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Added L1, E1, L5, E5 obs system test

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Unknown 2017-11-08 11:41:15 +01:00
parent ab6415d843
commit 6798f45df6
3 changed files with 688 additions and 509 deletions
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14
src/tests/CMakeLists.txt
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@ -479,13 +479,13 @@ if(ENABLE_SYSTEM_TESTING)
if(GPSTK_FOUND OR OWN_GPSTK)
add_executable(obs_gps_l1_system_test ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_gps_l1_system_test.cc)
add_executable(obs_gps_l1_space_system_test ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_gps_l1_space_system_test.cc)
add_executable(obs_space_system_test ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_space_system_test.cc)
if(NOT ${GTEST_DIR_LOCAL})
add_dependencies(obs_gps_l1_system_test gtest-${GNSSSDR_GTEST_LOCAL_VERSION} )
add_dependencies(obs_gps_l1_space_system_test gtest-${GNSSSDR_GTEST_LOCAL_VERSION} )
add_dependencies(obs_space_system_test gtest-${GNSSSDR_GTEST_LOCAL_VERSION} )
else(NOT ${GTEST_DIR_LOCAL})
add_dependencies(obs_gps_l1_system_test gtest)
add_dependencies(obs_gps_l1_space_system_test gtest)
add_dependencies(obs_space_system_test gtest)
endif(NOT ${GTEST_DIR_LOCAL})
include_directories(${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
target_link_libraries(obs_gps_l1_system_test ${GFlags_LIBS}
@ -495,7 +495,7 @@ if(ENABLE_SYSTEM_TESTING)
gnss_rx
${gpstk_libs})
target_link_libraries(obs_gps_l1_space_system_test ${GFlags_LIBS}
target_link_libraries(obs_space_system_test ${GFlags_LIBS}
${GLOG_LIBRARIES}
${GTEST_LIBRARIES}
gnss_sp_libs
@ -511,9 +511,9 @@ if(ENABLE_SYSTEM_TESTING)
add_custom_command(TARGET obs_gps_l1_system_test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_gps_l1_system_test>
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_gps_l1_system_test> )
add_custom_command(TARGET obs_gps_l1_space_system_test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_gps_l1_space_system_test>
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_gps_l1_space_system_test> )
add_custom_command(TARGET obs_space_system_test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_space_system_test>
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_space_system_test> )
endif(ENABLE_INSTALL_TESTS)
endif(GPSTK_FOUND OR OWN_GPSTK)

502
src/tests/system-tests/obs_gps_l1_space_system_test.cc
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@ -1,502 +0,0 @@
/*!
* \file obs_gps_l1_space_system_test.cc
* \brief This class implements a test for the validation of generated observables.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
* Antonio Ramos, 2017. antonio.ramos(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <algorithm>
#include <chrono>
#include <cstdlib>
#include <exception>
#include <iostream>
#include <numeric>
#include <string>
#include <thread>
#include <unistd.h>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
#include <gpstk/RinexUtilities.hpp>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "file_configuration.h"
#include "signal_generator_flags.h"
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
DEFINE_string(configuration_file_space, "./default_configuration.conf", "Path of configuration file");
class ObsGpsL1SpaceSystemTest: public ::testing::Test
{
public:
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string generated_rinex_obs;
std::string configuration_file_ = FLAGS_configuration_file_space;
int configure_receiver();
int run_receiver();
void check_results();
bool check_valid_rinex_obs(std::string filename, int rinex_ver); // return true if the file is a valid Rinex observation file.
double compute_stdev(const std::vector<double> & vec);
std::shared_ptr<FileConfiguration> config;
};
double ObsGpsL1SpaceSystemTest::compute_stdev(const std::vector<double> & vec)
{
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size();
double accum__ = 0.0;
std::for_each (std::begin(vec), std::end(vec), [&](const double d) {
accum__ += (d - mean__) * (d - mean__);
});
double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
return stdev__;
}
bool ObsGpsL1SpaceSystemTest::check_valid_rinex_obs(std::string filename, int rinex_ver)
{
bool res = false;
if(rinex_ver == 2)
{
res = gpstk::isRinexObsFile(filename);
}
if(rinex_ver == 3)
{
res = gpstk::isRinex3ObsFile(filename);
}
return res;
}
int ObsGpsL1SpaceSystemTest::configure_receiver()
{
config = std::make_shared<FileConfiguration>(configuration_file_);
int d_rinex_ver = config->property("PVT.rinex_version", 0);
if(d_rinex_ver != 2)
{
std::cout << "Invalid RINEX version. Set PVT.rinex_ver=2 in configuration file." << std::endl;
std::cout << "GPSTk does not work with RINEX v. 3.02." << std::endl;
}
return 0;
}
int ObsGpsL1SpaceSystemTest::run_receiver()
{
std::shared_ptr<ControlThread> control_thread;
control_thread = std::make_shared<ControlThread>(config);
// start receiver
try
{
control_thread->run();
}
catch(const boost::exception & e)
{
std::cout << "Boost exception: " << boost::diagnostic_information(e);
}
catch(const std::exception & ex)
{
std::cout << "STD exception: " << ex.what();
}
// Get the name of the RINEX obs file generated by the receiver
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
FILE *fp;
std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
char buffer[1035];
fp = popen(&argum2[0], "r");
if (fp == NULL)
{
std::cout << "Failed to run command: " << argum2 << std::endl;
return -1;
}
while (fgets(buffer, sizeof(buffer), fp) != NULL)
{
std::string aux = std::string(buffer);
ObsGpsL1SpaceSystemTest::generated_rinex_obs = aux.erase(aux.length() - 1, 1);
}
pclose(fp);
return 0;
}
void ObsGpsL1SpaceSystemTest::check_results()
{
std::vector<std::vector<std::pair<double, double>> > pseudorange_ref(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_ref(33);
std::vector<std::vector<std::pair<double, double>> > doppler_ref(33);
std::vector<std::vector<std::pair<double, double>> > pseudorange_meas(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_meas(33);
std::vector<std::vector<std::pair<double, double>> > doppler_meas(33);
// Open and read reference RINEX observables file
try
{
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
r_ref >> r_ref_header;
while (r_ref >> r_ref_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
if( pointer == r_ref_data.obs.end() )
{
// PRN not present; do nothing
}
else
{
dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow,P1);
pseudorange_ref.at(myprn).push_back(pseudo);
dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_ref.at(myprn).push_back(carrier);
dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_ref.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch(const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch(const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
try
{
std::string arg2_gen = std::string("./") + ObsGpsL1SpaceSystemTest::generated_rinex_obs;
gpstk::Rinex3ObsStream r_meas(arg2_gen);
r_meas.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_meas_data;
gpstk::Rinex3ObsHeader r_meas_header;
gpstk::RinexDatum dataobj;
r_meas >> r_meas_header;
while (r_meas >> r_meas_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
gpstk::CommonTime time = r_meas_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
if( pointer == r_meas_data.obs.end() )
{
// PRN not present; do nothing
}
else
{
dataobj = r_meas_data.getObs(prn, "C1C", r_meas_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow, P1);
pseudorange_meas.at(myprn).push_back(pseudo);
dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_meas.at(myprn).push_back(carrier);
dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_meas.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch(const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch(const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
// Time alignment
std::vector<std::vector<std::pair<double, double>> > pseudorange_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> > carrierphase_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> > doppler_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>> >::iterator iter;
std::vector<std::pair<double, double>>::iterator it;
std::vector<std::pair<double, double>>::iterator it2;
std::vector<std::vector<double>> pr_diff(33);
std::vector<std::vector<double>> cp_diff(33);
std::vector<std::vector<double>> doppler_diff(33);
std::vector<std::vector<double>>::iterator iter_diff;
std::vector<double>::iterator iter_v;
int prn_id = 0;
for(iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
{
for(it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for(it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
{
if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
{
pseudorange_ref_aligned.at(prn_id).push_back(*it);
pr_diff.at(prn_id).push_back(it->second - it2->second );
//std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << " PR_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for(iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
{
for(it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for(it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
{
if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
{
carrierphase_ref_aligned.at(prn_id).push_back(*it);
cp_diff.at(prn_id).push_back(it->second - it2->second );
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for(iter = doppler_ref.begin(); iter != doppler_ref.end(); iter++)
{
for(it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for(it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
{
if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
{
doppler_ref_aligned.at(prn_id).push_back(*it);
doppler_diff.at(prn_id).push_back(it->second - it2->second );
}
}
}
prn_id++;
}
// Compute pseudorange error
prn_id = 0;
std::vector<double> mean_pr_diff_v;
for(iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_pr_diff_v.push_back(mean_diff);
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
double stdev_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_ ;
std::cout << " [m]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_pr = compute_stdev(mean_pr_diff_v);
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 10.0);
// Compute carrier phase error
prn_id = 0;
std::vector<double> mean_cp_diff_v;
for(iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_cp_diff_v.push_back(mean_diff);
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff;
double stdev_pr_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_pr_ << " whole cycles (19 cm)" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
// Compute Doppler error
prn_id = 0;
std::vector<double> mean_doppler_v;
for(iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
//std::cout << *iter_v << std::endl;
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_doppler_v.push_back(mean_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_dp = compute_stdev(mean_doppler_v);
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 10.0);
}
TEST_F(ObsGpsL1SpaceSystemTest, Observables_system_test)
{
std::cout << "Validating input RINEX obs (TRUE) file: " << filename_rinex_obs << " ..." << std::endl;
bool is_rinex_obs_valid = check_valid_rinex_obs(filename_rinex_obs, 3);
ASSERT_EQ(true, is_rinex_obs_valid) << "The RINEX observation file " << filename_rinex_obs << " is not well formed. Only RINEX v. 3.00 files are allowed";
std::cout << "The file is valid." << std::endl;
// Configure receiver
configure_receiver();
// Run the receiver
ASSERT_EQ( run_receiver(), 0) << "Problem executing the software-defined signal generator";
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << ObsGpsL1SpaceSystemTest::generated_rinex_obs << " ..." << std::endl;
bool is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + ObsGpsL1SpaceSystemTest::generated_rinex_obs, 2);
ASSERT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << ObsGpsL1SpaceSystemTest::generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Check results
check_results();
}
int main(int argc, char **argv)
{
std::cout << "Running GNSS-SDR in Space Observables validation test..." << std::endl;
int res = 0;
try
{
testing::InitGoogleTest(&argc, argv);
}
catch(...) {} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
google::ParseCommandLineFlags(&argc, &argv, true);
google::InitGoogleLogging(argv[0]);
// Run the Tests
try
{
res = RUN_ALL_TESTS();
}
catch(...)
{
LOG(WARNING) << "Unexpected catch";
}
google::ShutDownCommandLineFlags();
return res;
}

681
src/tests/system-tests/obs_space_system_test.cc Normal file
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@ -0,0 +1,681 @@
/*!
* \file obs_space_system_test.cc
* \brief This class implements a test for the validation of generated observables.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
* Antonio Ramos, 2017. antonio.ramos(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <algorithm>
#include <chrono>
#include <cstdlib>
#include <exception>
#include <iostream>
#include <numeric>
#include <string>
#include <thread>
#include <unistd.h>
#include <armadillo>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
#include <gpstk/RinexUtilities.hpp>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "file_configuration.h"
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
DEFINE_string(configuration_file, "./default_configuration.conf", "Path of configuration file");
DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations");
DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
DEFINE_double(pr_error_mean_max, 50.0, "Maximum mean error in pseudorange");
DEFINE_double(pr_error_std_max, 50.0, "Maximum standard deviation in pseudorange");
DEFINE_double(cp_error_mean_max, 50.0, "Maximum mean error in carrier phase");
DEFINE_double(cp_error_std_max, 50.0, "Maximum standard deviation in carrier phase");
DEFINE_double(dp_error_mean_max, 5.0, "Maximum mean error in Doppler frequency");
DEFINE_double(dp_error_std_max, 10.0, "Maximum standard deviation in Doppler frequency");
class ObsSpaceSystemTest: public ::testing::Test
{
public:
int configure_receiver();
int run_receiver();
void check_results();
bool check_valid_rinex_obs(std::string filename, int rinex_ver); // return true if the file is a valid Rinex observation file.
void read_rinex_files(
std::vector<arma::mat>& pseudorange_ref,
std::vector<arma::mat>& carrierphase_ref,
std::vector<arma::mat>& doppler_ref,
std::vector<arma::mat>& pseudorange_meas,
std::vector<arma::mat>& carrierphase_meas,
std::vector<arma::mat>& doppler_meas,
int signal_type);
void time_alignment_diff(
std::vector<arma::mat>& ref,
std::vector<arma::mat>& meas,
std::vector<arma::vec>& diff);
void compute_pseudorange_error(std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std);
void compute_carrierphase_error(
std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std);
void compute_doppler_error(
std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std);
std::string filename_rinex_obs = FLAGS_filename_rinex_true;
std::string generated_rinex_obs = FLAGS_filename_rinex_obs;
std::string configuration_file_ = FLAGS_configuration_file;
std::shared_ptr<FileConfiguration> config;
bool gps_1C = false;
bool gps_L5 = false;
bool gal_1B = false;
bool gal_E5a = false;
bool internal_rinex_generation = false;
/****************/
const int num_prn_gps = 33;
const int num_prn_gal = 31;
double pseudorange_error_th_mean = FLAGS_pr_error_mean_max;
double pseudorange_error_th_std= FLAGS_pr_error_std_max;
double carrierphase_error_th_mean = FLAGS_cp_error_mean_max;
double carrierphase_error_th_std = FLAGS_cp_error_std_max;
double doppler_error_th_mean = FLAGS_dp_error_mean_max;
double doppler_error_th_std = FLAGS_dp_error_std_max;
};
bool ObsSpaceSystemTest::check_valid_rinex_obs(std::string filename, int rinex_ver)
{
bool res = false;
if(rinex_ver == 2)
{
res = gpstk::isRinexObsFile(filename);
}
if(rinex_ver == 3)
{
res = gpstk::isRinex3ObsFile(filename);
}
return res;
}
void ObsSpaceSystemTest::read_rinex_files(
std::vector<arma::mat>& pseudorange_ref,
std::vector<arma::mat>& carrierphase_ref,
std::vector<arma::mat>& doppler_ref,
std::vector<arma::mat>& pseudorange_meas,
std::vector<arma::mat>& carrierphase_meas,
std::vector<arma::mat>& doppler_meas,
int signal_type)
{
bool ref_exist = false;
bool meas_exist = false;
gpstk::SatID::SatelliteSystem sat_type = gpstk::SatID::systemUnknown;
int max_prn = 0;
std::string pr_string;
std::string cp_string;
std::string dp_string;
std::string signal_type_string;
switch(signal_type)
{
case 0: //GPS L1
sat_type = gpstk::SatID::systemGPS;
max_prn = num_prn_gps;
pr_string = "C1C";
cp_string = "L1C";
dp_string = "D1C";
signal_type_string = "GPS L1 C/A";
break;
case 1: //Galileo E1B
sat_type = gpstk::SatID::systemGalileo;
max_prn = num_prn_gal;
pr_string = "C1B";
cp_string = "L1B";
dp_string = "D1B";
signal_type_string = "Galileo E1B";
break;
case 2: //GPS L5
sat_type = gpstk::SatID::systemGPS;
max_prn = num_prn_gps;
pr_string = "C5X";
cp_string = "L5X";
dp_string = "D5X";
signal_type_string = "GPS L5";
break;
case 3: //Galileo E5a
sat_type = gpstk::SatID::systemGalileo;
max_prn = num_prn_gal;
pr_string = "C5X";
cp_string = "L5X";
dp_string = "D5X";
signal_type_string = "Galileo E5a";
break;
}
// Open and read reference RINEX observables file
std::cout << "Read: RINEX " << signal_type_string << " True" << std::endl;
try
{
gpstk::Rinex3ObsStream r_ref(filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
r_ref >> r_ref_header;
while (r_ref >> r_ref_data)
{
for (int myprn = 1; myprn < max_prn; myprn++)
{
gpstk::SatID prn( myprn, sat_type);
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
if( pointer == r_ref_data.obs.end() )
{
// PRN not present; do nothing
}
else
{
dataobj = r_ref_data.getObs(prn, pr_string, r_ref_header);
double P1 = dataobj.data;
pseudorange_ref.at(myprn).insert_rows(pseudorange_ref.at(myprn).n_rows, arma::rowvec({sow, P1}));
dataobj = r_ref_data.getObs(prn, cp_string, r_ref_header);
double L1 = dataobj.data;
carrierphase_ref.at(myprn).insert_rows(carrierphase_ref.at(myprn).n_rows, arma::rowvec({sow, L1}));
dataobj = r_ref_data.getObs(prn, dp_string, r_ref_header);
double D1 = dataobj.data;
doppler_ref.at(myprn).insert_rows(doppler_ref.at(myprn).n_rows, arma::rowvec({sow, D1}));
ref_exist = true;
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch(const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch(const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
// Open and read measured RINEX observables file
std::cout << "Read: RINEX "<< signal_type_string << " measures" << std::endl;
try
{
std::string arg2_gen;
if(internal_rinex_generation)
{
arg2_gen = std::string("./") + generated_rinex_obs;
}
else
{
arg2_gen = generated_rinex_obs;
}
gpstk::Rinex3ObsStream r_meas(arg2_gen);
r_meas.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_meas_data;
gpstk::Rinex3ObsHeader r_meas_header;
gpstk::RinexDatum dataobj;
r_meas >> r_meas_header;
while (r_meas >> r_meas_data)
{
for (int myprn = 1; myprn < max_prn; myprn++)
{
gpstk::SatID prn( myprn, sat_type);
gpstk::CommonTime time = r_meas_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
if( pointer == r_meas_data.obs.end() )
{
// PRN not present; do nothing
}
else
{
dataobj = r_meas_data.getObs(prn, pr_string, r_meas_header);
double P1 = dataobj.data;
pseudorange_meas.at(myprn).insert_rows(pseudorange_meas.at(myprn).n_rows, arma::rowvec({sow, P1}));
dataobj = r_meas_data.getObs(prn, cp_string, r_meas_header);
double L1 = dataobj.data;
carrierphase_meas.at(myprn).insert_rows(carrierphase_meas.at(myprn).n_rows, arma::rowvec({sow, L1}));
dataobj = r_meas_data.getObs(prn, dp_string, r_meas_header);
double D1 = dataobj.data;
doppler_meas.at(myprn).insert_rows(doppler_meas.at(myprn).n_rows, arma::rowvec({sow, D1}));
meas_exist = true;
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch(const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch(const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
EXPECT_TRUE(ref_exist) << "RINEX reference file does not contain " << signal_type_string << " information";
EXPECT_TRUE(meas_exist) << "RINEX generated file does not contain " << signal_type_string << " information";
}
void ObsSpaceSystemTest::time_alignment_diff(
std::vector<arma::mat>& ref,
std::vector<arma::mat>& meas,
std::vector<arma::vec>& diff)
{
std::vector<arma::mat>::iterator iter_ref;
std::vector<arma::mat>::iterator iter_meas;
std::vector<arma::vec>::iterator iter_diff;
arma::mat mat_aux;
iter_ref = ref.begin();
iter_diff = diff.begin();
for(iter_meas = meas.begin(); iter_meas != meas.end(); iter_meas++)
{
if( !iter_meas->is_empty() && !iter_ref->is_empty() )
{
arma::uvec index_ = arma::find(iter_meas->col(0) > iter_ref->at(0, 0));
arma::uword index_min = arma::min(index_);
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
arma::uword index_max = arma::max(index_);
mat_aux = iter_meas->rows(index_min, index_max);
arma::vec ref_aligned;
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
*iter_diff = ref_aligned - mat_aux.col(1);
}
iter_ref++;
iter_diff++;
}
}
int ObsSpaceSystemTest::configure_receiver()
{
config = std::make_shared<FileConfiguration>(configuration_file_);
int d_rinex_ver = config->property("PVT.rinex_version", 0);
if(d_rinex_ver != 2)
{
std::cout << "Invalid RINEX version. Set PVT.rinex_version=2 in configuration file." << std::endl;
std::cout << "GPSTk does not work with RINEX v. 3.02." << std::endl;
}
if( config->property("Channels_1C.count", 0) > 0 )
{gps_1C = true;}
if( config->property("Channels_1B.count", 0) > 0 )
{gal_1B = true;}
if( config->property("Channels_5X.count", 0) > 0 )
{gal_E5a = true;}
if( config->property("Channels_7X.count", 0) > 0 ) //NOT DEFINITIVE!!!!!
{gps_L5 = true;}
return 0;
}
int ObsSpaceSystemTest::run_receiver()
{
std::shared_ptr<ControlThread> control_thread;
control_thread = std::make_shared<ControlThread>(config);
// start receiver
try
{
control_thread->run();
}
catch(const boost::exception & e)
{
std::cout << "Boost exception: " << boost::diagnostic_information(e);
}
catch(const std::exception & ex)
{
std::cout << "STD exception: " << ex.what();
}
// Get the name of the RINEX obs file generated by the receiver
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
FILE *fp;
std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
char buffer[1035];
fp = popen(&argum2[0], "r");
if (fp == NULL)
{
std::cout << "Failed to run command: " << argum2 << std::endl;
return -1;
}
while (fgets(buffer, sizeof(buffer), fp) != NULL)
{
std::string aux = std::string(buffer);
generated_rinex_obs = aux.erase(aux.length() - 1, 1);
internal_rinex_generation = true;
}
pclose(fp);
return 0;
}
void ObsSpaceSystemTest::compute_pseudorange_error(
std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std)
{
int prn_id = 0;
std::vector<arma::vec>::iterator iter_diff;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{
if(!iter_diff->is_empty())
{
double d_mean = arma::mean(*iter_diff);
double d_stddev = arma::stddev(*iter_diff);
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev;
std::cout << " [m]" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
}
prn_id++;
}
}
void ObsSpaceSystemTest::compute_carrierphase_error(
std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std)
{
int prn_id = 0;
std::vector<arma::vec>::iterator iter_diff;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{
if(!iter_diff->is_empty())
{
double d_mean = arma::mean(*iter_diff);
double d_stddev = arma::stddev(*iter_diff);
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev;
std::cout << " whole cycles" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
}
prn_id++;
}
}
void ObsSpaceSystemTest::compute_doppler_error(
std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std)
{
int prn_id = 0;
std::vector<arma::vec>::iterator iter_diff;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{
if(!iter_diff->is_empty())
{
double d_mean = arma::mean(*iter_diff);
double d_stddev = arma::stddev(*iter_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev;
std::cout << " [Hz]" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
}
prn_id++;
}
}
void ObsSpaceSystemTest::check_results()
{
if(gps_1C)
{
std::vector<arma::mat> pseudorange_ref(num_prn_gps);
std::vector<arma::mat> carrierphase_ref(num_prn_gps);
std::vector<arma::mat> doppler_ref(num_prn_gps);
std::vector<arma::mat> pseudorange_meas(num_prn_gps);
std::vector<arma::mat> carrierphase_meas(num_prn_gps);
std::vector<arma::mat> doppler_meas(num_prn_gps);
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, 0);
// Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gps);
std::vector<arma::vec> cp_diff(num_prn_gps);
std::vector<arma::vec> dp_diff(num_prn_gps);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results
std::cout << "GPS L1 C/A obs. results" << std::endl;
// Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
// Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
// Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
}
if(gps_L5)
{
std::vector<arma::mat> pseudorange_ref(num_prn_gps);
std::vector<arma::mat> carrierphase_ref(num_prn_gps);
std::vector<arma::mat> doppler_ref(num_prn_gps);
std::vector<arma::mat> pseudorange_meas(num_prn_gps);
std::vector<arma::mat> carrierphase_meas(num_prn_gps);
std::vector<arma::mat> doppler_meas(num_prn_gps);
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, 2);
// Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gps);
std::vector<arma::vec> cp_diff(num_prn_gps);
std::vector<arma::vec> dp_diff(num_prn_gps);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results
std::cout << "GPS L5 obs. results" << std::endl;
// Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
// Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
// Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
}
if(gal_1B)
{
std::vector<arma::mat> pseudorange_ref(num_prn_gal);
std::vector<arma::mat> carrierphase_ref(num_prn_gal);
std::vector<arma::mat> doppler_ref(num_prn_gal);
std::vector<arma::mat> pseudorange_meas(num_prn_gal);
std::vector<arma::mat> carrierphase_meas(num_prn_gal);
std::vector<arma::mat> doppler_meas(num_prn_gal);
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, 1);
// Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gal);
std::vector<arma::vec> cp_diff(num_prn_gal);
std::vector<arma::vec> dp_diff(num_prn_gal);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results
std::cout << "Galileo E1B obs. results" << std::endl;
// Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
// Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
// Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
}
if(gal_E5a)
{
std::vector<arma::mat> pseudorange_ref(num_prn_gal);
std::vector<arma::mat> carrierphase_ref(num_prn_gal);
std::vector<arma::mat> doppler_ref(num_prn_gal);
std::vector<arma::mat> pseudorange_meas(num_prn_gal);
std::vector<arma::mat> carrierphase_meas(num_prn_gal);
std::vector<arma::mat> doppler_meas(num_prn_gal);
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, 3);
// Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gal);
std::vector<arma::vec> cp_diff(num_prn_gal);
std::vector<arma::vec> dp_diff(num_prn_gal);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results
std::cout << "Galileo E5a obs. results" << std::endl;
// Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
// Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
// Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
}
}
TEST_F(ObsSpaceSystemTest, Observables_system_test)
{
std::cout << "Validating input RINEX obs (TRUE) file: " << filename_rinex_obs << " ..." << std::endl;
bool is_rinex_obs_valid = check_valid_rinex_obs(filename_rinex_obs, 3);
ASSERT_EQ(true, is_rinex_obs_valid) << "The RINEX observation file " << filename_rinex_obs << " is not well formed. Only RINEX v. 3.00 files are allowed";
std::cout << "The file is valid." << std::endl;
// Configure receiver
configure_receiver();
if(generated_rinex_obs.compare("default_string") == 0)
{
// Run the receiver
ASSERT_EQ( run_receiver(), 0) << "Problem executing the software-defined signal generator";
}
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << generated_rinex_obs << " ..." << std::endl;
bool is_gen_rinex_obs_valid = false;
if(internal_rinex_generation)
{
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, 2);
}
else
{
is_gen_rinex_obs_valid = check_valid_rinex_obs(generated_rinex_obs, 2);
}
ASSERT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Check results
check_results();
}
int main(int argc, char **argv)
{
std::cout << "Running GNSS-SDR in Space Observables validation test..." << std::endl;
int res = 0;
try
{
testing::InitGoogleTest(&argc, argv);
}
catch(...) {} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
google::ParseCommandLineFlags(&argc, &argv, true);
google::InitGoogleLogging(argv[0]);
// Run the Tests
try
{
res = RUN_ALL_TESTS();
}
catch(...)
{
LOG(WARNING) << "Unexpected catch";
}
google::ShutDownCommandLineFlags();
return res;
}