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Add RMSE exports to MATLAB in tracking unit test

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This commit is contained in:
Javier Arribas 2018-07-12 18:52:38 +02:00
parent 605ba079c8
commit 75d0645276
2 changed files with 101 additions and 15 deletions
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2
src/tests/common-files/tracking_tests_flags.h
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@ -65,6 +65,8 @@ DEFINE_int64(skip_samples, 0, "Skip an initial transitory in the processed signa
DEFINE_int32(plot_detail_level, 0, "Specify the desired plot detail (0,1,2): 0 - Minimum plots (default) 2 - Plot all tracking parameters");
DEFINE_double(skip_trk_transitory_s, 1.0, "Skip the initial tracking output signal to avoid transitory results [s]");
//Emulated acquisition configuration
//Tracking configuration

114
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -34,6 +34,7 @@
#include <unistd.h>
#include <vector>
#include <armadillo>
#include <matio.h>
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
@ -136,20 +137,24 @@ public:
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
double& std_dev_error,
double& rmse);
std::vector<double> check_results_acc_carrier_phase(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
double& std_dev_error,
double& rmse);
std::vector<double> check_results_codephase(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
double& std_dev_error,
double& rmse);
bool save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename);
GpsL1CADllPllTrackingTest()
{
factory = std::make_shared<GNSSBlockFactory>();
@ -267,7 +272,8 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec&
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error)
double& std_dev_error,
double& rmse)
{
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
@ -289,7 +295,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec&
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
rmse = sqrt(arma::mean(err2));
// 3. Mean err and variance
double error_mean = arma::mean(err);
@ -317,7 +323,8 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(a
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error)
double& std_dev_error,
double& rmse)
{
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
@ -337,7 +344,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(a
//conversion between arma::vec and std:vector
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
double rmse = sqrt(arma::mean(err2));
rmse = sqrt(arma::mean(err2));
// 3. Mean err and variance
double error_mean = arma::mean(err);
@ -364,7 +371,8 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error)
double& std_dev_error,
double& rmse)
{
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
@ -385,7 +393,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
rmse = sqrt(arma::mean(err2));
// 3. Mean err and variance
double error_mean = arma::mean(err);
@ -420,12 +428,15 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
//data containers for config param sweep
std::vector<std::vector<double>> mean_doppler_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> std_dev_doppler_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> rmse_doppler_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> mean_code_phase_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> std_dev_code_phase_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> rmse_code_phase_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> mean_carrier_phase_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> std_dev_carrier_phase_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> rmse_carrier_phase_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> trk_valid_timestamp_s_sweep;
std::vector<std::vector<double>> generator_CN0_values_sweep_copy;
@ -532,10 +543,13 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<double> mean_doppler_error;
std::vector<double> std_dev_doppler_error;
std::vector<double> rmse_doppler;
std::vector<double> mean_code_phase_error;
std::vector<double> std_dev_code_phase_error;
std::vector<double> rmse_code_phase;
std::vector<double> mean_carrier_phase_error;
std::vector<double> std_dev_carrier_phase_error;
std::vector<double> rmse_carrier_phase;
std::vector<double> valid_CN0_values;
configure_receiver(PLL_wide_bw_values.at(config_idx),
@ -707,7 +721,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
epoch_counter++;
}
// Align initial measurements and cut the tracking pull-in transitory
double pull_in_offset_s = 1.0;
double pull_in_offset_s = FLAGS_skip_trk_transitory_s;
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
if (initial_meas_point.size() > 0 and tracking_last_msg != 3)
@ -720,20 +734,24 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
double mean_error;
double std_dev_error;
double rmse;
valid_CN0_values.push_back(generator_CN0_values.at(current_cn0_idx)); //save the current cn0 value (valid tracking)
doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz, mean_error, 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, rmse);
mean_doppler_error.push_back(mean_error);
std_dev_doppler_error.push_back(std_dev_error);
rmse_doppler.push_back(rmse);
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);
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, rmse);
mean_code_phase_error.push_back(mean_error);
std_dev_code_phase_error.push_back(std_dev_error);
rmse_code_phase.push_back(rmse);
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);
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, rmse);
mean_carrier_phase_error.push_back(mean_error);
std_dev_carrier_phase_error.push_back(std_dev_error);
rmse_carrier_phase.push_back(rmse);
//save tracking measurement timestamps to std::vector
std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows);
@ -760,10 +778,16 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
{
mean_doppler_error_sweep.push_back(mean_doppler_error);
std_dev_doppler_error_sweep.push_back(std_dev_doppler_error);
rmse_doppler_sweep.push_back(rmse_doppler);
mean_code_phase_error_sweep.push_back(mean_code_phase_error);
std_dev_code_phase_error_sweep.push_back(std_dev_code_phase_error);
rmse_code_phase_sweep.push_back(rmse_code_phase);
mean_carrier_phase_error_sweep.push_back(mean_carrier_phase_error);
std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error);
rmse_carrier_phase_sweep.push_back(rmse_carrier_phase);
//make a copy of the CN0 vector for each configuration parameter in order to filter the loss of lock events
generator_CN0_values_sweep_copy.push_back(valid_CN0_values);
}
@ -894,6 +918,10 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
catch (const GnuplotException& ge)
{
}
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
code_phase_error_sweep.at(current_cn0_idx),
"Code_error_" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
}
g5.set_legend();
g5.set_legend();
@ -926,6 +954,10 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
catch (const GnuplotException& ge)
{
}
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
acc_carrier_phase_error_sweep.at(current_cn0_idx),
"Carrier_phase_error_output" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
}
g6.set_legend();
g6.set_legend();
@ -946,7 +978,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
g4.reset_plot();
g4.set_title(std::to_string(static_cast<int>(round(generator_CN0_values_sweep_copy.at(config_idx).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 (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g4.set_title("Dopper error" + std::to_string(static_cast<int>(round(generator_CN0_values_sweep_copy.at(config_idx).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 (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g4.set_grid();
//g4.cmd("set key box opaque");
g4.set_xlabel("Time [s]");
@ -959,6 +991,11 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
catch (const GnuplotException& ge)
{
}
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
doppler_error_sweep.at(current_cn0_idx),
"Doppler_error_output" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
}
g4.unset_multiplot();
g4.savetops("Doppler_error_output");
@ -1002,14 +1039,21 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
for (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g7.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
mean_doppler_error_sweep.at(config_sweep_idx),
generator_CN0_values_sweep_copy.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");
//matlab save
save_mat_xy(generator_CN0_values_sweep_copy.at(config_sweep_idx),
rmse_doppler_sweep.at(config_sweep_idx),
"RMSE_Doppler_CN0_Sweep_PLL_DLL" + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"_" + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)));
}
g7.savetops("Doppler_error_metrics");
g7.savetopdf("Doppler_error_metrics", 18);
Gnuplot g8("linespoints");
g8.set_title("Accumulated carrier phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g8.set_grid();
@ -1025,6 +1069,11 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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");
//matlab save
save_mat_xy(generator_CN0_values_sweep_copy.at(config_sweep_idx),
rmse_carrier_phase_sweep.at(config_sweep_idx),
"RMSE_Carrier_Phase_CN0_Sweep_PLL_DLL" + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"_" + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)));
}
g8.savetops("Carrier_error_metrics");
g8.savetopdf("Carrier_error_metrics", 18);
@ -1044,6 +1093,11 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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");
//matlab save
save_mat_xy(generator_CN0_values_sweep_copy.at(config_sweep_idx),
rmse_code_phase_sweep.at(config_sweep_idx),
"RMSE_Code_Phase_CN0_Sweep_PLL_DLL" + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"_" + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)));
}
g9.savetops("Code_error_metrics");
g9.savetopdf("Code_error_metrics", 18);
@ -1055,3 +1109,33 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
}
}
}
bool GpsL1CADllPllTrackingTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
{
try
{
// WRITE MAT FILE
mat_t* matfp;
matvar_t* matvar;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long*>(matfp) != NULL)
{
size_t dims[2] = {1, x.size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
return true;
}
catch (const std::exception& ex)
{
return false;
}
}