diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc index 08287722c..c0d2e8133 100644 --- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc @@ -38,59 +38,60 @@ DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test."); // ######## GNURADIO BLOCK MESSAGE RECEVER ######### -//class AcqPerfTest_msg_rx; +class AcqPerfTest_msg_rx; // -//typedef boost::shared_ptr AcqPerfTest_msg_rx_sptr; +typedef boost::shared_ptr AcqPerfTest_msg_rx_sptr; // -//AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(); +AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(); // -//class AcqPerfTest_msg_rx : public gr::block -//{ -//private: -// friend AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(); -// void msg_handler_events(pmt::pmt_t msg); -// AcqPerfTest_msg_rx(); -// -//public: -// int rx_message; -// ~AcqPerfTest_msg_rx(); //!< Default destructor -//}; -// -// -//AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make() -//{ -// return AcqPerfTest_msg_rx_sptr(new AcqPerfTest_msg_rx()); -//} -// -// -//void AcqPerfTest_msg_rx::msg_handler_events(pmt::pmt_t msg) -//{ -// try -// { -// long int message = pmt::to_long(msg); -// rx_message = message; -// } -// catch (boost::bad_any_cast& e) -// { -// LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; -// rx_message = 0; -// } -//} -// -// -//AcqPerfTest_msg_rx::AcqPerfTest_msg_rx() : gr::block("AcqPerfTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) -//{ -// this->message_port_register_in(pmt::mp("events")); -// this->set_msg_handler(pmt::mp("events"), boost::bind(&AcqPerfTest_msg_rx::msg_handler_events, this, _1)); -// rx_message = 0; -//} -// -// -//AcqPerfTest_msg_rx::~AcqPerfTest_msg_rx() -//{ -//} -// -//// ----------------------------------------- +class AcqPerfTest_msg_rx : public gr::block +{ +private: + friend AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(); + void msg_handler_events(pmt::pmt_t msg); + AcqPerfTest_msg_rx(); + +public: + int rx_message; + ~AcqPerfTest_msg_rx(); //!< Default destructor +}; + + +AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make() +{ + return AcqPerfTest_msg_rx_sptr(new AcqPerfTest_msg_rx()); +} + + +void AcqPerfTest_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + long int message = pmt::to_long(msg); + rx_message = message; + } + catch (boost::bad_any_cast& e) + { + LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; + rx_message = 0; + } + std::cout << "Received message:" << rx_message << std::endl; +} + + +AcqPerfTest_msg_rx::AcqPerfTest_msg_rx() : gr::block("AcqPerfTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), boost::bind(&AcqPerfTest_msg_rx::msg_handler_events, this, _1)); + rx_message = 0; +} + + +AcqPerfTest_msg_rx::~AcqPerfTest_msg_rx() +{ +} + +// ----------------------------------------- class AcquisitionPerformanceTest : public ::testing::Test @@ -109,8 +110,8 @@ protected: { } - std::vector cn0_ = {41.0, 42.0, 43.0}; - int N_iterations = 2; + std::vector cn0_ = {38.0, 40.0, 43.0}; + int N_iterations = 1; void init(); //void plot_grid(); @@ -118,6 +119,7 @@ protected: int generate_signal(); int configure_receiver(double cn0, unsigned int iter); int run_receiver(); + int run_receiver2(); void check_results(); gr::top_block_sptr top_block; Gnss_Synchro gnss_synchro; @@ -125,6 +127,7 @@ protected: unsigned int doppler_max; unsigned int doppler_step; std::string implementation = "GPS_L1_CA_PCPS_Acquisition"; + boost::shared_ptr acquisition; std::shared_ptr config; std::shared_ptr config_f; @@ -325,7 +328,7 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Acquisition_1C.max_dwells", std::to_string(1)); - config->set_property("Acquisition_1C.repeat_satellite", "false"); + config->set_property("Acquisition_1C.repeat_satellite", "true"); config->set_property("Acquisition_1C.blocking", "true"); config->set_property("Acquisition_1C.make_two_steps", "false"); @@ -355,6 +358,9 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz)); config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms)); + config->set_property("Tracking_1C.cn0_min", std::to_string(50)); + config->set_property("Tracking_1C.max_lock_fail", std::to_string(1)); + config->set_property("Tracking_1C.cn0_samples", std::to_string(1)); // Set Telemetry config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); @@ -395,6 +401,58 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter int AcquisitionPerformanceTest::run_receiver() +{ + std::chrono::time_point start, end; + std::chrono::duration elapsed_seconds(0); + std::string file = "./" + filename_raw_data; //+ std::to_string(current_cn0_idx); + 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); + + for (unsigned k = 0; k < 2; k++) + { + gr::top_block_sptr top_block_ = gr::make_top_block("Acquisition test"); + boost::shared_ptr msg_rx = AcqPerfTest_msg_rx_make(); + + gnss_synchro = Gnss_Synchro(); + init(); + auto acquisition_ = boost::make_shared(config.get(), "Acquisition_1C", 1, 0); + + //acquisition->connect(top_block); + acquisition_->set_gnss_synchro(&gnss_synchro); + + acquisition_->connect(top_block_); + acquisition_->set_local_code(); + acquisition_->set_state(1); // Ensure that acquisition starts at the first sample + acquisition_->init(); + //file_source->seek(static_cast(100 * k), SEEK_SET); + + if (not file_source->seek(static_cast(100 * k), SEEK_SET)) + { + std::cout << "Error skipping " << k << std::endl; + } + gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make(); + top_block_->connect(file_source, 0, gr_interleaved_char_to_complex, 0); + top_block_->connect(gr_interleaved_char_to_complex, 0, acquisition_->get_left_block(), 0); + top_block_->msg_connect(acquisition_->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + + + start = std::chrono::system_clock::now(); + top_block_->run(); // Start threads and wait + end = std::chrono::system_clock::now(); + //file_source->close(); + elapsed_seconds = end - start; + std::cout << "Acq_delay_samples: " << gnss_synchro.Acq_delay_samples << std::endl; + std::cout << "Acq_doppler_hz: " << gnss_synchro.Acq_doppler_hz << std::endl; + std::cout << "Acq_samplestamp_samples: " << gnss_synchro.Acq_samplestamp_samples << std::endl + << std::endl; + } + + //std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; + + return 0; +} + +int AcquisitionPerformanceTest::run_receiver2() { std::shared_ptr control_thread; if (FLAGS_config_file_ptest.empty()) @@ -442,7 +500,7 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0) configure_receiver(*it, iter); // Run it - run_receiver(); + run_receiver2(); // Read and store reference data and results } diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc index d429460b5..1b3598489 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc @@ -53,7 +53,27 @@ #include "gnuplot_i.h" #include "test_flags.h" -DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot"); + +// Input signal configuration +DEFINE_bool(enable_external_signal_file, false, "Use an external signal file capture instead of the software-defined signal generator"); +DEFINE_string(signal_file, std::string("gps_l1_capture.dat"), "Path of the external signal capture file"); +DEFINE_double(CN0_dBHz_start, std::numeric_limits::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]"); +DEFINE_double(CN0_dBHz_stop, std::numeric_limits::infinity(), "Enable noise generator and set the CN0 stop sweep value [dB-Hz]"); +DEFINE_double(CN0_dB_step, 3.0, "Noise generator CN0 sweep step value [dB]"); + +DEFINE_double(PLL_bw_hz_start, 40.0, "PLL Wide configuration start sweep value [Hz]"); +DEFINE_double(PLL_bw_hz_stop, 40.0, "PLL Wide configuration stop sweep value [Hz]"); +DEFINE_double(PLL_bw_hz_step, 5.0, "PLL Wide configuration sweep step value [Hz]"); + +DEFINE_double(DLL_bw_hz_start, 1.5, "DLL Wide configuration start sweep value [Hz]"); +DEFINE_double(DLL_bw_hz_stop, 1.5, "DLL Wide configuration stop sweep value [Hz]"); +DEFINE_double(DLL_bw_hz_step, 0.25, "DLL Wide configuration sweep step value [Hz]"); + +DEFINE_bool(plot_extra, false, "Enable or disable plots of the correlators output and constellation diagrams"); + +//Emulated acquisition configuration + +//Tracking configuration DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)"); //Test output configuration @@ -137,15 +157,21 @@ public: std::vector check_results_doppler(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value); + arma::vec& meas_value, + double& mean_error, + double& std_dev_error); std::vector check_results_acc_carrier_phase(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value); + arma::vec& meas_value, + double& mean_error, + double& std_dev_error); std::vector check_results_codephase(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value); + arma::vec& meas_value, + double& mean_error, + double& std_dev_error); GpsL1CADllPllTrackingTest() { @@ -159,7 +185,11 @@ public: { } - void configure_receiver(); + void configure_receiver(double PLL_wide_bw_hz, + double DLL_wide_bw_hz, + double PLL_narrow_bw_hz, + double DLL_narrow_bw_hz, + int extend_correlation_symbols); gr::top_block_sptr top_block; std::shared_ptr factory; @@ -214,7 +244,12 @@ int GpsL1CADllPllTrackingTest::generate_signal() } -void GpsL1CADllPllTrackingTest::configure_receiver() +void GpsL1CADllPllTrackingTest::configure_receiver( + double PLL_wide_bw_hz, + double DLL_wide_bw_hz, + double PLL_narrow_bw_hz, + double DLL_narrow_bw_hz, + int extend_correlation_symbols) { gnss_synchro.Channel_ID = 0; gnss_synchro.System = 'G'; @@ -222,26 +257,40 @@ void GpsL1CADllPllTrackingTest::configure_receiver() signal.copy(gnss_synchro.Signal, 2, 0); gnss_synchro.PRN = FLAGS_test_satellite_PRN; + config = std::make_shared(); config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq)); // Set Tracking config->set_property("Tracking_1C.implementation", implementation); config->set_property("Tracking_1C.item_type", "gr_complex"); - 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.pll_bw_hz", std::to_string(PLL_wide_bw_hz)); + config->set_property("Tracking_1C.dll_bw_hz", std::to_string(DLL_wide_bw_hz)); config->set_property("Tracking_1C.early_late_space_chips", "0.5"); - config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(FLAGS_extend_correlation_symbols)); - config->set_property("Tracking_1C.pll_bw_narrow_hz", "2.0"); - config->set_property("Tracking_1C.dll_bw_narrow_hz", "1.0"); + config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_symbols)); + config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz)); + config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz)); config->set_property("Tracking_1C.early_late_space_narrow_chips", "0.5"); config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); + + std::cout << "*****************************************\n"; + std::cout << "*** Tracking configuration parameters ***\n"; + std::cout << "*****************************************\n"; + std::cout << "pll_bw_hz: " << config->property("Tracking_1C.pll_bw_hz", 0.0) << " Hz\n"; + std::cout << "dll_bw_hz: " << config->property("Tracking_1C.dll_bw_hz", 0.0) << " Hz\n"; + std::cout << "pll_bw_narrow_hz: " << config->property("Tracking_1C.pll_bw_narrow_hz", 0.0) << " Hz\n"; + std::cout << "dll_bw_narrow_hz: " << config->property("Tracking_1C.dll_bw_narrow_hz", 0.0) << " Hz\n"; + std::cout << "extend_correlation_symbols: " << config->property("Tracking_1C.extend_correlation_symbols", 0) << " Symbols\n"; + std::cout << "*****************************************\n"; + std::cout << "*****************************************\n"; } std::vector GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value) + arma::vec& meas_value, + double& mean_error, + double& std_dev_error) { // 1. True value interpolation to match the measurement times arma::vec true_value_interp; @@ -269,6 +318,9 @@ std::vector GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& double error_mean = arma::mean(err); double error_var = arma::var(err); + mean_error = error_mean; + std_dev_error = sqrt(error_var); + // 4. Peaks double max_error = arma::max(err); double min_error = arma::min(err); @@ -286,7 +338,9 @@ std::vector GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& std::vector GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value) + arma::vec& meas_value, + double& mean_error, + double& std_dev_error) { // 1. True value interpolation to match the measurement times arma::vec true_value_interp; @@ -312,6 +366,8 @@ std::vector GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(a double error_mean = arma::mean(err); double error_var = arma::var(err); + mean_error = error_mean; + std_dev_error = sqrt(error_var); // 4. Peaks double max_error = arma::max(err); double min_error = arma::min(err); @@ -329,7 +385,9 @@ std::vector GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(a std::vector GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s, arma::vec& true_value, arma::vec& meas_time_s, - arma::vec& meas_value) + arma::vec& meas_value, + double& mean_error, + double& std_dev_error) { // 1. True value interpolation to match the measurement times arma::vec true_value_interp; @@ -356,6 +414,9 @@ std::vector GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec double error_mean = arma::mean(err); double error_var = arma::var(err); + mean_error = error_mean; + std_dev_error = sqrt(error_var); + // 4. Peaks double max_error = arma::max(err); double min_error = arma::min(err); @@ -378,18 +439,18 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) std::vector generator_CN0_values; - std::vector> prompt_sweep; - std::vector> early_sweep; - std::vector> late_sweep; - std::vector> promptI_sweep; - std::vector> promptQ_sweep; - std::vector> CN0_dBHz_sweep; - //error vectors - std::vector> doppler_error_sweep; - std::vector> code_phase_error_sweep; - std::vector> acc_carrier_phase_error_sweep; - std::vector> trk_timestamp_s_sweep; + //data containers for config param sweep + std::vector> mean_doppler_error_sweep; //swep config param and cn0 sweep + std::vector> std_dev_doppler_error_sweep; //swep config param and cn0 sweep + + std::vector> mean_code_phase_error_sweep; //swep config param and cn0 sweep + std::vector> std_dev_code_phase_error_sweep; //swep config param and cn0 sweep + + std::vector> mean_carrier_phase_error_sweep; //swep config param and cn0 sweep + std::vector> std_dev_carrier_phase_error_sweep; //swep config param and cn0 sweep + + std::vector> trk_valid_timestamp_s_sweep; if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop) { @@ -433,192 +494,430 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) } - //CN0 LOOP + // CONFIG PARAM SWEEP LOOP + std::vector PLL_wide_bw_values; + std::vector DLL_wide_bw_values; - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + + if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop) { - //****************************************************************************************** - //***** Obtain the initial signal sinchronization parameters (emulating an acquisition) **** - //****************************************************************************************** - if (!FLAGS_enable_external_signal_file) + if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop) { - test_satellite_PRN = FLAGS_test_satellite_PRN; - std::string true_obs_file = std::string("./gps_l1_ca_obs_prn"); - true_obs_file.append(std::to_string(test_satellite_PRN)); - true_obs_file.append(".dat"); - true_obs_data.close_obs_file(); - ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file"; - // load acquisition data based on the first epoch of the true observations - ASSERT_EQ(true_obs_data.read_binary_obs(), true) - << "Failure reading true tracking dump file." << std::endl - << "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) + - " is not available?"; - std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl; - std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl; - acq_doppler_hz = true_obs_data.doppler_l1_hz; - acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD; - // restart the epoch counter - true_obs_data.restart(); + //NO PLL/DLL BW sweep + PLL_wide_bw_values.push_back(FLAGS_PLL_bw_hz_start); + DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start); } - - - //***** STEP 4: Configure the signal tracking parameters ***** - //************************************************************ - std::chrono::time_point start, end; - configure_receiver(); - - top_block = gr::make_top_block("Tracking test"); - - std::shared_ptr trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1); - std::shared_ptr tracking = std::dynamic_pointer_cast(trk_); - - boost::shared_ptr msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make(); - - gnss_synchro.Acq_delay_samples = acq_delay_samples; - gnss_synchro.Acq_doppler_hz = acq_doppler_hz; - gnss_synchro.Acq_samplestamp_samples = 0; - - ASSERT_NO_THROW({ - tracking->set_channel(gnss_synchro.Channel_ID); - }) << "Failure setting channel."; - - ASSERT_NO_THROW({ - tracking->set_gnss_synchro(&gnss_synchro); - }) << "Failure setting gnss_synchro."; - - ASSERT_NO_THROW({ - tracking->connect(top_block); - }) << "Failure connecting tracking to the top_block."; - - ASSERT_NO_THROW({ - std::string file = "./" + filename_raw_data + std::to_string(current_cn0_idx); - 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(); - gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro)); - top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0); - top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0); - top_block->connect(tracking->get_right_block(), 0, sink, 0); - top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); - }) << "Failure connecting the blocks of tracking test."; - - - //******************************************************************** - //***** STEP 5: Perform the signal tracking and read the results ***** - //******************************************************************** - tracking->start_tracking(); - - EXPECT_NO_THROW({ - start = std::chrono::system_clock::now(); - top_block->run(); // Start threads and wait - end = std::chrono::system_clock::now(); - }) << "Failure running the top_block."; - - std::chrono::duration elapsed_seconds = end - start; - std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl; - - //check results - //load the measured values - tracking_dump_reader trk_dump; - ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true) - << "Failure opening tracking dump file"; - - long int n_measured_epochs = trk_dump.num_epochs(); - std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl; - - arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1); - arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1); - arma::vec trk_Doppler_Hz = arma::zeros(n_measured_epochs, 1); - arma::vec trk_prn_delay_chips = arma::zeros(n_measured_epochs, 1); - - long int epoch_counter = 0; - - std::vector prompt; - std::vector early; - std::vector late; - std::vector promptI; - std::vector promptQ; - std::vector CN0_dBHz; - while (trk_dump.read_binary_obs()) + else { - trk_timestamp_s(epoch_counter) = static_cast(trk_dump.PRN_start_sample_count) / static_cast(baseband_sampling_freq); - trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI; - trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz; - double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast(baseband_sampling_freq), 1.0e-3) / 1.0e-3); - - trk_prn_delay_chips(epoch_counter) = delay_chips; - epoch_counter++; - - - prompt.push_back(trk_dump.abs_P); - early.push_back(trk_dump.abs_E); - late.push_back(trk_dump.abs_L); - promptI.push_back(trk_dump.prompt_I); - promptQ.push_back(trk_dump.prompt_Q); - CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz); + //DLL BW Sweep + for (double dll_bw = FLAGS_DLL_bw_hz_start; dll_bw > FLAGS_DLL_bw_hz_stop; dll_bw = dll_bw - FLAGS_DLL_bw_hz_step) + { + PLL_wide_bw_values.push_back(FLAGS_PLL_bw_hz_start); + DLL_wide_bw_values.push_back(dll_bw); + } } - - prompt_sweep.push_back(prompt); - early_sweep.push_back(early); - late_sweep.push_back(late); - promptI_sweep.push_back(promptI); - promptQ_sweep.push_back(promptQ); - CN0_dBHz_sweep.push_back(CN0_dBHz); - - //*********************************************************** - //***** STEP 6: Compare with true values (if available) ***** - //*********************************************************** - if (!FLAGS_enable_external_signal_file) + } + else + { + //PLL BW Sweep + for (double pll_bw = FLAGS_PLL_bw_hz_start; pll_bw > FLAGS_PLL_bw_hz_stop; pll_bw = pll_bw - FLAGS_PLL_bw_hz_step) { - // load the true values - long int n_true_epochs = true_obs_data.num_epochs(); - std::cout << "True observation epochs=" << n_true_epochs << std::endl; + PLL_wide_bw_values.push_back(pll_bw); + DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start); + } + } - 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); + for (int config_idx = 0; config_idx < PLL_wide_bw_values.size(); config_idx++) + { + //CN0 LOOP + // data containers for CN0 sweep + std::vector> prompt_sweep; + std::vector> early_sweep; + std::vector> late_sweep; + std::vector> promptI_sweep; + std::vector> promptQ_sweep; + std::vector> CN0_dBHz_sweep; + std::vector> trk_timestamp_s_sweep; + + std::vector> doppler_error_sweep; + std::vector> code_phase_error_sweep; + std::vector> acc_carrier_phase_error_sweep; + + std::vector mean_doppler_error; + std::vector std_dev_doppler_error; + std::vector mean_code_phase_error; + std::vector std_dev_code_phase_error; + std::vector mean_carrier_phase_error; + std::vector std_dev_carrier_phase_error; + + configure_receiver(PLL_wide_bw_values.at(config_idx), + DLL_wide_bw_values.at(config_idx), + 2.0, + 1.0, + FLAGS_extend_correlation_symbols); + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + //****************************************************************************************** + //***** Obtain the initial signal sinchronization parameters (emulating an acquisition) **** + //****************************************************************************************** + if (!FLAGS_enable_external_signal_file) + { + test_satellite_PRN = FLAGS_test_satellite_PRN; + std::string true_obs_file = std::string("./gps_l1_ca_obs_prn"); + true_obs_file.append(std::to_string(test_satellite_PRN)); + true_obs_file.append(".dat"); + true_obs_data.close_obs_file(); + ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file"; + // load acquisition data based on the first epoch of the true observations + ASSERT_EQ(true_obs_data.read_binary_obs(), true) + << "Failure reading true tracking dump file." << std::endl + << "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) + + " is not available?"; + std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl; + std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl; + acq_doppler_hz = true_obs_data.doppler_l1_hz; + acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD; + // restart the epoch counter + true_obs_data.restart(); + } + + + //***** STEP 4: Configure the signal tracking parameters ***** + //************************************************************ + std::chrono::time_point start, end; + + top_block = gr::make_top_block("Tracking test"); + + std::shared_ptr trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1); + std::shared_ptr tracking = std::dynamic_pointer_cast(trk_); + + boost::shared_ptr msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make(); + + gnss_synchro.Acq_delay_samples = acq_delay_samples; + gnss_synchro.Acq_doppler_hz = acq_doppler_hz; + gnss_synchro.Acq_samplestamp_samples = 0; + + ASSERT_NO_THROW({ + tracking->set_channel(gnss_synchro.Channel_ID); + }) << "Failure setting channel."; + + ASSERT_NO_THROW({ + tracking->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro."; + + ASSERT_NO_THROW({ + tracking->connect(top_block); + }) << "Failure connecting tracking to the top_block."; + + ASSERT_NO_THROW({ + std::string file = "./" + filename_raw_data + std::to_string(current_cn0_idx); + 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(); + gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro)); + top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0); + top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0); + top_block->connect(tracking->get_right_block(), 0, sink, 0); + top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of tracking test."; + + + //******************************************************************** + //***** STEP 5: Perform the signal tracking and read the results ***** + //******************************************************************** + tracking->start_tracking(); + + EXPECT_NO_THROW({ + start = std::chrono::system_clock::now(); + top_block->run(); // Start threads and wait + end = std::chrono::system_clock::now(); + }) << "Failure running the top_block."; + + std::chrono::duration elapsed_seconds = end - start; + std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl; + + //check results + //load the measured values + tracking_dump_reader trk_dump; + ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true) + << "Failure opening tracking dump file"; + + long int n_measured_epochs = trk_dump.num_epochs(); + std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl; + + arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1); + arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1); + arma::vec trk_Doppler_Hz = arma::zeros(n_measured_epochs, 1); + arma::vec trk_prn_delay_chips = arma::zeros(n_measured_epochs, 1); long int epoch_counter = 0; - while (true_obs_data.read_binary_obs()) + + std::vector timestamp_s; + std::vector prompt; + std::vector early; + std::vector late; + std::vector promptI; + std::vector promptQ; + std::vector CN0_dBHz; + while (trk_dump.read_binary_obs()) { - true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s; - true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles; - true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz; - true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips; - true_tow_s(epoch_counter) = true_obs_data.tow; + trk_timestamp_s(epoch_counter) = static_cast(trk_dump.PRN_start_sample_count) / static_cast(baseband_sampling_freq); + trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI; + trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz; + double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast(baseband_sampling_freq), 1.0e-3) / 1.0e-3); + + trk_prn_delay_chips(epoch_counter) = delay_chips; + + timestamp_s.push_back(trk_timestamp_s(epoch_counter)); + prompt.push_back(trk_dump.abs_P); + early.push_back(trk_dump.abs_E); + late.push_back(trk_dump.abs_L); + promptI.push_back(trk_dump.prompt_I); + promptQ.push_back(trk_dump.prompt_Q); + CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz); + epoch_counter++; } - // Align initial measurements and cut the tracking pull-in transitory - double pull_in_offset_s = 1.0; - arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first"); + trk_timestamp_s_sweep.push_back(timestamp_s); + prompt_sweep.push_back(prompt); + early_sweep.push_back(early); + late_sweep.push_back(late); + promptI_sweep.push_back(promptI); + promptQ_sweep.push_back(promptQ); + CN0_dBHz_sweep.push_back(CN0_dBHz); - trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1); - trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1); - trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1); - trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1); + //*********************************************************** + //***** STEP 6: Compare with true values (if available) ***** + //*********************************************************** + if (!FLAGS_enable_external_signal_file) + { + std::vector doppler_error_hz; + std::vector code_phase_error_chips; + std::vector acc_carrier_phase_hz; + try + { + // load the true values + long int n_true_epochs = true_obs_data.num_epochs(); + std::cout << "True observation epochs=" << n_true_epochs << std::endl; - std::vector doppler_error_hz; - std::vector code_phase_error_chips; - std::vector acc_carrier_phase_hz; - doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz); - code_phase_error_chips = check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips); - acc_carrier_phase_hz = check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles); - //save tracking measurement timestamps to std::vector - std::vector vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows); - trk_timestamp_s_sweep.push_back(vector_trk_timestamp_s); + 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); - doppler_error_sweep.push_back(doppler_error_hz); - code_phase_error_sweep.push_back(code_phase_error_chips); - acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); + long int epoch_counter = 0; + while (true_obs_data.read_binary_obs()) + { + true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s; + true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles; + true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz; + true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips; + true_tow_s(epoch_counter) = true_obs_data.tow; + epoch_counter++; + } + // Align initial measurements and cut the tracking pull-in transitory + double pull_in_offset_s = 1.0; + + arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first"); + + trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1); + trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1); + trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1); + trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1); + + + double mean_error; + double std_dev_error; + + doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz, mean_error, std_dev_error); + mean_doppler_error.push_back(mean_error); + std_dev_doppler_error.push_back(std_dev_error); + + code_phase_error_chips = check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips, mean_error, std_dev_error); + mean_code_phase_error.push_back(mean_error); + std_dev_code_phase_error.push_back(std_dev_error); + + acc_carrier_phase_hz = check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles, mean_error, std_dev_error); + mean_carrier_phase_error.push_back(mean_error); + std_dev_carrier_phase_error.push_back(std_dev_error); + + //save tracking measurement timestamps to std::vector + std::vector vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows); + trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s); + + doppler_error_sweep.push_back(doppler_error_hz); + code_phase_error_sweep.push_back(code_phase_error_chips); + acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); + } + catch (const std::exception& ex) + { + std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl; + + std::vector vector_trk_timestamp_s; + trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s); + doppler_error_sweep.push_back(doppler_error_hz); + code_phase_error_sweep.push_back(code_phase_error_chips); + acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); + } + } + + } //CN0 LOOP + + if (!FLAGS_enable_external_signal_file) + { + mean_doppler_error_sweep.push_back(mean_doppler_error); + std_dev_doppler_error_sweep.push_back(std_dev_doppler_error); + mean_code_phase_error_sweep.push_back(mean_code_phase_error); + std_dev_code_phase_error_sweep.push_back(std_dev_code_phase_error); + mean_carrier_phase_error_sweep.push_back(mean_carrier_phase_error); + std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error); } - } //CN0 LOOP + std::cout << "A\n\n\n"; + //******************************** + //***** STEP 7: Plot results ***** + //******************************** + if (FLAGS_plot_gps_l1_tracking_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); + unsigned int decimate = static_cast(FLAGS_plot_decimate); + + if (FLAGS_plot_extra) + { + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + Gnuplot g1("linespoints"); + g1.showonscreen(); // window output + g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g1.set_grid(); + g1.set_xlabel("Time [s]"); + g1.set_ylabel("Correlators' output"); + //g1.cmd("set key box opaque"); + g1.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), prompt_sweep.at(current_cn0_idx), "Prompt", decimate); + g1.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), early_sweep.at(current_cn0_idx), "Early", decimate); + g1.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), late_sweep.at(current_cn0_idx), "Late", decimate); + g1.set_legend(); + g1.savetops("Correlators_outputs" + std::to_string(generator_CN0_values.at(current_cn0_idx))); + g1.savetopdf("Correlators_outputs" + std::to_string(generator_CN0_values.at(current_cn0_idx)), 18); + } + Gnuplot g2("points"); + g2.showonscreen(); // window output + g2.set_multiplot(ceil(static_cast(generator_CN0_values.size()) / 2.0), + ceil(static_cast(generator_CN0_values.size()) / 2)); + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + g2.reset_plot(); + g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g2.set_grid(); + g2.set_xlabel("Inphase"); + g2.set_ylabel("Quadrature"); + //g2.cmd("set size ratio -1"); + g2.plot_xy(promptI_sweep.at(current_cn0_idx), promptQ_sweep.at(current_cn0_idx)); + } + g2.unset_multiplot(); + g2.savetops("Constellation"); + g2.savetopdf("Constellation", 18); + + Gnuplot g3("linespoints"); + g3.set_title("GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g3.set_grid(); + g3.set_xlabel("Time [s]"); + g3.set_ylabel("Reported CN0 [dB-Hz]"); + g3.cmd("set key box opaque"); + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + g3.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), CN0_dBHz_sweep.at(current_cn0_idx), + std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); + } + g3.set_legend(); + g3.savetops("CN0_output"); + g3.savetopdf("CN0_output", 18); + g3.showonscreen(); // window output + } + + std::cout << "B\n\n\n"; + //PLOT ERROR FIGURES (only if it is used the signal generator) + if (!FLAGS_enable_external_signal_file) + { + Gnuplot g4("points"); + g4.showonscreen(); // window output + g4.set_multiplot(ceil(static_cast(generator_CN0_values.size()) / 2.0), + ceil(static_cast(generator_CN0_values.size()) / 2)); + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + g4.reset_plot(); + g4.set_title(std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz] Doppler error " + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g4.set_grid(); + //g4.cmd("set key box opaque"); + g4.set_xlabel("Time [s]"); + g4.set_ylabel("Dopper error [Hz]"); + g4.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx), + std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); + //g4.set_legend(); + } + g4.unset_multiplot(); + g4.savetops("Doppler_error_output"); + g4.savetopdf("Doppler_error_output", 18); + + Gnuplot g5("points"); + g5.set_title("Code delay error, PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g5.set_grid(); + g5.set_xlabel("Time [s]"); + g5.set_ylabel("Code delay error [Chips]"); + g5.cmd("set key box opaque"); + + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + g5.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_sweep.at(current_cn0_idx), + std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); + } + g5.set_legend(); + g5.savetops("Code_error_output"); + g5.savetopdf("Code_error_output", 18); + g5.showonscreen(); // window output + + Gnuplot g6("points"); + g6.set_title("Accumulated carrier phase error, PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g6.set_grid(); + g6.set_xlabel("Time [s]"); + g6.set_ylabel("Accumulated carrier phase error [Cycles]"); + g6.cmd("set key box opaque"); + + for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + { + g6.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), acc_carrier_phase_error_sweep.at(current_cn0_idx), + std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); + } + g6.set_legend(); + g6.savetops("Carrier_phase_error_output"); + g6.savetopdf("Carrier_phase_error_output", 18); + g6.showonscreen(); // window output + } + } + catch (const GnuplotException& ge) + { + std::cout << ge.what() << std::endl; + } + } + } + } + - //******************************** - //***** STEP 7: Plot results ***** - //******************************** if (FLAGS_plot_gps_l1_tracking_test == true) { const std::string gnuplot_executable(FLAGS_gnuplot_executable); @@ -632,110 +931,67 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) { 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); - std::vector timevec; - unsigned int decimate = static_cast(FLAGS_plot_decimate); - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) + if (generator_CN0_values.size() > 1) { - timevec.clear(); - //todo: timevector MUST BE READED from the trk output file - double t = 0.0; - for (auto it = prompt_sweep.at(current_cn0_idx).begin(); it != prompt_sweep.at(current_cn0_idx).end(); it++) + //plot metrics + + Gnuplot g7("linespoints"); + g7.set_title("Doppler error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g7.set_grid(); + g7.set_xlabel("CN0 [dB-Hz]"); + g7.set_ylabel("Doppler error [Hz]"); + g7.set_pointsize(2); + g7.cmd("set termoption lw 2"); + g7.cmd("set key box opaque"); + for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++) { - timevec.push_back(t); - t = t + GPS_L1_CA_CODE_PERIOD; + g7.plot_xy_err(generator_CN0_values, + mean_doppler_error_sweep.at(config_sweep_idx), + std_dev_doppler_error_sweep.at(config_sweep_idx), + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) + + +"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz"); } - Gnuplot g1("linespoints"); - g1.set_title("[" + std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz ] GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g1.set_grid(); - g1.set_xlabel("Time [s]"); - g1.set_ylabel("Correlators' output"); - g1.cmd("set key box opaque"); - g1.plot_xy(timevec, prompt_sweep.at(current_cn0_idx), "Prompt", decimate); - g1.plot_xy(timevec, early_sweep.at(current_cn0_idx), "Early", decimate); - g1.plot_xy(timevec, late_sweep.at(current_cn0_idx), "Late", decimate); - g1.savetops("Correlators_outputs"); - g1.savetopdf("Correlators_outputs", 18); - g1.showonscreen(); // window output - Gnuplot g2("points"); - g2.set_title("[" + std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz ] Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g2.set_grid(); - g2.set_xlabel("Inphase"); - g2.set_ylabel("Quadrature"); - g2.cmd("set size ratio -1"); - g2.plot_xy(promptI_sweep.at(current_cn0_idx), promptQ_sweep.at(current_cn0_idx)); - g2.savetops("Constellation"); - g2.savetopdf("Constellation", 18); - g2.showonscreen(); // window output - } - Gnuplot g3("linespoints"); - g3.set_title("GPS L1 C/A tracking CN0 output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g3.set_grid(); - g3.set_xlabel("Time [s]"); - g3.set_ylabel("Reported CN0 [dB-Hz]"); - g3.cmd("set key box opaque"); - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) - { - g3.plot_xy(timevec, CN0_dBHz_sweep.at(current_cn0_idx), - std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); - } - g3.set_legend(); - g3.savetops("CN0_output"); - g3.savetopdf("CN0_output", 18); - g3.showonscreen(); // window output + g7.savetops("Doppler_error_metrics"); + g7.savetopdf("Doppler_error_metrics", 18); - Gnuplot g4("points"); - g4.set_title("Doppler error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g4.set_grid(); - g4.set_xlabel("Time [s]"); - g4.set_ylabel("Dopper error [Hz]"); - g4.cmd("set key box opaque"); - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) - { - g4.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx), - std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); + Gnuplot g8("linespoints"); + g8.set_title("Accumulated carrier phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g8.set_grid(); + g8.set_xlabel("CN0 [dB-Hz]"); + g8.set_ylabel("Accumulated Carrier Phase error [Cycles]"); + g8.cmd("set key box opaque"); + g8.cmd("set termoption lw 2"); + g8.set_pointsize(2); + for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++) + { + g8.plot_xy_err(generator_CN0_values, + mean_carrier_phase_error_sweep.at(config_sweep_idx), + std_dev_carrier_phase_error_sweep.at(config_sweep_idx), + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) + + +"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz"); + } + g8.savetops("Carrier_error_metrics"); + g8.savetopdf("Carrier_error_metrics", 18); + + Gnuplot g9("linespoints"); + g9.set_title("Code Phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g9.set_grid(); + g9.set_xlabel("CN0 [dB-Hz]"); + g9.set_ylabel("Code Phase error [Chips]"); + g9.cmd("set key box opaque"); + g9.cmd("set termoption lw 2"); + g9.set_pointsize(2); + for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++) + { + g9.plot_xy_err(generator_CN0_values, + mean_code_phase_error_sweep.at(config_sweep_idx), + std_dev_code_phase_error_sweep.at(config_sweep_idx), + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) + + +"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz"); + } + g9.savetops("Code_error_metrics"); + g9.savetopdf("Code_error_metrics", 18); } - g4.set_legend(); - g4.savetops("Doppler_error_output"); - g4.savetopdf("Doppler_error_output", 18); - g4.showonscreen(); // window output - - Gnuplot g5("points"); - g5.set_title("Code delay error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g5.set_grid(); - g5.set_xlabel("Time [s]"); - g5.set_ylabel("Code delay error [Chips]"); - g5.cmd("set key box opaque"); - - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) - { - g5.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_sweep.at(current_cn0_idx), - std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); - } - g5.set_legend(); - g5.savetops("Code_error_output"); - g5.savetopdf("Code_error_output", 18); - g5.showonscreen(); // window output - - Gnuplot g6("points"); - g6.set_title("Accumulated carrier phase error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); - g6.set_grid(); - g6.set_xlabel("Time [s]"); - g6.set_ylabel("Accumulated carrier phase error [Cycles]"); - g6.cmd("set key box opaque"); - - for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) - { - g6.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), acc_carrier_phase_error_sweep.at(current_cn0_idx), - std::to_string(static_cast(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); - } - g6.set_legend(); - g6.savetops("Carrier_phase_error_output"); - g6.savetopdf("Carrier_phase_error_output", 18); - g6.showonscreen(); // window output } catch (const GnuplotException& ge) {