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Carles Fernandez 2018-06-24 11:40:34 +02:00
commit 849df32d87
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20 changed files with 325 additions and 225 deletions
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1
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
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@ -60,6 +60,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);

1
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
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@ -65,6 +65,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
} }
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_; acq_parameters.doppler_max = doppler_max_;

1
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
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@ -61,6 +61,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);

1
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
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@ -60,6 +60,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);

1
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
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@ -62,6 +62,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);

1
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
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@ -62,6 +62,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);

1
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
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@ -61,6 +61,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_; acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);

21
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@ -123,6 +123,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
grid_ = arma::fmat(); grid_ = arma::fmat();
d_step_two = false; d_step_two = false;
d_dump_number = 0; d_dump_number = 0;
d_dump_channel = acq_parameters.dump_channel;
} }
@ -314,7 +315,7 @@ void pcps_acquisition::send_positive_acquisition()
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz << ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag << ", magnitude " << d_mag
<< ", input signal power " << d_input_power; << ", input signal power " << d_input_power;
d_positive_acq = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(1)); this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
} }
@ -332,7 +333,7 @@ void pcps_acquisition::send_negative_acquisition()
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz << ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag << ", magnitude " << d_mag
<< ", input signal power " << d_input_power; << ", input signal power " << d_input_power;
d_positive_acq = 0;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2)); this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
} }
@ -363,7 +364,7 @@ void pcps_acquisition::dump_results(int effective_fft_size)
else else
{ {
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)}; size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)};
matvar_t* matvar = Mat_VarCreate("grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0); matvar_t* matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
@ -407,6 +408,10 @@ void pcps_acquisition::dump_results(int effective_fft_size)
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_gnss_synchro->PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
Mat_Close(matfp); Mat_Close(matfp);
} }
} }
@ -510,7 +515,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
} }
} }
// Record results to file if required // Record results to file if required
if (acq_parameters.dump) if (acq_parameters.dump and d_channel == d_dump_channel)
{ {
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size); memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
} }
@ -579,7 +584,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
} }
} }
// Record results to file if required // Record results to file if required
if (acq_parameters.dump) if (acq_parameters.dump and d_channel == d_dump_channel)
{ {
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size); memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
} }
@ -598,7 +603,6 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
send_positive_acquisition(); send_positive_acquisition();
d_step_two = false; d_step_two = false;
d_state = 0; // Positive acquisition d_state = 0; // Positive acquisition
d_positive_acq = 1;
} }
else else
{ {
@ -610,7 +614,6 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{ {
send_positive_acquisition(); send_positive_acquisition();
d_state = 0; // Positive acquisition d_state = 0; // Positive acquisition
d_positive_acq = 1;
} }
} }
else if (d_well_count == acq_parameters.max_dwells) else if (d_well_count == acq_parameters.max_dwells)
@ -633,7 +636,6 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
send_positive_acquisition(); send_positive_acquisition();
d_step_two = false; d_step_two = false;
d_state = 0; // Positive acquisition d_state = 0; // Positive acquisition
d_positive_acq = 1;
} }
else else
{ {
@ -645,7 +647,6 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{ {
send_positive_acquisition(); send_positive_acquisition();
d_state = 0; // Positive acquisition d_state = 0; // Positive acquisition
d_positive_acq = 1;
} }
} }
else else
@ -657,7 +658,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
} }
d_worker_active = false; d_worker_active = false;
// Record results to file if required // Record results to file if required
if (acq_parameters.dump) if (acq_parameters.dump and d_channel == d_dump_channel)
{ {
pcps_acquisition::dump_results(effective_fft_size); pcps_acquisition::dump_results(effective_fft_size);
} }

1
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
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@ -125,6 +125,7 @@ private:
Gnss_Synchro* d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_; arma::fmat grid_;
long int d_dump_number; long int d_dump_number;
unsigned int d_dump_channel;
public: public:
~pcps_acquisition(); ~pcps_acquisition();

1
src/algorithms/acquisition/libs/acq_conf.cc
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@ -48,5 +48,6 @@ Acq_Conf::Acq_Conf()
blocking = false; blocking = false;
make_2_steps = false; make_2_steps = false;
dump_filename = ""; dump_filename = "";
dump_channel = 0;
it_size = sizeof(char); it_size = sizeof(char);
} }

1
src/algorithms/acquisition/libs/acq_conf.h
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@ -53,6 +53,7 @@ public:
bool blocking; bool blocking;
bool make_2_steps; bool make_2_steps;
std::string dump_filename; std::string dump_filename;
unsigned int dump_channel;
size_t it_size; size_t it_size;
Acq_Conf(); Acq_Conf();

1
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
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@ -160,6 +160,7 @@ void GpsL1CaPcpsAcquisitionTest::init()
config->set_property("Acquisition_1C.dump", "false"); config->set_property("Acquisition_1C.dump", "false");
} }
config->set_property("Acquisition_1C.dump_filename", "./tmp-acq-gps1/acquisition"); config->set_property("Acquisition_1C.dump_filename", "./tmp-acq-gps1/acquisition");
config->set_property("Acquisition_1C.dump_channel", "1");
config->set_property("Acquisition_1C.threshold", "0.00001"); config->set_property("Acquisition_1C.threshold", "0.00001");
config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max)); config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step)); config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));

7
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
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@ -163,7 +163,8 @@ void GpsL2MPcpsAcquisitionTest::init()
{ {
config->set_property("Acquisition_2S.dump", "false"); config->set_property("Acquisition_2S.dump", "false");
} }
config->set_property("Acquisition_2S.dump_filename", "./tmp-acq-gps2/acquisition"); config->set_property("Acquisition_2S.dump_filename", "./tmp-acq-gps2/acquisition_test");
config->set_property("Acquisition_2S.dump_channel", "1");
config->set_property("Acquisition_2S.threshold", "0.001"); config->set_property("Acquisition_2S.threshold", "0.001");
config->set_property("Acquisition_2S.doppler_max", std::to_string(doppler_max)); config->set_property("Acquisition_2S.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_2S.doppler_step", std::to_string(doppler_step)); config->set_property("Acquisition_2S.doppler_step", std::to_string(doppler_step));
@ -175,11 +176,11 @@ void GpsL2MPcpsAcquisitionTest::init()
void GpsL2MPcpsAcquisitionTest::plot_grid() void GpsL2MPcpsAcquisitionTest::plot_grid()
{ {
//load the measured values //load the measured values
std::string basename = "./tmp-acq-gps2/acquisition_G_2S"; std::string basename = "./tmp-acq-gps2/acquisition_test_G_2S";
unsigned int sat = static_cast<unsigned int>(gnss_synchro.PRN); unsigned int sat = static_cast<unsigned int>(gnss_synchro.PRN);
unsigned int samples_per_code = static_cast<unsigned int>(floor(static_cast<double>(sampling_frequency_hz) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)))); unsigned int samples_per_code = static_cast<unsigned int>(floor(static_cast<double>(sampling_frequency_hz) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS))));
acquisition_dump_reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code); acquisition_dump_reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
if (!acq_dump.read_binary_acq()) std::cout << "Error reading files" << std::endl; if (!acq_dump.read_binary_acq()) std::cout << "Error reading files" << std::endl;
std::vector<int> *doppler = &acq_dump.doppler; std::vector<int> *doppler = &acq_dump.doppler;

53
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.cc
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@ -43,7 +43,7 @@ bool acquisition_dump_reader::read_binary_acq()
std::cout << "¡¡¡Unreachable Acquisition dump file!!!" << std::endl; std::cout << "¡¡¡Unreachable Acquisition dump file!!!" << std::endl;
return false; return false;
} }
matvar_t* var_ = Mat_VarRead(matfile, "grid"); matvar_t* var_ = Mat_VarRead(matfile, "acq_grid");
if (var_ == NULL) if (var_ == NULL)
{ {
std::cout << "¡¡¡Unreachable grid variable into Acquisition dump file!!!" << std::endl; std::cout << "¡¡¡Unreachable grid variable into Acquisition dump file!!!" << std::endl;
@ -109,15 +109,20 @@ bool acquisition_dump_reader::read_binary_acq()
positive_acq = *static_cast<int*>(var2_->data); positive_acq = *static_cast<int*>(var2_->data);
Mat_VarFree(var2_); Mat_VarFree(var2_);
var2_ = Mat_VarRead(matfile, "PRN");
PRN = *static_cast<int*>(var2_->data);
Mat_VarFree(var2_);
std::vector<std::vector<float> >::iterator it1; std::vector<std::vector<float> >::iterator it1;
std::vector<float>::iterator it2; std::vector<float>::iterator it2;
float* aux = static_cast<float*>(var_->data); float* aux = static_cast<float*>(var_->data);
int k = 0; int k = 0;
float normalization_factor = std::pow(d_samples_per_code, 4) * input_power;
for (it1 = mag.begin(); it1 != mag.end(); it1++) for (it1 = mag.begin(); it1 != mag.end(); it1++)
{ {
for (it2 = it1->begin(); it2 != it1->end(); it2++) for (it2 = it1->begin(); it2 != it1->end(); it2++)
{ {
*it2 = static_cast<float>(aux[k]) / input_power; *it2 = static_cast<float>(aux[k]) / normalization_factor;
k++; k++;
} }
} }
@ -128,6 +133,49 @@ bool acquisition_dump_reader::read_binary_acq()
} }
acquisition_dump_reader::acquisition_dump_reader(const std::string& basename,
int channel,
int execution)
{
unsigned int sat_ = 0;
unsigned int doppler_max_ = 0;
unsigned int doppler_step_ = 0;
unsigned int samples_per_code_ = 0;
mat_t* matfile = Mat_Open(d_dump_filename.c_str(), MAT_ACC_RDONLY);
if (matfile != NULL)
{
matvar_t* var_ = Mat_VarRead(matfile, "doppler_max");
doppler_max_ = *static_cast<unsigned int*>(var_->data);
Mat_VarFree(var_);
var_ = Mat_VarRead(matfile, "doppler_step");
doppler_step_ = *static_cast<unsigned int*>(var_->data);
Mat_VarFree(var_);
var_ = Mat_VarRead(matfile, "PRN");
sat_ = *static_cast<int*>(var_->data);
Mat_VarFree(var_);
var_ = Mat_VarRead(matfile, "grid");
samples_per_code_ = var_->dims[0];
Mat_VarFree(var_);
Mat_Close(matfile);
}
else
{
std::cout << "¡¡¡Unreachable Acquisition dump file!!!" << std::endl;
}
acquisition_dump_reader(basename,
sat_,
doppler_max_,
doppler_step_,
samples_per_code_,
channel,
execution);
}
acquisition_dump_reader::acquisition_dump_reader(const std::string& basename, acquisition_dump_reader::acquisition_dump_reader(const std::string& basename,
unsigned int sat, unsigned int sat,
unsigned int doppler_max, unsigned int doppler_max,
@ -148,6 +196,7 @@ acquisition_dump_reader::acquisition_dump_reader(const std::string& basename,
threshold = 0.0; threshold = 0.0;
positive_acq = 0; positive_acq = 0;
sample_counter = 0; sample_counter = 0;
PRN = 0;
d_num_doppler_bins = static_cast<unsigned int>(ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step))); d_num_doppler_bins = static_cast<unsigned int>(ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step)));
std::vector<std::vector<float> > mag_aux(d_num_doppler_bins, std::vector<float>(d_samples_per_code)); std::vector<std::vector<float> > mag_aux(d_num_doppler_bins, std::vector<float>(d_samples_per_code));
mag = mag_aux; mag = mag_aux;

7
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.h
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@ -45,7 +45,13 @@ public:
unsigned int samples_per_code, unsigned int samples_per_code,
int channel = 0, int channel = 0,
int execution = 1); int execution = 1);
acquisition_dump_reader(const std::string& basename,
int channel = 0,
int execution = 1);
~acquisition_dump_reader(); ~acquisition_dump_reader();
bool read_binary_acq(); bool read_binary_acq();
std::vector<int> doppler; std::vector<int> doppler;
@ -57,6 +63,7 @@ public:
float input_power; float input_power;
float threshold; float threshold;
int positive_acq; int positive_acq;
unsigned int PRN;
long unsigned int sample_counter; long unsigned int sample_counter;
private: private:

1
src/tests/unit-tests/signal-processing-blocks/libs/observables_dump_reader.cc
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@ -97,7 +97,6 @@ bool observables_dump_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
std::cout << "Observables sum file opened, Log file: " << d_dump_filename.c_str() << std::endl;
return true; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

1
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
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@ -109,7 +109,6 @@ bool tracking_dump_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
std::cout << "Tracking dump enabled, Log file: " << d_dump_filename.c_str() << std::endl;
return true; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

1
src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
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@ -93,7 +93,6 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
std::cout << "Tracking Log file: " << d_dump_filename.c_str() << " open ok " << std::endl;
return true; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

445
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
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@ -69,7 +69,10 @@ DEFINE_double(DLL_bw_hz_start, 1.5, "DLL Wide configuration start sweep value [H
DEFINE_double(DLL_bw_hz_stop, 1.5, "DLL Wide configuration stop 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_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"); DEFINE_double(PLL_narrow_bw_hz, 5.0, "PLL Narrow configuration value [Hz]");
DEFINE_double(DLL_narrow_bw_hz, 0.75, "DLL Narrow configuration value [Hz]");
DEFINE_int32(plot_detail_level, 0, "Specify the desired plot detail (0,1,2): 0 - Minimum plots (default) 2 - Plot all tracking parameters");
//Emulated acquisition configuration //Emulated acquisition configuration
@ -110,7 +113,8 @@ void GpsL1CADllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
try try
{ {
long int message = pmt::to_long(msg); long int message = pmt::to_long(msg);
rx_message = message; rx_message = message; //3 -> loss of lock
//std::cout << "Received trk message: " << rx_message << std::endl;
} }
catch (boost::bad_any_cast& e) catch (boost::bad_any_cast& e)
{ {
@ -451,18 +455,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<std::vector<double>> std_dev_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>> trk_valid_timestamp_s_sweep; std::vector<std::vector<double>> trk_valid_timestamp_s_sweep;
std::vector<std::vector<double>> generator_CN0_values_sweep_copy;
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
int test_satellite_PRN = 0; int test_satellite_PRN = 0;
double acq_delay_samples = 0.0; double acq_delay_samples = 0.0;
@ -470,35 +463,15 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
tracking_true_obs_reader true_obs_data; tracking_true_obs_reader true_obs_data;
//*********************************************
//***** STEP 3: Generate the input signal *****
//*********************************************
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
}
else
{
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
// open true observables log file written by the simulator
}
}
// CONFIG PARAM SWEEP LOOP // CONFIG PARAM SWEEP LOOP
std::vector<double> PLL_wide_bw_values; std::vector<double> PLL_wide_bw_values;
std::vector<double> DLL_wide_bw_values; std::vector<double> DLL_wide_bw_values;
//***********************************************************
//***** STEP 2: Tracking configuration parameters sweep *****
//***********************************************************
if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop) if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop)
{ {
if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop) if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop)
@ -510,7 +483,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
else else
{ {
//DLL BW Sweep //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) 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); PLL_wide_bw_values.push_back(FLAGS_PLL_bw_hz_start);
DLL_wide_bw_values.push_back(dll_bw); DLL_wide_bw_values.push_back(dll_bw);
@ -520,14 +493,55 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
else else
{ {
//PLL BW Sweep //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) 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)
{ {
PLL_wide_bw_values.push_back(pll_bw); PLL_wide_bw_values.push_back(pll_bw);
DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start); DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start);
} }
} }
for (int config_idx = 0; config_idx < PLL_wide_bw_values.size(); config_idx++) //*********************************************
//***** STEP 3: Generate the input signal *****
//*********************************************
std::vector<double> cno_vector;
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
}
else
{
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
// open true observables log file written by the simulator
}
}
//************************************************************
//***** STEP 4: Configure the signal tracking parameters *****
//************************************************************
for (unsigned int config_idx = 0; config_idx < PLL_wide_bw_values.size(); config_idx++)
{ {
//CN0 LOOP //CN0 LOOP
// data containers for CN0 sweep // data containers for CN0 sweep
@ -549,13 +563,14 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<double> std_dev_code_phase_error; std::vector<double> std_dev_code_phase_error;
std::vector<double> mean_carrier_phase_error; std::vector<double> mean_carrier_phase_error;
std::vector<double> std_dev_carrier_phase_error; std::vector<double> std_dev_carrier_phase_error;
std::vector<double> valid_CN0_values;
configure_receiver(PLL_wide_bw_values.at(config_idx), configure_receiver(PLL_wide_bw_values.at(config_idx),
DLL_wide_bw_values.at(config_idx), DLL_wide_bw_values.at(config_idx),
2.0, FLAGS_PLL_narrow_bw_hz,
1.0, FLAGS_DLL_narrow_bw_hz,
FLAGS_extend_correlation_symbols); FLAGS_extend_correlation_symbols);
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
//****************************************************************************************** //******************************************************************************************
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) **** //***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
@ -582,8 +597,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
//***** STEP 4: Configure the signal tracking parameters *****
//************************************************************
std::chrono::time_point<std::chrono::system_clock> start, end; std::chrono::time_point<std::chrono::system_clock> start, end;
top_block = gr::make_top_block("Tracking test"); top_block = gr::make_top_block("Tracking test");
@ -625,6 +638,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
//******************************************************************** //********************************************************************
//***** STEP 5: Perform the signal tracking and read the results ***** //***** STEP 5: Perform the signal tracking and read the results *****
//******************************************************************** //********************************************************************
std::cout << "------------ START TRACKING -------------" << std::endl;
tracking->start_tracking(); tracking->start_tracking();
EXPECT_NO_THROW({ EXPECT_NO_THROW({
@ -636,6 +650,8 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::chrono::duration<double> elapsed_seconds = end - start; std::chrono::duration<double> elapsed_seconds = end - start;
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl; std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl;
int tracking_last_msg = msg_rx->rx_message; //save last aasynchronous tracking message in order to detect a loss of lock
//check results //check results
//load the measured values //load the measured values
tracking_dump_reader trk_dump; tracking_dump_reader trk_dump;
@ -643,7 +659,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
<< "Failure opening tracking dump file"; << "Failure opening tracking dump file";
long int n_measured_epochs = trk_dump.num_epochs(); long int n_measured_epochs = trk_dump.num_epochs();
std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl; //std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl;
arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1); 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_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1);
@ -694,11 +710,12 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<double> doppler_error_hz; std::vector<double> doppler_error_hz;
std::vector<double> code_phase_error_chips; std::vector<double> code_phase_error_chips;
std::vector<double> acc_carrier_phase_hz; std::vector<double> acc_carrier_phase_hz;
try try
{ {
// load the true values // load the true values
long int n_true_epochs = true_obs_data.num_epochs(); long int n_true_epochs = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << n_true_epochs << std::endl; //std::cout << "True observation epochs=" << n_true_epochs << std::endl;
arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1); 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_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1);
@ -720,45 +737,47 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
double pull_in_offset_s = 1.0; 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"); 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)
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_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.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_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.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 mean_error;
double std_dev_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); valid_CN0_values.push_back(generator_CN0_values.at(current_cn0_idx)); //save the current cn0 value (valid tracking)
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); doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz, mean_error, std_dev_error);
mean_code_phase_error.push_back(mean_error); mean_doppler_error.push_back(mean_error);
std_dev_code_phase_error.push_back(std_dev_error); std_dev_doppler_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); 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_carrier_phase_error.push_back(mean_error); mean_code_phase_error.push_back(mean_error);
std_dev_carrier_phase_error.push_back(std_dev_error); std_dev_code_phase_error.push_back(std_dev_error);
//save tracking measurement timestamps to std::vector 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);
std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows); mean_carrier_phase_error.push_back(mean_error);
trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s); std_dev_carrier_phase_error.push_back(std_dev_error);
doppler_error_sweep.push_back(doppler_error_hz); //save tracking measurement timestamps to std::vector
code_phase_error_sweep.push_back(code_phase_error_chips); std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows);
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); 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);
}
else
{
std::cout << "Tracking output could not be used, possible loss of lock " << std::endl;
}
} }
catch (const std::exception& ex) catch (const std::exception& ex)
{ {
std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl; std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl;
std::vector<double> 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);
} }
} }
@ -772,9 +791,10 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std_dev_code_phase_error_sweep.push_back(std_dev_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); mean_carrier_phase_error_sweep.push_back(mean_carrier_phase_error);
std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error); std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error);
//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);
} }
std::cout << "A\n\n\n";
//******************************** //********************************
//***** STEP 7: Plot results ***** //***** STEP 7: Plot results *****
//******************************** //********************************
@ -797,9 +817,9 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
Gnuplot::set_GNUPlotPath(gnuplot_path); Gnuplot::set_GNUPlotPath(gnuplot_path);
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate); unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
if (FLAGS_plot_extra) if (FLAGS_plot_detail_level >= 2)
{ {
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
Gnuplot g1("linespoints"); Gnuplot g1("linespoints");
g1.showonscreen(); // window output g1.showonscreen(); // window output
@ -819,7 +839,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g2.showonscreen(); // window output g2.showonscreen(); // window output
g2.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0), g2.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2)); ceil(static_cast<float>(generator_CN0_values.size()) / 2));
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
g2.reset_plot(); 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_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) + ")");
@ -839,7 +859,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g3.set_xlabel("Time [s]"); g3.set_xlabel("Time [s]");
g3.set_ylabel("Reported CN0 [dB-Hz]"); g3.set_ylabel("Reported CN0 [dB-Hz]");
g3.cmd("set key box opaque"); g3.cmd("set key box opaque");
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned 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), g3.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), CN0_dBHz_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
@ -850,63 +870,85 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g3.showonscreen(); // window output g3.showonscreen(); // window output
} }
std::cout << "B\n\n\n";
//PLOT ERROR FIGURES (only if it is used the signal generator) //PLOT ERROR FIGURES (only if it is used the signal generator)
if (!FLAGS_enable_external_signal_file) if (!FLAGS_enable_external_signal_file)
{ {
Gnuplot g4("points"); if (FLAGS_plot_detail_level >= 1)
g4.showonscreen(); // window output
g4.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2));
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
g4.reset_plot(); Gnuplot g5("points");
g4.set_title(std::to_string(static_cast<int>(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) + ")"); g5.showonscreen(); // window output
g4.set_grid(); 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) + ")");
//g4.cmd("set key box opaque"); g5.set_grid();
g4.set_xlabel("Time [s]"); g5.set_xlabel("Time [s]");
g4.set_ylabel("Dopper error [Hz]"); g5.set_ylabel("Code delay error [Chips]");
g4.plot_xy(trk_valid_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(); for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
try
{
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<int>(round(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
catch (const GnuplotException& ge)
{
}
}
g5.set_legend();
g5.set_legend();
g5.savetops("Code_error_output");
g5.savetopdf("Code_error_output", 18);
Gnuplot g6("points");
g6.showonscreen(); // window output
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]");
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
try
{
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<int>(round(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
catch (const GnuplotException& ge)
{
}
}
g6.set_legend();
g6.set_legend();
g6.savetops("Carrier_phase_error_output");
g6.savetopdf("Carrier_phase_error_output", 18);
Gnuplot g4("points");
g4.showonscreen(); // window output
g4.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2));
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_grid();
//g4.cmd("set key box opaque");
g4.set_xlabel("Time [s]");
g4.set_ylabel("Dopper error [Hz]");
try
{
g4.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
catch (const GnuplotException& ge)
{
}
}
g4.unset_multiplot();
g4.savetops("Doppler_error_output");
g4.savetopdf("Doppler_error_output", 18);
} }
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<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, 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<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) catch (const GnuplotException& ge)
@ -917,86 +959,77 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
} }
if (FLAGS_plot_gps_l1_tracking_test == true) if (FLAGS_plot_gps_l1_tracking_test == true)
{ {
const std::string gnuplot_executable(FLAGS_gnuplot_executable); std::cout << "Ploting performance metrics..." << std::endl;
if (gnuplot_executable.empty()) try
{ {
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl; if (generator_CN0_values.size() > 1)
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{ {
if (generator_CN0_values.size() > 1) //plot metrics
Gnuplot g7("linespoints");
g7.showonscreen(); // window output
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 (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{ {
//plot metrics g7.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
mean_doppler_error_sweep.at(config_sweep_idx),
Gnuplot g7("linespoints"); std_dev_doppler_error_sweep.at(config_sweep_idx),
g7.set_title("Doppler error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
g7.set_grid(); +"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
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++)
{
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");
}
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();
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);
} }
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();
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 (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g8.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
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 (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g9.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
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);
} }
catch (const GnuplotException& ge) }
{ catch (const GnuplotException& ge)
std::cout << ge.what() << std::endl; {
} std::cout << ge.what() << std::endl;
} }
} }
} }

3
src/utils/matlab/plot_acq_grid.m
View File

@ -107,7 +107,8 @@ xlabel('Doppler shift / Hz')
ylabel('Test statistics') ylabel('Test statistics')
title(['Fixed code delay to ' num2str((d_max - 1) / n_fft * n_chips) ' chips']) title(['Fixed code delay to ' num2str((d_max - 1) / n_fft * n_chips) ' chips'])
subplot(2,1,2) subplot(2,1,2)
plot(delay, grid(:, f_max)) normalization = (d_samples_per_code^4) * input_power;
plot(delay, acq_grid(:, f_max)./normalization)
xlim([min(delay) max(delay)]) xlim([min(delay) max(delay)])
xlabel('Code delay / chips') xlabel('Code delay / chips')
ylabel('Test statistics') ylabel('Test statistics')