var_ch1, 5e-2);
ASSERT_LT(max_error_ch1, 5e-2);
ASSERT_GT(min_error_ch1, -5e-2);
}
void HybridObservablesTest::check_results_code_psudorange(
arma::vec& true_ch0_dist_m,
arma::vec& true_ch1_dist_m,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_Pseudorange_m,
arma::vec& measuded_ch1_Pseudorange_m,
arma::vec& measuded_ch0_RX_time_s)
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1)
{
//1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_dist_interp;
arma::vec true_ch1_dist_interp;
arma::interp1(true_ch0_tow_s, true_ch0_dist_m, measuded_ch0_RX_time_s, true_ch0_dist_interp);
arma::interp1(true_ch0_tow_s, true_ch1_dist_m, measuded_ch0_RX_time_s, true_ch1_dist_interp);
arma::interp1(true_tow_s, true_ch0.col(1), t, true_ch0_dist_interp);
arma::interp1(true_tow_s, true_ch1.col(1), t, true_ch1_dist_interp);
arma::vec meas_ch0_dist_interp;
arma::vec meas_ch1_dist_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
// generate delta pseudoranges
arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
arma::vec delta_measured_dist_m = measuded_ch0_Pseudorange_m - measuded_ch1_Pseudorange_m;
arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
//2. RMSE
arma::vec err;
@@ -413,10 +430,10 @@ void HybridObservablesTest::check_results_code_psudorange(
//5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Delta Observables RMSE="
<< rmse << ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var)
<< " (max,min)=" << max_error
std::cout << std::setprecision(10) << "Delta Observables RMSE = "
<< rmse << ", mean = " << error_mean
<< ", stdev = " << sqrt(error_var)
<< " (max,min) = " << max_error
<< "," << min_error
<< " [meters]" << std::endl;
std::cout.precision(ss);
@@ -425,8 +442,8 @@ void HybridObservablesTest::check_results_code_psudorange(
ASSERT_LT(error_mean, 0.5);
ASSERT_GT(error_mean, -0.5);
ASSERT_LT(error_var, 0.5);
ASSERT_LT(max_error, 2);
ASSERT_GT(min_error, -2);
ASSERT_LT(max_error, 2.0);
ASSERT_GT(min_error, -2.0);
}
@@ -474,9 +491,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block = gr::make_top_block("Telemetry_Decoder test");
std::shared_ptr<TrackingInterface> tracking_ch0 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch0 = HybridObservablesTest_msg_rx_make();
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch1 = HybridObservablesTest_msg_rx_make();
@@ -528,7 +543,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch2 = HybridObservablesTest_tlm_msg_rx_make();
//Observables
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 2, 2));
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 3, 2));
ASSERT_NO_THROW({
tracking_ch0->set_channel(gnss_synchro_ch0.Channel_ID);
@@ -552,7 +567,10 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink_ch0 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gr::blocks::null_sink::sptr sink_ch1 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq), sizeof(gr_complex));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
//ch0
top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch0->get_left_block(), 0);
top_block->connect(tracking_ch0->get_right_block(), 0, tlm_ch0->get_left_block(), 0);
@@ -566,6 +584,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block->connect(observables->get_right_block(), 0, sink_ch0, 0);
top_block->connect(observables->get_right_block(), 1, sink_ch1, 0);
top_block->connect(samp_counter, 0, observables->get_left_block(), 2);
}) << "Failure connecting the blocks.";
tracking_ch0->start_tracking();
@@ -587,20 +607,15 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
{
throw std::exception();
};
}
}) << "Failure opening true observables file";
long int nepoch = true_observables.num_epochs();
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
std::cout << "True observation epochs=" << nepoch << std::endl;
arma::vec true_ch0_dist_m = arma::zeros(nepoch, 1);
arma::vec true_ch0_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_ch0_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_ch0_tow_s = arma::zeros(nepoch, 1);
arma::vec true_ch1_dist_m = arma::zeros(nepoch, 1);
arma::vec true_ch1_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_ch1_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_ch1_tow_s = arma::zeros(nepoch, 1);
std::cout << "True observation epochs = " << nepoch << std::endl;
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
arma::mat true_ch0 = arma::zeros<arma::mat>(nepoch, 4);
arma::mat true_ch1 = arma::zeros<arma::mat>(nepoch, 4);
true_observables.restart();
long int epoch_counter = 0;
@@ -609,23 +624,23 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
{
if (round(true_observables.prn[0]) != gnss_synchro_ch0.PRN)
{
std::cout << "True observables SV PRN do not match" << round(true_observables.prn[1]) << std::endl;
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception();
}
if (round(true_observables.prn[1]) != gnss_synchro_ch1.PRN)
{
std::cout << "True observables SV PRN do not match " << round(true_observables.prn[1]) << std::endl;
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception();
}
true_ch0_tow_s(epoch_counter) = true_observables.gps_time_sec[0];
true_ch0_dist_m(epoch_counter) = true_observables.dist_m[0];
true_ch0_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[0];
true_ch0_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[0];
true_ch0(epoch_counter, 0) = true_observables.gps_time_sec[0];
true_ch0(epoch_counter, 1) = true_observables.dist_m[0];
true_ch0(epoch_counter, 2) = true_observables.doppler_l1_hz[0];
true_ch0(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[0];
true_ch1_tow_s(epoch_counter) = true_observables.gps_time_sec[1];
true_ch1_dist_m(epoch_counter) = true_observables.dist_m[1];
true_ch1_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[1];
true_ch1_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[1];
true_ch1(epoch_counter, 0) = true_observables.gps_time_sec[1];
true_ch1(epoch_counter, 1) = true_observables.dist_m[1];
true_ch1(epoch_counter, 2) = true_observables.doppler_l1_hz[1];
true_ch1(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[1];
epoch_counter++;
}
@@ -637,83 +652,85 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
{
throw std::exception();
};
}
}) << "Failure opening dump observables file";
nepoch = estimated_observables.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl;
nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
std::cout << "Measured observation epochs = " << nepoch << std::endl;
arma::vec measuded_ch0_RX_time_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_TOW_at_current_symbol_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Carrier_Doppler_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Pseudorange_m = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_RX_time_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_TOW_at_current_symbol_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Carrier_Doppler_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Pseudorange_m = arma::zeros(nepoch, 1);
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
arma::mat measured_ch0 = arma::zeros<arma::mat>(nepoch, 5);
arma::mat measured_ch1 = arma::zeros<arma::mat>(nepoch, 5);
estimated_observables.restart();
epoch_counter = 0;
long int epoch_counter2 = 0;
while (estimated_observables.read_binary_obs())
{
measuded_ch0_RX_time_s(epoch_counter) = estimated_observables.RX_time[0];
measuded_ch0_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[0];
measuded_ch0_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[0];
measuded_ch0_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[0];
measuded_ch0_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[0];
if (static_cast<bool>(estimated_observables.valid[0]))
{
measured_ch0(epoch_counter, 0) = estimated_observables.RX_time[0];
measured_ch0(epoch_counter, 1) = estimated_observables.TOW_at_current_symbol_s[0];
measured_ch0(epoch_counter, 2) = estimated_observables.Carrier_Doppler_hz[0];
measured_ch0(epoch_counter, 3) = estimated_observables.Acc_carrier_phase_hz[0];
measured_ch0(epoch_counter, 4) = estimated_observables.Pseudorange_m[0];
epoch_counter++;
}
if (static_cast<bool>(estimated_observables.valid[1]))
{
measured_ch1(epoch_counter2, 0) = estimated_observables.RX_time[1];
measured_ch1(epoch_counter2, 1) = estimated_observables.TOW_at_current_symbol_s[1];
measured_ch1(epoch_counter2, 2) = estimated_observables.Carrier_Doppler_hz[1];
measured_ch1(epoch_counter2, 3) = estimated_observables.Acc_carrier_phase_hz[1];
measured_ch1(epoch_counter2, 4) = estimated_observables.Pseudorange_m[1];
epoch_counter2++;
}
}
measuded_ch1_RX_time_s(epoch_counter) = estimated_observables.RX_time[1];
measuded_ch1_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[1];
measuded_ch1_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[1];
measuded_ch1_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[1];
measuded_ch1_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[1];
epoch_counter++;
//Cut measurement tail zeros
arma::uvec index = arma::find(measured_ch0.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch0.shed_rows(index(0) + 1, nepoch - 1);
}
index = arma::find(measured_ch1.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch1.shed_rows(index(0) + 1, nepoch - 1);
}
//Cut measurement initial transitory of the measurements
arma::uvec initial_meas_point = arma::find(measuded_ch0_RX_time_s >= true_ch0_tow_s(0), 1, "first");
index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch0.shed_rows(0, index(0));
}
index = arma::find(measured_ch1.col(0) >= true_ch1(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch1.shed_rows(0, index(0));
}
measuded_ch0_RX_time_s = measuded_ch0_RX_time_s.subvec(initial_meas_point(0), measuded_ch0_RX_time_s.size() - 1);
measuded_ch0_Pseudorange_m = measuded_ch0_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch0_Pseudorange_m.size() - 1);
measuded_ch0_Acc_carrier_phase_hz = measuded_ch0_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch0_Acc_carrier_phase_hz.size() - 1);
measuded_ch1_RX_time_s = measuded_ch1_RX_time_s.subvec(initial_meas_point(0), measuded_ch1_RX_time_s.size() - 1);
measuded_ch1_Pseudorange_m = measuded_ch1_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch1_Pseudorange_m.size() - 1);
measuded_ch1_Acc_carrier_phase_hz = measuded_ch1_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch1_Acc_carrier_phase_hz.size() - 1);
//correct the clock error using true values (it is not possible for a receiver to correct
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
//find the reference satellite and compute the receiver time offset at obsevable level
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
arma::vec receiver_time_offset_s;
if (measuded_ch0_Pseudorange_m(0) < measuded_ch1_Pseudorange_m(0))
if (measured_ch0(0, 4) < measured_ch1(0, 4))
{
receiver_time_offset_s = true_ch0_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
receiver_time_offset_s = true_ch0.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
}
else
{
receiver_time_offset_s = true_ch1_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
receiver_time_offset_s = true_ch1.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
}
arma::vec corrected_reference_TOW_s = true_ch0_tow_s - receiver_time_offset_s;
arma::vec corrected_reference_TOW_s = true_ch0.col(0) - receiver_time_offset_s;
std::cout << "Receiver time offset: " << receiver_time_offset_s(0) * 1e3 << " [ms]" << std::endl;
std::cout << " receiver_time_offset_s [0]: " << receiver_time_offset_s(0) << std::endl;
//Compare measured observables
check_results_code_psudorange(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
check_results_carrier_phase(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
//compare measured observables
check_results_code_psudorange(true_ch0_dist_m, true_ch1_dist_m, corrected_reference_TOW_s,
measuded_ch0_Pseudorange_m, measuded_ch1_Pseudorange_m, measuded_ch0_RX_time_s);
check_results_carrier_phase(true_ch0_acc_carrier_phase_cycles,
true_ch1_acc_carrier_phase_cycles,
corrected_reference_TOW_s,
measuded_ch0_Acc_carrier_phase_hz,
measuded_ch1_Acc_carrier_phase_hz,
measuded_ch0_RX_time_s);
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
}

15
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
View File

@@ -265,13 +265,12 @@ void GpsL1CATelemetryDecoderTest::configure_receiver()
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "1.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true");
}
@@ -293,9 +292,9 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
//arma::vec err = meas_value - true_value_interp + 0.001;
arma::vec err = meas_value - true_value_interp - 0.001;
err = meas_value - true_value_interp + 0.001;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
@@ -317,10 +316,10 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
<< " [Seconds]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse, 0.2E-6);
ASSERT_LT(error_mean, 0.2E-6);
ASSERT_GT(error_mean, -0.2E-6);
ASSERT_LT(error_var, 0.2E-6);
ASSERT_LT(rmse, 0.3E-6);
ASSERT_LT(error_mean, 0.3E-6);
ASSERT_GT(error_mean, -0.3E-6);
ASSERT_LT(error_var, 0.3E-6);
ASSERT_LT(max_error, 0.5E-6);
ASSERT_GT(min_error, -0.5E-6);
}

1
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
View File

@@ -39,6 +39,7 @@
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"

2
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@@ -409,7 +409,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0;