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Check carrier phase evolution per satellite

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This commit is contained in:
Carles Fernandez 2017-01-10 20:59:20 +01:00
parent 71c19cac99
commit 938db73b43
1 changed files with 23 additions and 26 deletions
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49
src/tests/system-tests/obs_gps_l1_system_test.cc
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@ -87,6 +87,7 @@ public:
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;
std::string generated_rinex_obs;
@ -101,6 +102,19 @@ bool Obs_Gps_L1_System_Test::check_valid_rinex_nav(std::string filename)
}
double Obs_Gps_L1_System_Test::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 Obs_Gps_L1_System_Test::check_valid_rinex_obs(std::string filename)
{
bool res = false;
@ -527,7 +541,7 @@ void Obs_Gps_L1_System_Test::check_results()
{
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 << std::endl;
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
@ -568,7 +582,7 @@ void Obs_Gps_L1_System_Test::check_results()
{
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 << std::endl;
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff << " [m]" << std::endl;
}
else
{
@ -577,13 +591,7 @@ void Obs_Gps_L1_System_Test::check_results()
prn_id++;
}
double sum_ = std::accumulate(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), 0.0);
double mean_ = sum_ / mean_pr_diff_v.size();
double accum = 0.0;
std::for_each (std::begin(mean_pr_diff_v), std::end(mean_pr_diff_v), [&](const double d) {
accum += (d - mean_) * (d - mean_);
});
double stdev_pr = std::sqrt(accum / (mean_pr_diff_v.size() - 1));
double stdev_pr = compute_stdev(mean_pr_diff_v);
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 1.0);
@ -604,7 +612,9 @@ void Obs_Gps_L1_System_Test::check_results()
{
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 << std::endl;
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
{
@ -613,14 +623,6 @@ void Obs_Gps_L1_System_Test::check_results()
prn_id++;
}
sum_ = std::accumulate(mean_cp_diff_v.begin(), mean_cp_diff_v.end(), 0.0);
mean_ = sum_ / mean_cp_diff_v.size();
accum = 0.0;
std::for_each (std::begin(mean_cp_diff_v), std::end(mean_cp_diff_v), [&](const double d) {
accum += (d - mean_) * (d - mean_);
});
double stdev_cp = std::sqrt(accum / (mean_cp_diff_v.size() - 1));
std::cout << "Carrier phase diff error stdev = " << stdev_cp << " whole cycles (19 cm)" << std::endl;
// Compute Doppler error
prn_id = 0;
@ -640,7 +642,7 @@ void Obs_Gps_L1_System_Test::check_results()
{
mean_diff = mean_diff / number_obs;
mean_doppler_v.push_back(mean_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << std::endl;
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
}
else
{
@ -649,13 +651,8 @@ void Obs_Gps_L1_System_Test::check_results()
prn_id++;
}
sum_ = std::accumulate(mean_doppler_v.begin(), mean_doppler_v.end(), 0.0);
mean_ = sum_ / mean_doppler_v.size();
accum = 0.0;
std::for_each (std::begin(mean_doppler_v), std::end(mean_doppler_v), [&](const double d) {
accum += (d - mean_) * (d - mean_);
});
double stdev_dp = std::sqrt(accum / (mean_doppler_v.size() - 1));
double stdev_dp = compute_stdev(mean_doppler_v);
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 1.0);
}