mirror of https://github.com/gnss-sdr/gnss-sdr
Added special observables test case for duplicated satellites scenario
This commit is contained in:
Javier Arribas
parent
a2a698ab78
commit
8fd4d8ddc9
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@ -37,5 +37,6 @@
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DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
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DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
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DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies differences");
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DEFINE_bool(duplicated_satellites_test, false, "Enable special observable test mode where the scenario contains duplicated satellite orbits");
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DEFINE_string(duplicated_satellites_prns, "1,2,3,4", "List of duplicated satellites PRN pairs (i.e. 1,2,3,4 indicates that the PRNs 1,2 share the same orbit. The same applies for PRNs 3,4)");
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#endif
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@ -236,6 +236,11 @@ public:
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arma::mat& measured_ch1,
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std::string data_title);
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void check_results_duplicated_satellite(
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arma::mat& measured_sat1,
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arma::mat& measured_sat2,
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std::string data_title);
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HybridObservablesTest()
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{
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factory = std::make_shared<GNSSBlockFactory>();
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@ -987,6 +992,207 @@ void HybridObservablesTest::check_results_carrier_doppler(
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ASSERT_LT(rmse_ch0, 30);
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}
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void HybridObservablesTest::check_results_duplicated_satellite(
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arma::mat& measured_sat1,
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arma::mat& measured_sat2,
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std::string data_title)
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{
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//1. True value interpolation to match the measurement times
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double t0 = measured_sat1(0, 0);
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int size1 = measured_sat1.col(0).n_rows;
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double t1 = measured_sat1(size1 - 1, 0);
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arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
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//conversion between arma::vec and std:vector
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arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
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std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
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//Doppler
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arma::vec meas_sat1_doppler_interp;
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arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
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arma::vec meas_sat2_doppler_interp;
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arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
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//Carrier Phase
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arma::vec meas_sat1_carrier_phase_interp;
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arma::vec meas_sat2_carrier_phase_interp;
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arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
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arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
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// generate double difference accumulated carrier phases
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//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
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arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
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//Pseudoranges
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arma::vec meas_sat1_dist_interp;
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arma::vec meas_sat2_dist_interp;
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arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
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arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
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// generate delta pseudoranges
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arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
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//Carrier Doppler error
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//2. RMSE
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arma::vec err_ch0_hz;
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//compute error
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err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
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arma::vec err2_ch0 = arma::square(err_ch0_hz);
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double rmse_ch0 = sqrt(arma::mean(err2_ch0));
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//3. Mean err and variance
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double error_mean_ch0 = arma::mean(err_ch0_hz);
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double error_var_ch0 = arma::var(err_ch0_hz);
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// 4. Peaks
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double max_error_ch0 = arma::max(err_ch0_hz);
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double min_error_ch0 = arma::min(err_ch0_hz);
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//5. report
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std::streamsize ss = std::cout.precision();
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std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
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<< rmse_ch0 << ", mean = " << error_mean_ch0
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<< ", stdev = " << sqrt(error_var_ch0)
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<< " (max,min) = " << max_error_ch0
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<< "," << min_error_ch0
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<< " [Hz]" << std::endl;
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std::cout.precision(ss);
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//plots
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if (FLAGS_show_plots)
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{
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Gnuplot g3("linespoints");
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g3.set_title(data_title + "Carrier Doppler error [Hz]");
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g3.set_grid();
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g3.set_xlabel("Time [s]");
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g3.set_ylabel("Carrier Doppler error [Hz]");
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//conversion between arma::vec and std:vector
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std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
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g3.cmd("set key box opaque");
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g3.plot_xy(time_vector, error_vec,
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"Carrier Doppler error");
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g3.set_legend();
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g3.savetops(data_title + "Carrier_doppler_error");
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g3.showonscreen(); // window output
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}
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//check results against the test tolerance
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ASSERT_LT(error_mean_ch0, 5);
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ASSERT_GT(error_mean_ch0, -5);
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//assuming PLL BW=35
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ASSERT_LT(error_var_ch0, 250);
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ASSERT_LT(max_error_ch0, 100);
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ASSERT_GT(min_error_ch0, -100);
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ASSERT_LT(rmse_ch0, 30);
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//Carrier Phase error
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//2. RMSE
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arma::vec err_carrier_phase;
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err_carrier_phase = delta_measured_carrier_phase_cycles;
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arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
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double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
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//3. Mean err and variance
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double error_mean_carrier_phase = arma::mean(err_carrier_phase);
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double error_var_carrier_phase = arma::var(err_carrier_phase);
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// 4. Peaks
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double max_error_carrier_phase = arma::max(err_carrier_phase);
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double min_error_carrier_phase = arma::min(err_carrier_phase);
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//5. report
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ss = std::cout.precision();
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std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
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<< rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
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<< ", stdev = " << sqrt(error_var_carrier_phase)
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<< " (max,min) = " << max_error_carrier_phase
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<< "," << min_error_carrier_phase
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<< " [Cycles]" << std::endl;
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std::cout.precision(ss);
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//plots
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if (FLAGS_show_plots)
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{
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Gnuplot g3("linespoints");
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g3.set_title(data_title + "Carrier Phase error [Cycles]");
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g3.set_grid();
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g3.set_xlabel("Time [s]");
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g3.set_ylabel("Carrier Phase error [Cycles]");
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//conversion between arma::vec and std:vector
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std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
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g3.cmd("set key box opaque");
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g3.plot_xy(time_vector, range_error_m,
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"Carrier Phase error");
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g3.set_legend();
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g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
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g3.showonscreen(); // window output
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}
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//check results against the test tolerance
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ASSERT_LT(rmse_carrier_phase, 0.25);
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ASSERT_LT(error_mean_carrier_phase, 0.2);
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ASSERT_GT(error_mean_carrier_phase, -0.2);
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ASSERT_LT(error_var_carrier_phase, 0.5);
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ASSERT_LT(max_error_carrier_phase, 0.5);
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ASSERT_GT(min_error_carrier_phase, -0.5);
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//Pseudorange error
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//2. RMSE
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arma::vec err_pseudorange;
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err_pseudorange = delta_measured_dist_m;
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arma::vec err2_pseudorange = arma::square(err_pseudorange);
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double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
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//3. Mean err and variance
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double error_mean_pseudorange = arma::mean(err_pseudorange);
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double error_var_pseudorange = arma::var(err_pseudorange);
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// 4. Peaks
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double max_error_pseudorange = arma::max(err_pseudorange);
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double min_error_pseudorange = arma::min(err_pseudorange);
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//5. report
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ss = std::cout.precision();
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std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
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<< rmse_pseudorange << ", mean = " << error_mean_pseudorange
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<< ", stdev = " << sqrt(error_var_pseudorange)
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<< " (max,min) = " << max_error_pseudorange
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<< "," << min_error_pseudorange
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<< " [meters]" << std::endl;
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std::cout.precision(ss);
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//plots
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if (FLAGS_show_plots)
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{
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Gnuplot g3("linespoints");
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g3.set_title(data_title + "Pseudorange error [m]");
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g3.set_grid();
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g3.set_xlabel("Time [s]");
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g3.set_ylabel("Pseudorange error [m]");
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//conversion between arma::vec and std:vector
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std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
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g3.cmd("set key box opaque");
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g3.plot_xy(time_vector, range_error_m,
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"Pseudorrange error");
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g3.set_legend();
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g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
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g3.showonscreen(); // window output
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}
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//check results against the test tolerance
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ASSERT_LT(rmse_pseudorange, 3.0);
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ASSERT_LT(error_mean_pseudorange, 1.0);
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ASSERT_GT(error_mean_pseudorange, -1.0);
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ASSERT_LT(error_var_pseudorange, 10.0);
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ASSERT_LT(max_error_pseudorange, 10.0);
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ASSERT_GT(min_error_pseudorange, -10.0);
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}
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bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
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{
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try
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@ -1535,7 +1741,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
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}
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}
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//Cut measurement tail zeros
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arma::uvec index;
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for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
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@ -1548,9 +1753,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
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}
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//Cut measurement initial transitory of the measurements
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double initial_transitory_s = FLAGS_skip_obs_transitory_s;
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for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
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{
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index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
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@ -1567,83 +1770,128 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
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}
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//Correct the clock error using true values (it is not possible for a receiver to correct
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//the receiver clock offset error at the observables level because it is required the
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//decoding of the ephemeris data and solve the PVT equations)
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//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
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double min_pr = std::numeric_limits<double>::max();
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unsigned int min_pr_ch_id = 0;
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for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
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if (FLAGS_duplicated_satellites_test)
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{
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if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
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//special test mode for duplicated satellites
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std::vector<int> prn_pairs;
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std::stringstream ss(FLAGS_duplicated_satellites_prns);
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int i;
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while (ss >> i)
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{
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{
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if (measured_obs_vec.at(n)(0, 4) < min_pr)
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{
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min_pr = measured_obs_vec.at(n)(0, 4);
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min_pr_ch_id = n;
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}
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}
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prn_pairs.push_back(i);
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if (ss.peek() == ',')
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ss.ignore();
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}
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if (prn_pairs.size() % 2 != 0)
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{
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std::cout << "Test settings error: duplicated_satellites_prns are even\n";
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}
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else
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{
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std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
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for (unsigned int n = 0; n < prn_pairs.size(); n = n + 2)
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{
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int sat1_ch_id = -1;
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int sat2_ch_id = -1;
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for (unsigned int ch = 0; ch < measured_obs_vec.size(); ch++)
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{
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if (epoch_counters_vec.at(ch) > 10) //discard non-valid channels
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{
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if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n))
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{
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sat1_ch_id = ch;
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}
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if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n + 1))
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{
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sat2_ch_id = ch;
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}
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}
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}
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if (sat1_ch_id != -1 and sat2_ch_id != -1)
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{
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//compute single differences for the duplicated satellite
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check_results_duplicated_satellite(
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measured_obs_vec.at(sat1_ch_id),
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measured_obs_vec.at(sat2_ch_id),
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"Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " ");
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}
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else
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{
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std::cout << "Satellites PRNs " << prn_pairs.at(n) << "and " << prn_pairs.at(n) << " not found\n";
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}
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}
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}
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}
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arma::vec receiver_time_offset_ref_channel_s;
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receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
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std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
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for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
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else
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{
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//debug save to .mat
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std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
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true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
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std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
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true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
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save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
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//normal mode
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std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
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measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
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std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
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measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
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save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
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//Correct the clock error using true values (it is not possible for a receiver to correct
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//the receiver clock offset error at the observables level because it is required the
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//decoding of the ephemeris data and solve the PVT equations)
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std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
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true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
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std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
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true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
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save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
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std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
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measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
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std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
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measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
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save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
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if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
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//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
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double min_pr = std::numeric_limits<double>::max();
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unsigned int min_pr_ch_id = 0;
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for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
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{
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arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
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arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
|
||||
//Compare measured observables
|
||||
if (min_pr_ch_id != n)
|
||||
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
|
||||
{
|
||||
check_results_code_pseudorange(true_obs_vec.at(n),
|
||||
true_obs_vec.at(min_pr_ch_id),
|
||||
true_TOW_ch_s,
|
||||
true_TOW_ref_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
measured_obs_vec.at(min_pr_ch_id),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
{
|
||||
if (measured_obs_vec.at(n)(0, 4) < min_pr)
|
||||
{
|
||||
min_pr = measured_obs_vec.at(n)(0, 4);
|
||||
min_pr_ch_id = n;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
|
||||
}
|
||||
}
|
||||
|
||||
//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;
|
||||
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
|
||||
arma::vec receiver_time_offset_ref_channel_s;
|
||||
receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
|
||||
std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
|
||||
|
||||
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
||||
{
|
||||
//debug save to .mat
|
||||
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
|
||||
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
|
||||
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
|
||||
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
|
||||
|
||||
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
|
||||
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
|
||||
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
|
||||
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
|
||||
|
||||
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
|
||||
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
|
||||
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
|
||||
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
|
||||
|
||||
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
|
||||
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
|
||||
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
|
||||
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
|
||||
|
||||
|
||||
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
|
||||
{
|
||||
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
|
||||
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
|
||||
//Compare measured observables
|
||||
if (min_pr_ch_id != n)
|
||||
{
|
||||
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
|
||||
check_results_code_pseudorange(true_obs_vec.at(n),
|
||||
true_obs_vec.at(min_pr_ch_id),
|
||||
true_TOW_ch_s,
|
||||
true_TOW_ref_ch_s,
|
||||
|
|
@ -1651,34 +1899,47 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
|
|||
measured_obs_vec.at(min_pr_ch_id),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
|
||||
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
|
||||
true_obs_vec.at(min_pr_ch_id),
|
||||
//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;
|
||||
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),
|
||||
true_obs_vec.at(min_pr_ch_id),
|
||||
true_TOW_ch_s,
|
||||
true_TOW_ref_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
measured_obs_vec.at(min_pr_ch_id),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
|
||||
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
|
||||
true_obs_vec.at(min_pr_ch_id),
|
||||
true_TOW_ch_s,
|
||||
true_TOW_ref_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
measured_obs_vec.at(min_pr_ch_id),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
|
||||
}
|
||||
if (FLAGS_compute_single_diffs)
|
||||
{
|
||||
check_results_carrier_phase(true_obs_vec.at(n),
|
||||
true_TOW_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
check_results_carrier_doppler(true_obs_vec.at(n),
|
||||
true_TOW_ch_s,
|
||||
true_TOW_ref_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
measured_obs_vec.at(min_pr_ch_id),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
|
||||
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
|
||||
}
|
||||
if (FLAGS_compute_single_diffs)
|
||||
{
|
||||
check_results_carrier_phase(true_obs_vec.at(n),
|
||||
true_TOW_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
check_results_carrier_doppler(true_obs_vec.at(n),
|
||||
true_TOW_ch_s,
|
||||
measured_obs_vec.at(n),
|
||||
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
|
||||
}
|
||||
}
|
||||
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
|
||||
|
|
|
|||
Loading…
Reference in New Issue