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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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Carles Fernandez 2018-08-30 18:09:03 +02:00
commit 86dfea348d
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20 changed files with 1662 additions and 2006 deletions
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1
CMakeLists.txt
View File

@ -523,7 +523,6 @@ if(NOT GNURADIO_RUNTIME_FOUND)
message("You can install it easily via Macports:")
message(" sudo port install gnuradio ")
message("Alternatively, you can use homebrew:")
message(" brew tap odrisci/gnuradio")
message(" brew install gnuradio" )
message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
endif(OS_IS_MACOSX)

10
MANIFEST.md
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@ -12,11 +12,17 @@ author:
- et altri (see AUTHORS file for a list of contributors)
copyright_owner:
- The Authors
dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls, matio
dependencies:
- gnuradio (>= 3.7.3)
- armadillo
- gflags
- glog
- gnutls
- matio
license: GPLv3+
repo: https://github.com/gnss-sdr/gnss-sdr
website: https://gnss-sdr.org
icon: https://raw.githubusercontent.com/gnss-sdr/gnss-sdr/master/docs/doxygen/images/gnss-sdr_logo.png
icon: https://gnss-sdr.org/assets/images/logo400x400.jpg
---
Global Navigation Satellite Systems receiver defined by software. It performs all the signal
processing from raw signal samples up to the computation of the Position-Velocity-Time solution,

61
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -364,8 +364,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_rinexobs_rate_ms = rinexobs_rate_ms;
d_rinexnav_rate_ms = rinexnav_rate_ms;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
dump_ls_pvt_filename.append("_pvt.dat");
d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
d_ls_pvt->set_averaging_depth(1);
@ -374,23 +373,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_last_status_print_seg = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT dump file " << e.what();
}
}
}
// Create Sys V message queue
first_fix = true;
@ -500,18 +482,6 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
}
if (d_dump_file.is_open() == true)
{
try
{
d_dump_file.close();
}
catch (const std::exception& ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
@ -2102,7 +2072,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
DLOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
// boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
@ -2110,36 +2080,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
<< d_ls_pvt->get_vdop()
<< " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
}
// MULTIPLEXED FILE RECORDING - Record results to file
if (d_dump == true)
{
try
{
double tmp_double;
for (uint32_t i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][epoch].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = 0;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_rx_time), sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
}
}

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -122,7 +122,6 @@ private:
uint32_t d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;

51
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -86,7 +86,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
}
}
}
@ -103,7 +103,7 @@ rtklib_solver::~rtklib_solver()
}
catch (const std::exception& ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
}
}
}
@ -556,34 +556,55 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
try
{
double tmp_double;
uint32_t tmp_uint32;
// TOW
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// WEEK
tmp_uint32 = adjgpsweek(nav_data.eph[0].week);
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.rr[0]), sizeof(pvt_sol.rr));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.qr[0]), sizeof(pvt_sol.qr));
// GEO user position Latitude [deg]
tmp_double = this->get_latitude();
tmp_double = get_latitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Longitude [deg]
tmp_double = this->get_longitude();
tmp_double = get_longitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Height [m]
tmp_double = this->get_height();
tmp_double = get_height();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// NUMBER OF VALID SATS
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ns), sizeof(uint8_t));
// RTKLIB solution status
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
//AR ratio factor for validation
tmp_double = pvt_sol.ratio;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
//AR ratio threshold for validation
tmp_double = pvt_sol.thres;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
//GDOP//PDOP//HDOP//VDOP
d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(dop_));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
LOG(WARNING) << "Exception writing RTKLIB dump file " << e.what();
}
}
}

32
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -89,38 +89,6 @@ double leaps[MAXLEAPS + 1][7] = {/* leap seconds (y,m,d,h,m,s,utc-gpst) */
{}};
const prcopt_t prcopt_default = { /* defaults processing options */
PMODE_SINGLE, 0, 2, SYS_GPS, /* mode, soltype, nf, navsys */
15.0 * D2R, {{}, {{}, {}}}, /* elmin, snrmask */
0, 1, 1, 1, /* sateph, modear, glomodear, bdsmodear */
5, 0, 10, 1, /* maxout, minlock, minfix, armaxiter */
0, 0, 0, 0, /* estion, esttrop, dynamics, tidecorr */
1, 0, 0, 0, 0, /* niter, codesmooth, intpref, sbascorr, sbassatsel */
0, 0, /* rovpos, refpos */
{100.0, 100.0, 100.0}, /* eratio[] */
{100.0, 0.003, 0.003, 0.0, 1.0}, /* err[] */
{30.0, 0.03, 0.3}, /* std[] */
{1e-4, 1e-3, 1e-4, 1e-1, 1e-2, 0.0}, /* prn[] */
5E-12, /* sclkstab */
{3.0, 0.9999, 0.25, 0.1, 0.05, 0, 0, 0}, /* thresar */
0.0, 0.0, 0.05, /* elmaskar, almaskhold, thresslip */
30.0, 30.0, 30.0, /* maxtdif, maxinno, maxgdop */
{}, {}, {}, /* baseline, ru, rb */
{"", ""}, /* anttype */
{}, {}, {}, /* antdel, pcv, exsats */
0, 0, 0, {"", ""}, {}, 0, {{}, {}}, {{}, {{}, {}}, {{}, {}}, {}, {}}, 0, {}};
const solopt_t solopt_default = {
/* defaults solution output options */
SOLF_LLH, TIMES_GPST, 1, 3, /* posf, times, timef, timeu */
0, 1, 0, 0, 0, 0, /* degf, outhead, outopt, datum, height, geoid */
0, 0, 0, /* solstatic, sstat, trace */
{0.0, 0.0}, /* nmeaintv */
" ", "", 0 /* separator/program name */
};
const char *formatstrs[32] = {/* stream format strings */
"RTCM 2", /* 0 */
"RTCM 3", /* 1 */

31
src/tests/CMakeLists.txt
View File

@ -18,6 +18,7 @@
add_subdirectory(unit-tests/signal-processing-blocks/libs)
add_subdirectory(system-tests/libs)
################################################################################
# Google Test - https://github.com/google/googletest
@ -342,6 +343,7 @@ set(LIST_INCLUDE_DIRS
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/tests/unit-tests/signal-processing-blocks/libs
${CMAKE_SOURCE_DIR}/src/tests/system-tests/libs
${CMAKE_SOURCE_DIR}/src/tests/common-files
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
@ -489,29 +491,24 @@ if(ENABLE_SYSTEM_TESTING)
${GTEST_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES}
${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES}
${GNURADIO_ANALOG_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}
gnss_sp_libs gnss_rx gnss_system_parameters )
gnss_sp_libs gnss_rx gnss_system_parameters
system_testing_lib)
add_system_test(position_test)
if(GPSTK_FOUND OR OWN_GPSTK)
#if(GPSTK_FOUND OR OWN_GPSTK)
## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST
set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
gnss_sp_libs gnss_rx ${gpstk_libs} )
set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
add_system_test(obs_gps_l1_system_test)
add_system_test(obs_system_test)
endif(GPSTK_FOUND OR OWN_GPSTK)
# set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
# gnss_sp_libs gnss_rx ${gpstk_libs} )
# set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
# add_system_test(obs_gps_l1_system_test)
# add_system_test(obs_system_test)
#endif(GPSTK_FOUND OR OWN_GPSTK)
else(ENABLE_SYSTEM_TESTING_EXTRA)
# Avoid working with old executables if they were switched ON and then OFF
if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(ENABLE_SYSTEM_TESTING_EXTRA)
else(ENABLE_SYSTEM_TESTING)
# Avoid working with old executables if they were switched ON and then OFF
@ -521,12 +518,6 @@ else(ENABLE_SYSTEM_TESTING)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(ENABLE_SYSTEM_TESTING)

2
src/tests/common-files/signal_generator_flags.h
View File

@ -38,7 +38,7 @@ DEFINE_bool(disable_generator, false, "Disable the signal generator (a external
DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]");
DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [latitude,longitude,height]");
DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");

41
src/tests/system-tests/libs/CMakeLists.txt Normal file
View File

@ -0,0 +1,41 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
set(SYSTEM_TESTING_LIB_SOURCES
geofunctions.cc
spirent_motion_csv_dump_reader.cc
rtklib_solver_dump_reader.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
)
file(GLOB SYSTEM_TESTING_LIB_HEADERS "*.h")
list(SORT SYSTEM_TESTING_LIB_HEADERS)
add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LIB_HEADERS})
source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
if(NOT MATIO_FOUND)
add_dependencies(system_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(NOT MATIO_FOUND)

473
src/tests/system-tests/libs/geofunctions.cc Normal file
View File

@ -0,0 +1,473 @@
/*!
* \file geofunctions.h
* \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "geofunctions.h"
#define STRP_G_SI 9.80665
#define STRP_PI 3.1415926535898 //!< Pi as defined in IS-GPS-200E
arma::mat Skew_symmetric(arma::vec a)
{
arma::mat A = arma::zeros(3, 3);
A << 0.0 << -a(2) << a(1) << arma::endr
<< a(2) << 0.0 << -a(0) << arma::endr
<< -a(1) << a(0) << 0 << arma::endr;
// {{0, -a(2), a(1)},
// {a(2), 0, -a(0)},
// {-a(1), a(0), 0}};
return A;
}
double WGS84_g0(double Lat_rad)
{
double k = 0.001931853; //normal gravity constant
double e2 = 0.00669438002290; //the square of the first numerical eccentricity
double nge = 9.7803253359; //normal gravity value on the equator (m/sec^2)
double b = sin(Lat_rad); //Lat in degrees
b = b * b;
double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
return g0;
}
double WGS84_geocentric_radius(double Lat_geodetic_rad)
{
//WGS84 earth model Geocentric radius (Eq. 2.88)
double WGS84_A = 6378137.0; //Semi-major axis of the Earth, a [m]
double WGS84_IF = 298.257223563; //Inverse flattening of the Earth
double WGS84_F = (1 / WGS84_IF); //The flattening of the Earth
//double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); //Eccentricity of the Earth
//transverse radius of curvature
double R_E = WGS84_A / sqrt(1 -
WGS84_E * WGS84_E *
sin(Lat_geodetic_rad) *
sin(Lat_geodetic_rad)); // (Eq. 2.66)
//gocentric radius at the Earth surface
double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
(1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88)
return r_eS;
}
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{
double lambda;
double phi;
double h;
double dtr = STRP_PI / 180.0;
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
double cl = cos(lambda * dtr);
double sl = sin(lambda * dtr);
double cb = cos(phi * dtr);
double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3, 3);
F(0, 0) = -sl;
F(0, 1) = -sb * cl;
F(0, 2) = cb * cl;
F(1, 0) = cl;
F(1, 1) = -sb * sl;
F(1, 2) = cb * sl;
F(2, 0) = 0;
F(2, 1) = cb;
F(2, 2) = sb;
arma::vec local_vector;
local_vector = arma::htrans(F) * dx;
double E = local_vector(0);
double N = local_vector(1);
double U = local_vector(2);
double hor_dis;
hor_dis = sqrt(E * E + N * N);
if (hor_dis < 1.0E-20)
{
*Az = 0;
*El = 90;
}
else
{
*Az = atan2(E, N) / dtr;
*El = atan2(U, hor_dis) / dtr;
}
if (*Az < 0)
{
*Az = *Az + 360.0;
}
*D = sqrt(dx(0) * dx(0) + dx(1) * dx(1) + dx(2) * dx(2));
return 0;
}
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
{
*h = 0;
double tolsq = 1.e-10; // tolerance to accept convergence
int maxit = 10; // max number of iterations
double rtd = 180.0 / STRP_PI;
// compute square of eccentricity
double esq;
if (finv < 1.0E-20)
{
esq = 0.0;
}
else
{
esq = (2.0 - 1.0 / finv) / finv;
}
// first guess
double P = sqrt(X * X + Y * Y); // P is distance from spin axis
//direct calculation of longitude
if (P > 1.0E-20)
{
*dlambda = atan2(Y, X) * rtd;
}
else
{
*dlambda = 0.0;
}
// correct longitude bound
if (*dlambda < 0)
{
*dlambda = *dlambda + 360.0;
}
double r = sqrt(P * P + Z * Z); // r is distance from origin (0,0,0)
double sinphi;
if (r > 1.0E-20)
{
sinphi = Z / r;
}
else
{
sinphi = 0.0;
}
*dphi = asin(sinphi);
// initial value of height = distance from origin minus
// approximate distance from origin to surface of ellipsoid
if (r < 1.0E-20)
{
*h = 0;
return 1;
}
*h = r - a * (1 - sinphi * sinphi / finv);
// iterate
double cosphi;
double N_phi;
double dP;
double dZ;
double oneesq = 1.0 - esq;
for (int i = 0; i < maxit; i++)
{
sinphi = sin(*dphi);
cosphi = cos(*dphi);
// compute radius of curvature in prime vertical direction
N_phi = a / sqrt(1 - esq * sinphi * sinphi);
// compute residuals in P and Z
dP = P - (N_phi + (*h)) * cosphi;
dZ = Z - (N_phi * oneesq + (*h)) * sinphi;
// update height and latitude
*h = *h + (sinphi * dZ + cosphi * dP);
*dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
// test for convergence
if ((dP * dP + dZ * dZ) < tolsq)
{
break;
}
if (i == (maxit - 1))
{
// LOG(WARNING) << "The computation of geodetic coordinates did not converge";
}
}
*dphi = (*dphi) * rtd;
return 0;
}
arma::mat Gravity_ECEF(arma::vec r_eb_e)
{
//Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters
double mu = 3.986004418E14; //WGS84 Earth gravitational constant (m^3 s^-2)
double J_2 = 1.082627E-3; //WGS84 Earth's second gravitational constant
double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
// Calculate distance from center of the Earth
double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
// If the input position is 0,0,0, produce a dummy output
arma::vec g = arma::zeros(3, 1);
if (mag_r != 0)
{
//Calculate gravitational acceleration using (2.142)
double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
(1 - z_scale) * r_eb_e(1),
(3 - z_scale) * r_eb_e(2)};
arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
//Add centripetal acceleration using (2.133)
g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
g(2) = gamma_(2);
}
return g;
}
arma::vec LLH_to_deg(arma::vec LLH)
{
double rtd = 180.0 / STRP_PI;
LLH(0) = LLH(0) * rtd;
LLH(1) = LLH(1) * rtd;
return LLH;
}
double degtorad(double angleInDegrees)
{
double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
return angleInRadians;
}
double radtodeg(double angleInRadians)
{
double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
return angleInDegrees;
}
double mstoknotsh(double MetersPerSeconds)
{
double knots = mstokph(MetersPerSeconds) * 0.539957;
return knots;
}
double mstokph(double MetersPerSeconds)
{
double kph = 3600.0 * MetersPerSeconds / 1e3;
return kph;
}
arma::vec CTM_to_Euler(arma::mat C)
{
//Calculate Euler angles using (2.23)
arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(C(1, 2), C(2, 2)); // roll
if (C(0, 2) < -1.0) C(0, 2) = -1.0;
if (C(0, 2) > 1.0) C(0, 2) = 1.0;
eul(1) = -asin(C(0, 2)); // pitch
eul(2) = atan2(C(0, 1), C(0, 0)); // yaw
return eul;
}
arma::mat Euler_to_CTM(arma::vec eul)
{
//Eq.2.15
//Euler angles to Attitude matrix is equivalent to rotate the body
//in the three axes:
// arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
// arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
// arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
// arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
// C_b_n=C_b_n.t();
//Precalculate sines and cosines of the Euler angles
double sin_phi = sin(eul(0));
double cos_phi = cos(eul(0));
double sin_theta = sin(eul(1));
double cos_theta = cos(eul(1));
double sin_psi = sin(eul(2));
double cos_psi = cos(eul(2));
arma::mat C = arma::zeros(3, 3);
//Calculate coordinate transformation matrix using (2.22)
C(0, 0) = cos_theta * cos_psi;
C(0, 1) = cos_theta * sin_psi;
C(0, 2) = -sin_theta;
C(1, 0) = -cos_phi * sin_psi + sin_phi * sin_theta * cos_psi;
C(1, 1) = cos_phi * cos_psi + sin_phi * sin_theta * sin_psi;
C(1, 2) = sin_phi * cos_theta;
C(2, 0) = sin_phi * sin_psi + cos_phi * sin_theta * cos_psi;
C(2, 1) = -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi;
C(2, 2) = cos_phi * cos_theta;
return C;
}
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
{
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(XYZ[1], XYZ[0]);
double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
double phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
double h = 0.1;
double oldh = 0.0;
double N;
int iterations = 0;
do
{
oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
h = sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) / cos(phi) - N;
iterations = iterations + 1;
if (iterations > 100)
{
//std::cout << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
break;
}
}
while (std::abs(h - oldh) > 1.0e-12);
arma::vec LLH = {{phi, lambda, h}}; //radians
return LLH;
}
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
{
//Compute the Latitude of the ECEF position
LLH = cart2geo(r_eb_e, 4); //ECEF -> WGS84 geographical
// Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1));
//C++11 and arma >= 5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
//C++98 arma <5.2
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; //ECEF to Geo
// Transform velocity using (2.73)
v_eb_n = C_e_n * v_eb_e;
C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED
}
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
{
// Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
// Convert position using (2.112)
double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1));
r_eb_e = {(R_E + LLH(2)) * cos_lat * cos_long,
(R_E + LLH(2)) * cos_lat * sin_long,
((1 - e * e) * R_E + LLH(2)) * sin_lat};
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
//C++11 and arma>=5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
//C++98 arma <5.2
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n;
// Transform attitude using (2.15)
C_b_e = C_e_n.t() * C_b_n;
}
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
{
//% Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));
// Convert position using (2.112)
double cos_lat = cos(L_b);
double sin_lat = sin(L_b);
double cos_long = cos(lambda_b);
double sin_long = sin(lambda_b);
r_eb_e = {(R_E + h_b) * cos_lat * cos_long,
(R_E + h_b) * cos_lat * sin_long,
((1 - pow(e, 2)) * R_E + h_b) * sin_lat};
// Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n;
}

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/*!
* \file geofunctions.h
* \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GEOFUNCTIONS_H
#define GEOFUNCTIONS_H
#include <armadillo>
// %Skew_symmetric - Calculates skew-symmetric matrix
arma::mat Skew_symmetric(arma::vec a);
double WGS84_g0(double Lat_rad);
double WGS84_geocentric_radius(double Lat_geodetic_rad);
/* Transformation of vector dx into topocentric coordinate
system with origin at x
Inputs:
x - vector origin coordinates (in ECEF system [X; Y; Z;])
dx - vector ([dX; dY; dZ;]).
Outputs:
D - vector length. Units like the input
Az - azimuth from north positive clockwise, degrees
El - elevation angle, degrees
Based on a Matlab function by Kai Borre
*/
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/* Subroutine to calculate geodetic coordinates latitude, longitude,
height given Cartesian coordinates X,Y,Z, and reference ellipsoid
values semi-major axis (a) and the inverse of flattening (finv).
The output units of angular quantities will be in decimal degrees
(15.5 degrees not 15 deg 30 min). The output units of h will be the
same as the units of X,Y,Z,a.
Inputs:
a - semi-major axis of the reference ellipsoid
finv - inverse of flattening of the reference ellipsoid
X,Y,Z - Cartesian coordinates
Outputs:
dphi - latitude
dlambda - longitude
h - height above reference ellipsoid
Based in a Matlab function by Kai Borre
*/
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
//Gravitation_ECI - Calculates acceleration due to gravity resolved about
//ECEF-frame
arma::mat Gravity_ECEF(arma::vec r_eb_e);
/* Conversion of Cartesian coordinates (X,Y,Z) to geographical
coordinates (latitude, longitude, h) on a selected reference ellipsoid.
Choices of Reference Ellipsoid for Geographical Coordinates
0. International Ellipsoid 1924
1. International Ellipsoid 1967
2. World Geodetic System 1972
3. Geodetic Reference System 1980
4. World Geodetic System 1984
*/
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection);
arma::vec LLH_to_deg(arma::vec LLH);
double degtorad(double angleInDegrees);
double radtodeg(double angleInRadians);
double mstoknotsh(double MetersPerSeconds);
double mstokph(double Kph);
arma::vec CTM_to_Euler(arma::mat C);
arma::mat Euler_to_CTM(arma::vec eul);
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
// %
// % Inputs:
// % L_b latitude (rad)
// % lambda_b longitude (rad)
// % h_b height (m)
// % v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
// % north, east, and down (m/s)
// % C_b_n body-to-NED coordinate transformation matrix
// %
// % Outputs:
// % r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
// % along ECEF-frame axes (m)
// % v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
// % ECEF-frame axes (m/s)
// % C_b_e body-to-ECEF-frame coordinate transformation matrix
//
// % Copyright 2012, Paul Groves
// % License: BSD; see license.txt for details
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
//pv_Geo_to_ECEF - Converts curvilinear to Cartesian position and velocity
//resolving axes from NED to ECEF
//This function created 11/4/2012 by Paul Groves
//%
//% Inputs:
//% L_b latitude (rad)
//% lambda_b longitude (rad)
//% h_b height (m)
//% v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
//% north, east, and down (m/s)
//%
//% Outputs:
//% r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
//% along ECEF-frame axes (m)
//% v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
//% ECEF-frame axes (m/s)
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
#endif

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/*!
* \file signal_generator_flags.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_POSITION_TEST_FLAGS_H_
#define GNSS_SDR_POSITION_TEST_FLAGS_H_
#include <gflags/gflags.h>
#include <limits>
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of with gnuplot");
DEFINE_bool(static_scenario, true, "Compute figures of merit for static user position (DRMS, CEP, etc..)");
DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back to KML PVT file (contains only position information)");
DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
#endif

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/*!
* \file rtklib_solver_dump_reader.cc
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "rtklib_solver_dump_reader.h"
#include <iostream>
bool rtklib_solver_dump_reader::read_binary_obs()
{
try
{
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(TOW_at_current_symbol_ms));
// std::cout << "TOW_at_current_symbol_ms: " << TOW_at_current_symbol_ms << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(week));
// std::cout << "week: " << week << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(RX_time));
// std::cout << "RX_time: " << RX_time << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(clk_offset_s));
// std::cout << "clk_offset_s: " << clk_offset_s << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(rr));
// for (int n = 0; n < 6; n++)
// {
// std::cout << "rr: " << rr[n] << std::endl;
// }
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(qr));
// for (int n = 0; n < 6; n++)
// {
// std::cout << "qr" << qr[n] << std::endl;
// }
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude));
//std::cout << "latitude: " << latitude << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude));
//std::cout << "longitude: " << longitude << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height));
//std::cout << "height: " << height << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns));
// std::cout << "ns: " << (int)ns << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status));
// std::cout << "status: " << (int)status << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(type));
// std::cout << "type: " << (int)type << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(AR_ratio));
// std::cout << "AR_ratio: " << AR_ratio << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(AR_thres));
// std::cout << "AR_thres: " << AR_thres << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(dop));
// for (int n = 0; n < 4; n++)
// {
// std::cout << "dop" << dop[n] << std::endl;
// }
// getchar();
}
catch (const std::ifstream::failure &e)
{
return false;
}
return true;
}
bool rtklib_solver_dump_reader::restart()
{
if (d_dump_file.is_open())
{
d_dump_file.clear();
d_dump_file.seekg(0, std::ios::beg);
return true;
}
else
{
return false;
}
}
int64_t rtklib_solver_dump_reader::num_epochs()
{
std::ifstream::pos_type size;
int epoch_size_bytes = sizeof(TOW_at_current_symbol_ms) + sizeof(week) + sizeof(RX_time) + sizeof(clk_offset_s) + sizeof(rr) + sizeof(qr) + sizeof(latitude) + sizeof(longitude) + sizeof(height) + sizeof(ns) + sizeof(status) + sizeof(type) + sizeof(AR_ratio) + sizeof(AR_thres) + sizeof(dop);
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
if (tmpfile.is_open())
{
size = tmpfile.tellg();
int64_t nepoch = size / epoch_size_bytes;
return nepoch;
}
else
{
return 0;
}
}
bool rtklib_solver_dump_reader::open_obs_file(std::string out_file)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = out_file;
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);
return true;
}
catch (const std::ifstream::failure &e)
{
std::cout << "Problem opening rtklib_solver dump Log file: " << d_dump_filename.c_str() << std::endl;
return false;
}
}
else
{
return false;
}
}
rtklib_solver_dump_reader::~rtklib_solver_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}

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/*!
* \file rtklib_solver_dump_reader.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
#define GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
#include <cstdint>
#include <fstream>
#include <string>
#include <vector>
class rtklib_solver_dump_reader
{
public:
~rtklib_solver_dump_reader();
bool read_binary_obs();
bool restart();
int64_t num_epochs();
bool open_obs_file(std::string out_file);
//rtklib_solver dump variables
// TOW
uint32_t TOW_at_current_symbol_ms;
// WEEK
uint32_t week;
// PVT GPS time
double RX_time;
// User clock offset [s]
double clk_offset_s;
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
double rr[6];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
float qr[6];
// GEO user position Latitude [deg]
double latitude;
// GEO user position Longitude [deg]
double longitude;
// GEO user position Height [m]
double height;
// NUMBER OF VALID SATS
uint8_t ns;
// RTKLIB solution status
uint8_t status;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
uint8_t type;
//AR ratio factor for validation
float AR_ratio;
//AR ratio threshold for validation
float AR_thres;
//GDOP//PDOP//HDOP//VDOP
double dop[4];
private:
std::string d_dump_filename;
std::ifstream d_dump_file;
};
#endif //GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H

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/*!
* \file spirent_motion_csv_dump_reader.cc
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "spirent_motion_csv_dump_reader.h"
#include <iostream>
bool spirent_motion_csv_dump_reader::read_csv_obs()
{
try
{
std::vector<double> vec;
std::string line;
if (getline(d_dump_file, line))
{
boost::tokenizer<boost::escaped_list_separator<char>> tk(
line, boost::escaped_list_separator<char>('\\', ',', '\"'));
for (boost::tokenizer<boost::escaped_list_separator<char>>::iterator i(
tk.begin());
i != tk.end(); ++i)
{
try
{
vec.push_back(std::stod(*i));
}
catch (const std::exception &ex)
{
vec.push_back(0.0);
}
}
parse_vector(vec);
}
}
catch (const std::ifstream::failure &e)
{
return false;
}
return true;
}
bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
{
try
{
int n = 0;
TOW_ms = vec.at(n++);
Pos_X = vec.at(n++);
Pos_Y = vec.at(n++);
Pos_Z = vec.at(n++);
Vel_X = vec.at(n++);
Vel_Y = vec.at(n++);
Vel_Z = vec.at(n++);
Acc_X = vec.at(n++);
Acc_Y = vec.at(n++);
Acc_Z = vec.at(n++);
Jerk_X = vec.at(n++);
Jerk_Y = vec.at(n++);
Jerk_Z = vec.at(n++);
Lat = vec.at(n++);
Long = vec.at(n++);
Height = vec.at(n++);
Heading = vec.at(n++);
Elevation = vec.at(n++);
Bank = vec.at(n++);
Ang_vel_X = vec.at(n++);
Ang_vel_Y = vec.at(n++);
Ang_vel_Z = vec.at(n++);
Ang_acc_X = vec.at(n++);
Ang_acc_Y = vec.at(n++);
Ang_acc_Z = vec.at(n++);
Ant1_Pos_X = vec.at(n++);
Ant1_Pos_Y = vec.at(n++);
Ant1_Pos_Z = vec.at(n++);
Ant1_Vel_X = vec.at(n++);
Ant1_Vel_Y = vec.at(n++);
Ant1_Vel_Z = vec.at(n++);
Ant1_Acc_X = vec.at(n++);
Ant1_Acc_Y = vec.at(n++);
Ant1_Acc_Z = vec.at(n++);
Ant1_Lat = vec.at(n++);
Ant1_Long = vec.at(n++);
Ant1_Height = vec.at(n++);
Ant1_DOP = vec.at(n++);
return true;
}
catch (const std::exception &ex)
{
return false;
}
}
bool spirent_motion_csv_dump_reader::restart()
{
if (d_dump_file.is_open())
{
d_dump_file.clear();
d_dump_file.seekg(0, std::ios::beg);
std::string line;
for (int n = 0; n < header_lines; n++)
{
getline(d_dump_file, line);
}
return true;
}
else
{
return false;
}
}
int64_t spirent_motion_csv_dump_reader::num_epochs()
{
int64_t nepoch = 0;
std::string line;
std::ifstream tmpfile(d_dump_filename.c_str());
if (tmpfile.is_open())
{
while (std::getline(tmpfile, line))
{
++nepoch;
}
return nepoch - header_lines;
}
else
{
return 0;
}
}
bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str());
std::string line;
for (int n = 0; n < header_lines; n++)
{
getline(d_dump_file, line);
}
return true;
}
catch (const std::ifstream::failure &e)
{
std::cout << "Problem opening Spirent CSV dump Log file: " << d_dump_filename.c_str() << std::endl;
return false;
}
}
else
{
return false;
}
}
void spirent_motion_csv_dump_reader::close_obs_file()
{
if (d_dump_file.is_open() == false)
{
d_dump_file.close();
}
}
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
{
header_lines = 2;
}
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}

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/*!
* \file spirent_motion_csv_dump_reader.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_spirent_motion_csv_dump_READER_H
#define GNSS_SDR_spirent_motion_csv_dump_READER_H
#include <boost/tokenizer.hpp>
#include <cstdint>
#include <fstream>
#include <string>
#include <vector>
class spirent_motion_csv_dump_reader
{
public:
spirent_motion_csv_dump_reader();
~spirent_motion_csv_dump_reader();
bool read_csv_obs();
bool restart();
int64_t num_epochs();
bool open_obs_file(std::string out_file);
void close_obs_file();
int header_lines;
//dump variables
double TOW_ms;
double Pos_X;
double Pos_Y;
double Pos_Z;
double Vel_X;
double Vel_Y;
double Vel_Z;
double Acc_X;
double Acc_Y;
double Acc_Z;
double Jerk_X;
double Jerk_Y;
double Jerk_Z;
double Lat;
double Long;
double Height;
double Heading;
double Elevation;
double Bank;
double Ang_vel_X;
double Ang_vel_Y;
double Ang_vel_Z;
double Ang_acc_X;
double Ang_acc_Y;
double Ang_acc_Z;
double Ant1_Pos_X;
double Ant1_Pos_Y;
double Ant1_Pos_Z;
double Ant1_Vel_X;
double Ant1_Vel_Y;
double Ant1_Vel_Z;
double Ant1_Acc_X;
double Ant1_Acc_Y;
double Ant1_Acc_Z;
double Ant1_Lat;
double Ant1_Long;
double Ant1_Height;
double Ant1_DOP;
private:
std::string d_dump_filename;
std::ifstream d_dump_file;
bool parse_vector(std::vector<double> &vec);
};
#endif //GNSS_SDR_spirent_motion_csv_dump_READER_H

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/*!
* \file obs_gps_l1_system_test.cc
* \brief This class implements a test for the validation of generated observables.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "in_memory_configuration.h"
#include "signal_generator_flags.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
#include <gpstk/RinexUtilities.hpp>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <algorithm>
#include <chrono>
#include <cstdlib>
#include <exception>
#include <iostream>
#include <numeric>
#include <string>
#include <thread>
#include <unistd.h>
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
class ObsGpsL1SystemTest : public ::testing::Test
{
public:
std::string generator_binary;
std::string p1;
std::string p2;
std::string p3;
std::string p4;
std::string p5;
const double baseband_sampling_freq = 2.6e6;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
std::string generated_rinex_obs;
int configure_generator();
int generate_signal();
int configure_receiver();
int run_receiver();
void check_results();
bool check_valid_rinex_nav(std::string filename); // return true if the file is a valid Rinex navigation file.
bool check_valid_rinex_obs(std::string filename); // return true if the file is a valid Rinex observation file.
double compute_stdev(const std::vector<double>& vec);
std::shared_ptr<InMemoryConfiguration> config;
};
bool ObsGpsL1SystemTest::check_valid_rinex_nav(std::string filename)
{
bool res = false;
res = gpstk::isRinexNavFile(filename);
return res;
}
double ObsGpsL1SystemTest::compute_stdev(const std::vector<double>& vec)
{
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size();
double accum__ = 0.0;
std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
accum__ += (d - mean__) * (d - mean__);
});
double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
return stdev__;
}
bool ObsGpsL1SystemTest::check_valid_rinex_obs(std::string filename)
{
bool res = false;
res = gpstk::isRinexObsFile(filename);
return res;
}
int ObsGpsL1SystemTest::configure_generator()
{
// Configure signal generator
generator_binary = FLAGS_generator_binary;
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if (FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(FLAGS_duration * 10, 3000));
if (FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
}
else
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
return 0;
}
int ObsGpsL1SystemTest::generate_signal()
{
pid_t wait_result;
int child_status;
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
int pid;
if ((pid = fork()) == -1)
perror("fork error");
else if (pid == 0)
{
execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv error." << std::endl;
std::terminate();
}
wait_result = waitpid(pid, &child_status, 0);
if (wait_result == -1) perror("waitpid error");
EXPECT_EQ(true, check_valid_rinex_obs(filename_rinex_obs));
std::cout << "Signal and Observables RINEX files created." << std::endl;
return 0;
}
int ObsGpsL1SystemTest::configure_receiver()
{
config = std::make_shared<InMemoryConfiguration>();
const int sampling_rate_internal = baseband_sampling_freq;
const int number_of_taps = 11;
const int number_of_bands = 2;
const float band1_begin = 0.0;
const float band1_end = 0.48;
const float band2_begin = 0.52;
const float band2_end = 1.0;
const float ampl1_begin = 1.0;
const float ampl1_end = 1.0;
const float ampl2_begin = 0.0;
const float ampl2_end = 0.0;
const float band1_error = 1.0;
const float band2_error = 1.0;
const int grid_density = 16;
const float zero = 0.0;
const int number_of_channels = 8;
const int in_acquisition = 1;
const float threshold = 0.01;
const float doppler_max = 8000.0;
const float doppler_step = 500.0;
const int max_dwells = 1;
const int tong_init_val = 2;
const int tong_max_val = 10;
const int tong_max_dwells = 30;
const int coherent_integration_time_ms = 1;
const float pll_bw_hz = 30.0;
const float dll_bw_hz = 4.0;
const float early_late_space_chips = 0.5;
const float pll_bw_narrow_hz = 20.0;
const float dll_bw_narrow_hz = 2.0;
const int extend_correlation_ms = 1;
const int display_rate_ms = 500;
const int output_rate_ms = 10;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
// Set the assistance system parameters
config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
// Set the Signal Source
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.filename", "./" + filename_raw_data);
config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
config->set_property("SignalSource.item_type", "ibyte");
config->set_property("SignalSource.samples", std::to_string(zero));
// Set the Signal Conditioner
config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.dump", "false");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
config->set_property("InputFilter.band1_end", std::to_string(band1_end));
config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
config->set_property("InputFilter.band2_end", std::to_string(band2_end));
config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
config->set_property("InputFilter.band1_error", std::to_string(band1_error));
config->set_property("InputFilter.band2_error", std::to_string(band2_error));
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", std::to_string(grid_density));
config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
config->set_property("InputFilter.IF", std::to_string(zero));
config->set_property("Resampler.implementation", "Pass_Through");
config->set_property("Resampler.dump", "false");
config->set_property("Resampler.item_type", "gr_complex");
config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
// Set the number of Channels
config->set_property("Channels_1C.count", std::to_string(number_of_channels));
config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
config->set_property("Channel.signal", "1C");
// Set Acquisition
config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
config->set_property("Acquisition_1C.item_type", "gr_complex");
config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
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.bit_transition_flag", "false");
config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
// Set Tracking
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.dump", "false");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
// Set Telemetry
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_1C.dump", "false");
// Set Observables
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("Observables.dump", "false");
config->set_property("Observables.dump_filename", "./observables.dat");
config->set_property("Observables.averaging_depth", std::to_string(100));
// Set PVT
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.positioning_mode", "Single");
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
config->set_property("PVT.dump_filename", "./PVT");
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
config->set_property("PVT.flag_nmea_tty_port", "false");
config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
config->set_property("PVT.flag_rtcm_server", "false");
config->set_property("PVT.flag_rtcm_tty_port", "false");
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false");
config->set_property("PVT.rinex_version", std::to_string(2));
return 0;
}
int ObsGpsL1SystemTest::run_receiver()
{
std::shared_ptr<ControlThread> control_thread;
control_thread = std::make_shared<ControlThread>(config);
// start receiver
try
{
control_thread->run();
}
catch (const boost::exception& e)
{
std::cout << "Boost exception: " << boost::diagnostic_information(e);
}
catch (const std::exception& ex)
{
std::cout << "STD exception: " << ex.what();
}
// Get the name of the RINEX obs file generated by the receiver
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
FILE* fp;
std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
char buffer[1035];
fp = popen(&argum2[0], "r");
if (fp == NULL)
{
std::cout << "Failed to run command: " << argum2 << std::endl;
return -1;
}
while (fgets(buffer, sizeof(buffer), fp) != NULL)
{
std::string aux = std::string(buffer);
ObsGpsL1SystemTest::generated_rinex_obs = aux.erase(aux.length() - 1, 1);
}
pclose(fp);
return 0;
}
void ObsGpsL1SystemTest::check_results()
{
std::vector<std::vector<std::pair<double, double>>> pseudorange_ref(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_ref(33);
std::vector<std::vector<std::pair<double, double>>> doppler_ref(33);
std::vector<std::vector<std::pair<double, double>>> pseudorange_meas(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_meas(33);
std::vector<std::vector<std::pair<double, double>>> doppler_meas(33);
// Open and read reference RINEX observables file
try
{
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
r_ref >> r_ref_header;
while (r_ref >> r_ref_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end())
{
// PRN not present; do nothing
}
else
{
dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow, P1);
pseudorange_ref.at(myprn).push_back(pseudo);
dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_ref.at(myprn).push_back(carrier);
dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_ref.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch (const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
try
{
std::string arg2_gen = std::string("./") + ObsGpsL1SystemTest::generated_rinex_obs;
gpstk::Rinex3ObsStream r_meas(arg2_gen);
r_meas.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_meas_data;
gpstk::Rinex3ObsHeader r_meas_header;
gpstk::RinexDatum dataobj;
r_meas >> r_meas_header;
while (r_meas >> r_meas_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
gpstk::CommonTime time = r_meas_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
if (pointer == r_meas_data.obs.end())
{
// PRN not present; do nothing
}
else
{
dataobj = r_meas_data.getObs(prn, "C1C", r_meas_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow, P1);
pseudorange_meas.at(myprn).push_back(pseudo);
dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_meas.at(myprn).push_back(carrier);
dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_meas.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch (const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
// Time alignment
std::vector<std::vector<std::pair<double, double>>> pseudorange_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>> doppler_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>>::iterator iter;
std::vector<std::pair<double, double>>::iterator it;
std::vector<std::pair<double, double>>::iterator it2;
std::vector<std::vector<double>> pr_diff(33);
std::vector<std::vector<double>> cp_diff(33);
std::vector<std::vector<double>> doppler_diff(33);
std::vector<std::vector<double>>::iterator iter_diff;
std::vector<double>::iterator iter_v;
int prn_id = 0;
for (iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
{
pseudorange_ref_aligned.at(prn_id).push_back(*it);
pr_diff.at(prn_id).push_back(it->second - it2->second);
//std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << " PR_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for (iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
{
carrierphase_ref_aligned.at(prn_id).push_back(*it);
cp_diff.at(prn_id).push_back(it->second - it2->second);
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for (iter = doppler_ref.begin(); iter != doppler_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
{
doppler_ref_aligned.at(prn_id).push_back(*it);
doppler_diff.at(prn_id).push_back(it->second - it2->second);
}
}
}
prn_id++;
}
// Compute pseudorange error
prn_id = 0;
std::vector<double> mean_pr_diff_v;
for (iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_pr_diff_v.push_back(mean_diff);
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
double stdev_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_;
std::cout << " [m]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_pr = compute_stdev(mean_pr_diff_v);
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 10.0);
// Compute carrier phase error
prn_id = 0;
std::vector<double> mean_cp_diff_v;
for (iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_cp_diff_v.push_back(mean_diff);
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff;
double stdev_pr_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_pr_ << " whole cycles (19 cm)" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
// Compute Doppler error
prn_id = 0;
std::vector<double> mean_doppler_v;
for (iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
//std::cout << *iter_v << std::endl;
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_doppler_v.push_back(mean_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_dp = compute_stdev(mean_doppler_v);
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 10.0);
}
TEST_F(ObsGpsL1SystemTest, Observables_system_test)
{
std::cout << "Validating input RINEX nav file: " << FLAGS_rinex_nav_file << " ..." << std::endl;
bool is_rinex_nav_valid = check_valid_rinex_nav(FLAGS_rinex_nav_file);
EXPECT_EQ(true, is_rinex_nav_valid) << "The RINEX navigation file " << FLAGS_rinex_nav_file << " is not well formed.";
std::cout << "The file is valid." << std::endl;
// Configure the signal generator
configure_generator();
// Generate signal raw signal samples and observations RINEX file
if (!FLAGS_disable_generator)
{
generate_signal();
}
std::cout << "Validating generated reference RINEX obs file: " << FLAGS_filename_rinex_obs << " ..." << std::endl;
bool is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + FLAGS_filename_rinex_obs);
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << FLAGS_filename_rinex_obs << ", generated by gnss-sim, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Configure receiver
configure_receiver();
// Run the receiver
EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << ObsGpsL1SystemTest::generated_rinex_obs << " ..." << std::endl;
is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + ObsGpsL1SystemTest::generated_rinex_obs);
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << ObsGpsL1SystemTest::generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Check results
check_results();
}
int main(int argc, char** argv)
{
std::cout << "Running Observables validation test..." << std::endl;
int res = 0;
try
{
testing::InitGoogleTest(&argc, argv);
}
catch (...)
{
} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
google::ParseCommandLineFlags(&argc, &argv, true);
google::InitGoogleLogging(argv[0]);
// Run the Tests
try
{
res = RUN_ALL_TESTS();
}
catch (...)
{
LOG(WARNING) << "Unexpected catch";
}
google::ShutDownCommandLineFlags();
return res;
}

1051
src/tests/system-tests/obs_system_test.cc
View File

File diff suppressed because it is too large Load Diff

448
src/tests/system-tests/position_test.cc
View File

@ -1,7 +1,10 @@
/*!
* \file position_test.cc
* \brief This class implements a test for the validation of computed position.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
* \authors <ul>
* <li> Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
* <li> Javier Arribas, 2018. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
@ -29,6 +32,9 @@
* -------------------------------------------------------------------------
*/
#include "position_test_flags.h"
#include "rtklib_solver_dump_reader.h"
#include "spirent_motion_csv_dump_reader.h"
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
@ -39,6 +45,7 @@
#include "test_flags.h"
#include "signal_generator_flags.h"
#include <boost/filesystem.hpp>
#include <armadillo>
#include <glog/logging.h>
#include <gtest/gtest.h>
#include <algorithm>
@ -48,10 +55,6 @@
#include <numeric>
#include <thread>
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of FFTLengthTest with gnuplot");
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
@ -144,9 +147,9 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z);
double aux_x = x - ref_x;
double aux_y = y - ref_y;
double aux_z = z - ref_z;
double aux_x = x; // - ref_x;
double aux_y = y; // - ref_y;
double aux_z = z; // - ref_z;
// ECEF to NED matrix
double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0)));
@ -386,7 +389,7 @@ int StaticPositionSystemTest::configure_receiver()
config->set_property("PVT.flag_rtcm_server", "false");
config->set_property("PVT.flag_rtcm_tty_port", "false");
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false");
config->set_property("PVT.dump", "true");
config->set_property("PVT.rinex_version", std::to_string(2));
config->set_property("PVT.iono_model", "OFF");
config->set_property("PVT.trop_model", "OFF");
@ -455,123 +458,354 @@ int StaticPositionSystemTest::run_receiver()
void StaticPositionSystemTest::check_results()
{
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in);
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
std::string line;
std::vector<double> pos_e;
std::vector<double> pos_n;
std::vector<double> pos_u;
// Skip header
std::getline(myfile, line);
bool is_header = true;
while (is_header)
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
arma::mat V_eb_e; //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
arma::mat LLH; //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
arma::vec receiver_time_s;
arma::mat ref_R_eb_e; //ECEF position (x,y,z) reference in the Earth frame (Nx3)
arma::mat ref_V_eb_e; //ECEF velocity (x,y,z) reference in the Earth frame (Nx3)
arma::mat ref_LLH; //Geodetic coordinates (latitude, longitude, height) reference in WGS84 datum
arma::vec ref_time_s;
std::istringstream iss2(FLAGS_static_position);
std::string str_aux;
std::getline(iss2, str_aux, ',');
double ref_lat = std::stod(str_aux);
std::getline(iss2, str_aux, ',');
double ref_long = std::stod(str_aux);
std::getline(iss2, str_aux, '\n');
double ref_h = std::stod(str_aux);
double ref_e, ref_n, ref_u;
geodetic2Enu(ref_lat, ref_long, ref_h,
&ref_e, &ref_n, &ref_u);
if (!FLAGS_use_pvt_solver_dump)
{
//fall back to read receiver KML output (position only)
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in);
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
std::string line;
// Skip header
std::getline(myfile, line);
ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
std::size_t found = line.find("<coordinates>");
if (found != std::string::npos) is_header = false;
}
bool is_data = true;
//read data
while (is_data)
{
if (!std::getline(myfile, line))
bool is_header = true;
while (is_header)
{
is_data = false;
break;
std::getline(myfile, line);
ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
std::size_t found = line.find("<coordinates>");
if (found != std::string::npos) is_header = false;
}
std::size_t found = line.find("</coordinates>");
if (found != std::string::npos)
is_data = false;
else
{
std::string str2;
std::istringstream iss(line);
double value;
double lat = 0.0;
double longitude = 0.0;
double h = 0.0;
for (int i = 0; i < 3; i++)
{
std::getline(iss, str2, ',');
value = std::stod(str2);
if (i == 0) lat = value;
if (i == 1) longitude = value;
if (i == 2) h = value;
}
bool is_data = true;
//read data
while (is_data)
{
if (!std::getline(myfile, line))
{
is_data = false;
break;
}
std::size_t found = line.find("</coordinates>");
if (found != std::string::npos)
is_data = false;
else
{
std::string str2;
std::istringstream iss(line);
double value;
double lat = 0.0;
double longitude = 0.0;
double h = 0.0;
for (int i = 0; i < 3; i++)
{
std::getline(iss, str2, ',');
value = std::stod(str2);
if (i == 0) longitude = value;
if (i == 1) lat = value;
if (i == 2) h = value;
}
double north, east, up;
geodetic2Enu(lat, longitude, h, &east, &north, &up);
// std::cout << "lat = " << lat << ", longitude = " << longitude << " h = " << h << std::endl;
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
pos_e.push_back(east);
pos_n.push_back(north);
pos_u.push_back(up);
// getchar();
}
}
myfile.close();
ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
}
else
{
//use complete binary dump from pvt solver
rtklib_solver_dump_reader pvt_reader;
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
int64_t n_epochs = pvt_reader.num_epochs();
R_eb_e = arma::zeros(n_epochs, 3);
V_eb_e = arma::zeros(n_epochs, 3);
LLH = arma::zeros(n_epochs, 3);
receiver_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (pvt_reader.read_binary_obs())
{
double north, east, up;
geodetic2Enu(lat, longitude, h, &east, &north, &up);
//std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
geodetic2Enu(pvt_reader.latitude, pvt_reader.longitude, pvt_reader.height, &east, &north, &up);
// std::cout << "lat = " << pvt_reader.latitude << ", longitude = " << pvt_reader.longitude << " h = " << pvt_reader.height << std::endl;
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
pos_e.push_back(east);
pos_n.push_back(north);
pos_u.push_back(up);
// getchar();
// receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
LLH(current_epoch, 0) = pvt_reader.latitude;
LLH(current_epoch, 1) = pvt_reader.longitude;
LLH(current_epoch, 2) = pvt_reader.height;
//debug check
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
// std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
// std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
// getchar();
current_epoch++;
}
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
}
// compute results
if (FLAGS_static_scenario)
{
double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, ref_e), 2.0);
double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, ref_n), 2.0);
double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, ref_u), 2.0);
double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
double mean__e = sum__e / pos_e.size();
double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
double mean__n = sum__n / pos_n.size();
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
double mean__u = sum__u / pos_u.size();
std::stringstream stm;
std::ofstream position_test_file;
if (FLAGS_config_file_ptest.empty())
{
stm << "---- ACCURACY ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
stm << std::endl;
}
stm << "---- PRECISION ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
std::cout << stm.rdbuf();
std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
position_test_file.open(output_filename.c_str());
if (position_test_file.is_open())
{
position_test_file << stm.str();
position_test_file.close();
}
// Sanity Check
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
ASSERT_LT(precision_SEP, 20.0);
if (FLAGS_plot_position_test == true)
{
print_results(pos_e, pos_n, pos_u);
}
}
myfile.close();
ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, 0.0), 2.0);
double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, 0.0), 2.0);
double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, 0.0), 2.0);
double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
double mean__e = sum__e / pos_e.size();
double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
double mean__n = sum__n / pos_n.size();
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
double mean__u = sum__u / pos_u.size();
std::stringstream stm;
std::ofstream position_test_file;
if (FLAGS_config_file_ptest.empty())
else
{
stm << "---- ACCURACY ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
stm << std::endl;
}
//dynamic position
spirent_motion_csv_dump_reader ref_reader;
ref_reader.open_obs_file(FLAGS_ref_motion_filename);
int64_t n_epochs = ref_reader.num_epochs();
ref_R_eb_e = arma::zeros(n_epochs, 3);
ref_V_eb_e = arma::zeros(n_epochs, 3);
ref_LLH = arma::zeros(n_epochs, 3);
ref_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (ref_reader.read_csv_obs())
{
ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
ref_LLH(current_epoch, 0) = ref_reader.Lat;
ref_LLH(current_epoch, 1) = ref_reader.Long;
ref_LLH(current_epoch, 2) = ref_reader.Height;
current_epoch++;
}
stm << "---- PRECISION ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
//interpolation of reference data to receiver epochs timestamps
arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
arma::vec tmp_vector;
for (int n = 0; n < 3; n++)
{
arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
ref_interp_R_eb_e.col(n) = tmp_vector;
arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
ref_interp_V_eb_e.col(n) = tmp_vector;
arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
ref_interp_LLH.col(n) = tmp_vector;
}
std::cout << stm.rdbuf();
std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
position_test_file.open(output_filename.c_str());
if (position_test_file.is_open())
{
position_test_file << stm.str();
position_test_file.close();
}
//compute error vectors
// Sanity Check
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
ASSERT_LT(precision_SEP, 20.0);
arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
error_LLH = LLH - ref_interp_LLH;
arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
{
error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
}
//Error statistics
arma::vec tmp_vec;
//RMSE, Mean, Variance and peaks
tmp_vec = arma::square(error_module_R_eb_e);
double rmse_R_eb_e = sqrt(arma::mean(tmp_vec));
double error_mean_R_eb_e = arma::mean(error_module_R_eb_e);
double error_var_R_eb_e = arma::var(error_module_R_eb_e);
double max_error_R_eb_e = arma::max(error_module_R_eb_e);
double min_error_R_eb_e = arma::min(error_module_R_eb_e);
if (FLAGS_plot_position_test == true)
{
print_results(pos_e, pos_n, pos_u);
tmp_vec = arma::square(error_module_V_eb_e);
double rmse_V_eb_e = sqrt(arma::mean(tmp_vec));
double error_mean_V_eb_e = arma::mean(error_module_V_eb_e);
double error_var_V_eb_e = arma::var(error_module_V_eb_e);
double max_error_V_eb_e = arma::max(error_module_V_eb_e);
double min_error_V_eb_e = arma::min(error_module_V_eb_e);
//report
std::cout << "----- Position and Velocity 3D ECEF error statistics -----" << std::endl;
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "---- 3D ECEF Position RMSE = "
<< rmse_R_eb_e << ", mean = " << error_mean_R_eb_e
<< ", stdev = " << sqrt(error_var_R_eb_e)
<< " (max,min) = " << max_error_R_eb_e
<< "," << min_error_R_eb_e
<< " [m]" << std::endl;
std::cout << "---- 3D ECEF Velocity RMSE = "
<< rmse_V_eb_e << ", mean = " << error_mean_V_eb_e
<< ", stdev = " << sqrt(error_var_V_eb_e)
<< " (max,min) = " << max_error_V_eb_e
<< "," << min_error_V_eb_e
<< " [m/s]" << std::endl;
std::cout.precision(ss);
//plots
Gnuplot g1("points");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("3D ECEF error coordinates");
g1.set_grid();
//conversion between arma::vec and std:vector
std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
g1.cmd("set key box opaque");
g1.plot_xyz(X, Y, Z, "ECEF_3d_error");
g1.set_legend();
g1.savetops("ECEF_3d_error");
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
Gnuplot g3("linespoints");
if (FLAGS_show_plots)
{
g3.showonscreen(); // window output
}
else
{
g3.disablescreen();
}
g3.set_title("3D Position estimation error module [m]");
g3.set_grid();
g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
g3.set_ylabel("3D Position error [m]");
//conversion between arma::vec and std:vector
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector_from_start_s, error_vec,
"Position_3d_error");
g3.set_legend();
g3.savetops("Position_3d_error");
Gnuplot g4("linespoints");
if (FLAGS_show_plots)
{
g4.showonscreen(); // window output
}
else
{
g4.disablescreen();
}
g4.set_title("3D Velocity estimation error module [m/s]");
g4.set_grid();
g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
g4.set_ylabel("3D Velocity error [m/s]");
//conversion between arma::vec and std:vector
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
g4.cmd("set key box opaque");
g4.plot_xy(time_vector_from_start_s, error_vec2,
"Velocity_3d_error");
g4.set_legend();
g4.savetops("Velocity_3d_error");
}
}
@ -698,7 +932,7 @@ TEST_F(StaticPositionSystemTest, Position_system_test)
configure_receiver();
// Run the receiver
EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
EXPECT_EQ(run_receiver(), 0) << "Problem executing GNSS-SDR";
// Check results
check_results();

1
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -1632,7 +1632,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
std::cout << "s:" << gnss_synchro_vec.at(n).Signal << std::endl;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
{
check_results_carrier_phase_double_diff(true_obs_vec.at(n),