mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into acq_performance
This commit is contained in:
Carles Fernandez
commit
8035050caa
@ -112,6 +112,13 @@ bool observables_dump_reader::open_obs_file(std::string out_file)
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}
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}
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void observables_dump_reader::close_obs_file()
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{
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if (d_dump_file.is_open() == false)
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{
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d_dump_file.close();
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}
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}
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observables_dump_reader::observables_dump_reader(int n_channels_)
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{
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@ -44,6 +44,7 @@ public:
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bool restart();
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long int num_epochs();
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bool open_obs_file(std::string out_file);
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void close_obs_file();
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//dump variables
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@ -89,15 +89,16 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
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{
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try
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{
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d_dump_file.clear();
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d_dump_filename = out_file;
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d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
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std::cout << "Observables dump enabled, Log file: " << d_dump_filename.c_str() << std::endl;
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std::cout << "Tracking Log file: " << d_dump_filename.c_str() << " open ok " << std::endl;
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return true;
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}
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catch (const std::ifstream::failure &e)
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{
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std::cout << "Problem opening Observables dump Log file: " << d_dump_filename.c_str() << std::endl;
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std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str() << " Error: " << e.what() << std::endl;
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return false;
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}
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}
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@ -107,6 +108,13 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
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}
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}
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void tracking_true_obs_reader::close_obs_file()
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{
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if (d_dump_file.is_open() == true)
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{
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d_dump_file.close();
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}
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}
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tracking_true_obs_reader::~tracking_true_obs_reader()
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{
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@ -43,6 +43,7 @@ public:
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bool restart();
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long int num_epochs();
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bool open_obs_file(std::string out_file);
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void close_obs_file();
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bool d_dump;
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double signal_timestamp_s;
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@ -56,6 +56,9 @@
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DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
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DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)");
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//Test output configuration
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DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class GpsL1CADllPllTrackingTest_msg_rx;
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@ -129,17 +132,17 @@ public:
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std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
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std::string filename_raw_data = FLAGS_filename_raw_data;
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int configure_generator();
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int configure_generator(double CN0_dBHz, int file_idx);
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int generate_signal();
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void check_results_doppler(arma::vec& true_time_s,
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std::vector<double> check_results_doppler(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value);
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void check_results_acc_carrier_phase(arma::vec& true_time_s,
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std::vector<double> check_results_acc_carrier_phase(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value);
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void check_results_codephase(arma::vec& true_time_s,
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std::vector<double> check_results_codephase(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value);
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@ -166,7 +169,7 @@ public:
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};
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int GpsL1CADllPllTrackingTest::configure_generator()
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int GpsL1CADllPllTrackingTest::configure_generator(double CN0_dBHz, int file_idx)
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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@ -180,10 +183,10 @@ int GpsL1CADllPllTrackingTest::configure_generator()
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{
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p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
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}
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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p6 = std::string("-CN0_dBHz=") + std::to_string(FLAGS_CN0_dBHz); // Signal generator CN0
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
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return 0;
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}
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@ -235,7 +238,7 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
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}
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void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
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std::vector<double> GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value)
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@ -255,6 +258,10 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
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arma::vec err;
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err = meas_value - true_value_interp;
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//conversion between arma::vec and std:vector
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std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
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arma::vec err2 = arma::square(err);
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double rmse = sqrt(arma::mean(err2));
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@ -272,10 +279,11 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
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<< ", mean=" << error_mean
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<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
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std::cout.precision(ss);
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return err_std_vector;
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}
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void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
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std::vector<double> GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value)
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@ -295,6 +303,9 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_
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arma::vec err;
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err = meas_value - true_value_interp;
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arma::vec err2 = arma::square(err);
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//conversion between arma::vec and std:vector
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std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
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double rmse = sqrt(arma::mean(err2));
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// 3. Mean err and variance
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@ -311,10 +322,11 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_
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<< ", mean=" << error_mean
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<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
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std::cout.precision(ss);
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return err_std_vector;
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}
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void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
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std::vector<double> GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
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arma::vec& true_value,
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arma::vec& meas_time_s,
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arma::vec& meas_value)
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@ -334,6 +346,9 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
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arma::vec err;
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err = meas_value - true_value_interp;
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//conversion between arma::vec and std:vector
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std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
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arma::vec err2 = arma::square(err);
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double rmse = sqrt(arma::mean(err2));
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@ -351,164 +366,259 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
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<< ", mean=" << error_mean
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<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
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std::cout.precision(ss);
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return err_std_vector;
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}
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TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
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{
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// Configure the signal generator
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configure_generator();
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//*************************************************
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//***** STEP 2: Prepare the parameters sweep ******
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//*************************************************
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// Generate signal raw signal samples and observations RINEX file
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if (FLAGS_disable_generator == false)
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std::vector<double> generator_CN0_values;
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std::vector<std::vector<double>> prompt_sweep;
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std::vector<std::vector<double>> early_sweep;
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std::vector<std::vector<double>> late_sweep;
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std::vector<std::vector<double>> promptI_sweep;
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std::vector<std::vector<double>> promptQ_sweep;
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std::vector<std::vector<double>> CN0_dBHz_sweep;
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//error vectors
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std::vector<std::vector<double>> doppler_error_sweep;
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std::vector<std::vector<double>> code_phase_error_sweep;
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std::vector<std::vector<double>> acc_carrier_phase_error_sweep;
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std::vector<std::vector<double>> trk_timestamp_s_sweep;
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if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
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{
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generate_signal();
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generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
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}
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else
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{
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for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
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{
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generator_CN0_values.push_back(cn0);
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}
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}
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std::chrono::time_point<std::chrono::system_clock> start, end;
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configure_receiver();
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// open true observables log file written by the simulator
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int test_satellite_PRN = 0;
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double acq_delay_samples = 0.0;
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double acq_doppler_hz = 0.0;
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tracking_true_obs_reader true_obs_data;
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int test_satellite_PRN = FLAGS_test_satellite_PRN;
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std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
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std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
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true_obs_file.append(std::to_string(test_satellite_PRN));
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true_obs_file.append(".dat");
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ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
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top_block = gr::make_top_block("Tracking test");
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std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
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std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_); //std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
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boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
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// load acquisition data based on the first epoch of the true observations
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ASSERT_EQ(true_obs_data.read_binary_obs(), true)
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<< "Failure reading true tracking dump file." << std::endl
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<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
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" is not available?";
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// restart the epoch counter
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true_obs_data.restart();
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std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
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gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
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gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
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gnss_synchro.Acq_samplestamp_samples = 0;
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ASSERT_NO_THROW({
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tracking->set_channel(gnss_synchro.Channel_ID);
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}) << "Failure setting channel.";
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ASSERT_NO_THROW({
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tracking->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro.";
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ASSERT_NO_THROW({
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tracking->connect(top_block);
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}) << "Failure connecting tracking to the top_block.";
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ASSERT_NO_THROW({
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std::string file = "./" + filename_raw_data;
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const char* file_name = file.c_str();
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gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
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gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
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gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
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top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
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top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
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top_block->connect(tracking->get_right_block(), 0, sink, 0);
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top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks of tracking test.";
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tracking->start_tracking();
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EXPECT_NO_THROW({
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start = std::chrono::system_clock::now();
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top_block->run(); // Start threads and wait
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end = std::chrono::system_clock::now();
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}) << "Failure running the top_block.";
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// check results
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// load the true values
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long int nepoch = true_obs_data.num_epochs();
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std::cout << "True observation epochs=" << nepoch << std::endl;
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arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
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arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
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arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
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arma::vec true_tow_s = arma::zeros(nepoch, 1);
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long int epoch_counter = 0;
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while (true_obs_data.read_binary_obs())
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//*********************************************
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//***** STEP 3: Generate the input signal *****
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//*********************************************
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// use generator or use an external capture file
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if (FLAGS_enable_external_signal_file)
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{
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true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
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true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
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true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
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true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
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true_tow_s(epoch_counter) = true_obs_data.tow;
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epoch_counter++;
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//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
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}
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else
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{
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for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
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{
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// Configure the signal generator
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configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
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// Generate signal raw signal samples and observations RINEX file
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if (FLAGS_disable_generator == false)
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{
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generate_signal();
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}
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// open true observables log file written by the simulator
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}
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}
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//load the measured values
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tracking_dump_reader trk_dump;
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ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
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<< "Failure opening tracking dump file";
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//CN0 LOOP
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nepoch = trk_dump.num_epochs();
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std::cout << "Measured observation epochs=" << nepoch << std::endl;
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arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
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arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
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arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
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std::vector<double> prompt;
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std::vector<double> early;
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std::vector<double> late;
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std::vector<double> promptI;
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std::vector<double> promptQ;
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std::vector<double> CN0_dBHz;
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epoch_counter = 0;
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while (trk_dump.read_binary_obs())
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for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
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{
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trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
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trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
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trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
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//******************************************************************************************
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||||
//***** 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<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
|
||||
// restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
}
|
||||
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(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);
|
||||
}
|
||||
//***** STEP 4: Configure the signal tracking parameters *****
|
||||
//************************************************************
|
||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||
configure_receiver();
|
||||
|
||||
// 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");
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
|
||||
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);
|
||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
|
||||
|
||||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
|
||||
|
||||
std::chrono::duration<double> elapsed_seconds = end - start;
|
||||
std::cout << "Signal tracking completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
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<double> 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<double> prompt;
|
||||
std::vector<double> early;
|
||||
std::vector<double> late;
|
||||
std::vector<double> promptI;
|
||||
std::vector<double> promptQ;
|
||||
std::vector<double> CN0_dBHz;
|
||||
while (trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(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<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(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);
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
// load the true values
|
||||
long int n_true_epochs = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << n_true_epochs << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_tow_s = arma::zeros(n_true_epochs, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
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);
|
||||
|
||||
std::vector<double> doppler_error_hz;
|
||||
std::vector<double> code_phase_error_chips;
|
||||
std::vector<double> 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<double> 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);
|
||||
|
||||
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
|
||||
|
||||
//********************************
|
||||
//***** STEP 7: Plot results *****
|
||||
//********************************
|
||||
if (FLAGS_plot_gps_l1_tracking_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
@ -526,49 +636,106 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
std::vector<double> timevec;
|
||||
double t = 0.0;
|
||||
for (auto it = prompt.begin(); it != prompt.end(); it++)
|
||||
{
|
||||
timevec.push_back(t);
|
||||
t = t + GPS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title("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");
|
||||
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
|
||||
g1.plot_xy(timevec, prompt, "Prompt", decimate);
|
||||
g1.plot_xy(timevec, early, "Early", decimate);
|
||||
g1.plot_xy(timevec, late, "Late", decimate);
|
||||
g1.savetops("Correlators_outputs");
|
||||
g1.savetopdf("Correlators_outputs", 18);
|
||||
g1.showonscreen(); // window output
|
||||
|
||||
Gnuplot g2("points");
|
||||
g2.set_title("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, promptQ);
|
||||
g2.savetops("Constellation");
|
||||
g2.savetopdf("Constellation", 18);
|
||||
g2.showonscreen(); // window output
|
||||
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
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++)
|
||||
{
|
||||
timevec.push_back(t);
|
||||
t = t + GPS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
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");
|
||||
g3.plot_xy(timevec, CN0_dBHz, "Prompt", decimate);
|
||||
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<int>(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
|
||||
|
||||
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<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
||||
}
|
||||
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<int>(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<int>(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)
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user