mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-18 11:09:56 +00:00
Merge branch 'obs_sys_test' of https://github.com/antonioramosdet/gnss-sdr into antonioramosdet-obs_sys_test
This commit is contained in:
Carles Fernandez
commit
9496e66f3d
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@ -409,8 +409,6 @@ std::string Rinex_Printer::getLocalTime()
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|||
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
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{
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std::string line;
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stringVersion = "3.02";
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version = 3;
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// -------- Line 1
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line = std::string(5, ' ');
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@ -815,8 +813,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
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void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
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{
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std::string line;
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stringVersion = "3.02";
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version = 3;
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// -------- Line 1
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line = std::string(5, ' ');
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@ -2909,11 +2905,10 @@ void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_Ephemeris & e
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void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
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{
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std::string line;
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version = 3;
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// -------- Line 1
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line = std::string(5, ' ');
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line += "3.02";
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line += stringVersion;
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line += std::string(11, ' ');
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line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
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line += satelliteSystem["Galileo"];
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@ -3171,11 +3166,10 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
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{
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if(galileo_eph.e_1){} // avoid warning, not needed
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std::string line;
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version = 3;
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// -------- Line 1
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line = std::string(5, ' ');
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line += "3.02";
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line += stringVersion;
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line += std::string(11, ' ');
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line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
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line += satelliteSystem["Mixed"];
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@ -412,8 +412,8 @@ void FreqXlatingFirFilter::init()
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{
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double default_bw = 2000000.0;
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double bw_ = config_->property(role_ + ".bw", default_bw);
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double default_tw = bw_ / 20.0;
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double default_tw = bw_ / 10.0;
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double tw_ = config_->property(role_ + ".tw", default_tw);
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taps_ = gr::filter::firdes::low_pass(1.0, sampling_freq_, bw_ / 2.0, tw_);
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taps_ = gr::filter::firdes::low_pass(1.0, sampling_freq_, bw_, tw_);
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}
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}
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@ -44,6 +44,7 @@ PulseBlankingFilter::PulseBlankingFilter(ConfigurationInterface* configuration,
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out_streams_(out_streams)
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{
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size_t item_size;
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xlat_ = false;
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std::string default_input_item_type = "gr_complex";
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std::string default_output_item_type = "gr_complex";
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std::string default_dump_filename = "../data/input_filter.dat";
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@ -79,6 +80,7 @@ PulseBlankingFilter::PulseBlankingFilter(ConfigurationInterface* configuration,
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double if_ = config_->property(role_ + ".IF", if_aux);
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if (std::abs(if_) > 1.0)
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{
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xlat_ = true;
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double default_sampling_freq = 4000000.0;
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double sampling_freq_ = config_->property(role_ + ".sampling_frequency", default_sampling_freq);
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double default_bw = 2000000.0;
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@ -111,7 +113,7 @@ void PulseBlankingFilter::connect(gr::top_block_sptr top_block)
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{
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top_block->connect(pulse_blanking_cc_, 0, file_sink_, 0);
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}
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if (std::abs(config_->property(role_ + ".if", 0.0)) > 1.0)
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if (xlat_)
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{
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top_block->connect(freq_xlating_, 0, pulse_blanking_cc_, 0);
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}
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@ -133,7 +135,7 @@ void PulseBlankingFilter::disconnect(gr::top_block_sptr top_block)
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{
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top_block->disconnect(pulse_blanking_cc_, 0, file_sink_, 0);
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}
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if (std::abs(config_->property(role_ + ".if", 0.0)) > 1.0)
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if (xlat_)
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{
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top_block->disconnect(freq_xlating_, 0, pulse_blanking_cc_, 0);
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}
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@ -149,7 +151,7 @@ gr::basic_block_sptr PulseBlankingFilter::get_left_block()
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{
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if (input_item_type_.compare("gr_complex") == 0)
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{
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if (std::abs(config_->property(role_ + ".if", 0.0)) > 1.0)
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if (xlat_)
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{
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return freq_xlating_;
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}
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@ -73,6 +73,7 @@ public:
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private:
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ConfigurationInterface* config_;
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bool dump_;
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bool xlat_;
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std::string dump_filename_;
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std::string input_item_type_;
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size_t input_size_;
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@ -412,7 +412,7 @@ if(ENABLE_SYSTEM_TESTING)
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add_definitions(-DHOST_SYSTEM="${HOST_SYSTEM}")
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set(TTFF_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/ttff_gps_l1.cc)
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# Ensure that ttff is rebuild if was previously built and then removed
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# Ensure that ttff is rebuilt if it was previously built and then removed
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if(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/ttff)
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${TTFF_SOURCES})
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endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/ttff)
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@ -452,7 +452,7 @@ if(ENABLE_SYSTEM_TESTING)
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if(ENABLE_SYSTEM_TESTING_EXTRA)
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set(POSITION_TEST_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/position_test.cc)
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# Ensure that position_test is rebuild if was previously built and then removed
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# Ensure that position_test is rebuilt if it was previously built and then removed
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if(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${POSITION_TEST_SOURCES})
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endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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@ -490,15 +490,25 @@ if(ENABLE_SYSTEM_TESTING)
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if(GPSTK_FOUND OR OWN_GPSTK)
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set(OBS_GPS_L1_TEST_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_gps_l1_system_test.cc)
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# Ensure that obs_gps_l1_system_test is rebuild if was previously built and then removed
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# Ensure that obs_gps_l1_system_test is rebuilt if it was previously built and then removed
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if(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${OBS_GPS_L1_TEST_SOURCES})
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endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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add_executable(obs_gps_l1_system_test ${OBS_GPS_L1_TEST_SOURCES})
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set(OBS_SYSTEM_TEST_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_system_test.cc)
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# Ensure that obs_system_test is rebuilt if it was previously built and then removed
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if(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${OBS_SYSTEM_TEST_SOURCES})
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endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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add_executable(obs_system_test ${OBS_SYSTEM_TEST_SOURCES})
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if(NOT ${GTEST_DIR_LOCAL})
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add_dependencies(obs_gps_l1_system_test gtest-${GNSSSDR_GTEST_LOCAL_VERSION} )
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add_dependencies(obs_system_test gtest-${GNSSSDR_GTEST_LOCAL_VERSION} )
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else(NOT ${GTEST_DIR_LOCAL})
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add_dependencies(obs_gps_l1_system_test gtest)
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add_dependencies(obs_system_test gtest)
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endif(NOT ${GTEST_DIR_LOCAL})
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include_directories(${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
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target_link_libraries(obs_gps_l1_system_test ${GFlags_LIBS}
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@ -507,16 +517,32 @@ if(ENABLE_SYSTEM_TESTING)
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gnss_sp_libs
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gnss_rx
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${gpstk_libs})
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target_link_libraries(obs_system_test ${GFlags_LIBS}
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${GLOG_LIBRARIES}
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${GTEST_LIBRARIES}
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gnss_sp_libs
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gnss_rx
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${gpstk_libs})
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if(ENABLE_INSTALL_TESTS)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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install(TARGETS obs_gps_l1_system_test RUNTIME DESTINATION bin COMPONENT "obs_gps_l1_system_test")
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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install(TARGETS obs_gps_l1_system_test RUNTIME DESTINATION bin COMPONENT "obs_gps_l1_system_test")
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install(TARGETS obs_system_test RUNTIME DESTINATION bin COMPONENT "obs_system_test")
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else(ENABLE_INSTALL_TESTS)
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add_custom_command(TARGET obs_gps_l1_system_test POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_gps_l1_system_test>
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${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_gps_l1_system_test> )
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add_custom_command(TARGET obs_system_test POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_system_test>
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${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_system_test> )
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endif(ENABLE_INSTALL_TESTS)
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endif(GPSTK_FOUND OR OWN_GPSTK)
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else(ENABLE_SYSTEM_TESTING_EXTRA)
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@ -526,7 +552,10 @@ if(ENABLE_SYSTEM_TESTING)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(ENABLE_SYSTEM_TESTING_EXTRA)
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else(ENABLE_SYSTEM_TESTING)
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# Avoid working with old executables if they were switched ON and then OFF
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@ -538,7 +567,10 @@ else(ENABLE_SYSTEM_TESTING)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
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if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
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endif(ENABLE_SYSTEM_TESTING)
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|
|
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939
src/tests/system-tests/obs_system_test.cc
Normal file
939
src/tests/system-tests/obs_system_test.cc
Normal file
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@ -0,0 +1,939 @@
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|||
/*!
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* \file obs_system_test.cc
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* \brief This class implements a test for the validation of generated observables.
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* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
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* Antonio Ramos, 2017. antonio.ramos(at)cttc.es
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*
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*
|
||||
* -------------------------------------------------------------------------
|
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*
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* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
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*
|
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* 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 <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <algorithm>
|
||||
#include <chrono>
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <cstdlib>
|
||||
#include <exception>
|
||||
#include <iostream>
|
||||
#include <numeric>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <unistd.h>
|
||||
#include <armadillo>
|
||||
#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 "gnuplot_i.h"
|
||||
#include "test_flags.h"
|
||||
#include "concurrent_map.h"
|
||||
#include "concurrent_queue.h"
|
||||
#include "control_thread.h"
|
||||
#include "file_configuration.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;
|
||||
|
||||
DEFINE_string(configuration_file, "./default_configuration.conf", "Path of configuration file");
|
||||
DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations");
|
||||
DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
|
||||
DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange");
|
||||
DEFINE_double(pr_error_std_max, 5.0, "Maximum standard deviation in pseudorange");
|
||||
DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
|
||||
DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
|
||||
DEFINE_double(dp_error_mean_max, 75.0, "Maximum mean error in Doppler frequency");
|
||||
DEFINE_double(dp_error_std_max, 25.0, "Maximum standard deviation in Doppler frequency");
|
||||
DEFINE_bool(plot_obs_sys_test, false, "Plots results of ObsSystemTest with gnuplot");
|
||||
|
||||
class ObsSystemTest: public ::testing::Test
|
||||
{
|
||||
public:
|
||||
int configure_receiver();
|
||||
int run_receiver();
|
||||
void check_results();
|
||||
bool check_valid_rinex_obs(std::string filename, int rinex_ver); // return true if the file is a valid Rinex observation file.
|
||||
void read_rinex_files(
|
||||
std::vector<arma::mat>& pseudorange_ref,
|
||||
std::vector<arma::mat>& carrierphase_ref,
|
||||
std::vector<arma::mat>& doppler_ref,
|
||||
std::vector<arma::mat>& pseudorange_meas,
|
||||
std::vector<arma::mat>& carrierphase_meas,
|
||||
std::vector<arma::mat>& doppler_meas,
|
||||
arma::mat& sow_prn_ref,
|
||||
int signal_type);
|
||||
void time_alignment_diff(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff);
|
||||
void time_alignment_diff_cp(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff);
|
||||
void time_alignment_diff_pr(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff,
|
||||
arma::mat& sow_prn_ref);
|
||||
void compute_pseudorange_error(std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name);
|
||||
void compute_carrierphase_error(
|
||||
std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name);
|
||||
void compute_doppler_error(
|
||||
std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name);
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_true;
|
||||
std::string generated_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string configuration_file_ = FLAGS_configuration_file;
|
||||
std::shared_ptr<FileConfiguration> config;
|
||||
bool gps_1C = false;
|
||||
bool gps_L5 = false;
|
||||
bool gal_1B = false;
|
||||
bool gal_E5a = false;
|
||||
bool internal_rinex_generation = false;
|
||||
|
||||
/****************/
|
||||
const int num_prn_gps = 33;
|
||||
const int num_prn_gal = 31;
|
||||
|
||||
double pseudorange_error_th_mean = FLAGS_pr_error_mean_max;
|
||||
double pseudorange_error_th_std= FLAGS_pr_error_std_max;
|
||||
double carrierphase_error_th_mean = FLAGS_cp_error_mean_max;
|
||||
double carrierphase_error_th_std = FLAGS_cp_error_std_max;
|
||||
double doppler_error_th_mean = FLAGS_dp_error_mean_max;
|
||||
double doppler_error_th_std = FLAGS_dp_error_std_max;
|
||||
};
|
||||
|
||||
|
||||
bool ObsSystemTest::check_valid_rinex_obs(std::string filename, int rinex_ver)
|
||||
{
|
||||
bool res = false;
|
||||
if(rinex_ver == 2)
|
||||
{
|
||||
res = gpstk::isRinexObsFile(filename);
|
||||
}
|
||||
if(rinex_ver == 3)
|
||||
{
|
||||
res = gpstk::isRinex3ObsFile(filename);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::read_rinex_files(
|
||||
std::vector<arma::mat>& pseudorange_ref,
|
||||
std::vector<arma::mat>& carrierphase_ref,
|
||||
std::vector<arma::mat>& doppler_ref,
|
||||
std::vector<arma::mat>& pseudorange_meas,
|
||||
std::vector<arma::mat>& carrierphase_meas,
|
||||
std::vector<arma::mat>& doppler_meas,
|
||||
arma::mat& sow_prn_ref,
|
||||
int signal_type)
|
||||
{
|
||||
bool ref_exist = false;
|
||||
bool meas_exist = false;
|
||||
gpstk::SatID::SatelliteSystem sat_type = gpstk::SatID::systemUnknown;
|
||||
int max_prn = 0;
|
||||
std::string pr_string;
|
||||
std::string cp_string;
|
||||
std::string dp_string;
|
||||
std::string signal_type_string;
|
||||
sow_prn_ref.reset();
|
||||
|
||||
switch(signal_type)
|
||||
{
|
||||
case 0: //GPS L1
|
||||
|
||||
sat_type = gpstk::SatID::systemGPS;
|
||||
max_prn = num_prn_gps;
|
||||
pr_string = "C1C";
|
||||
cp_string = "L1C";
|
||||
dp_string = "D1C";
|
||||
signal_type_string = "GPS L1 C/A";
|
||||
break;
|
||||
|
||||
case 1: //Galileo E1B
|
||||
|
||||
sat_type = gpstk::SatID::systemGalileo;
|
||||
max_prn = num_prn_gal;
|
||||
pr_string = "C1B";
|
||||
cp_string = "L1B";
|
||||
dp_string = "D1B";
|
||||
signal_type_string = "Galileo E1B";
|
||||
break;
|
||||
|
||||
case 2: //GPS L5
|
||||
|
||||
sat_type = gpstk::SatID::systemGPS;
|
||||
max_prn = num_prn_gps;
|
||||
pr_string = "C5X";
|
||||
cp_string = "L5X";
|
||||
dp_string = "D5X";
|
||||
signal_type_string = "GPS L5";
|
||||
break;
|
||||
|
||||
case 3: //Galileo E5a
|
||||
|
||||
sat_type = gpstk::SatID::systemGalileo;
|
||||
max_prn = num_prn_gal;
|
||||
pr_string = "C5X";
|
||||
cp_string = "L5X";
|
||||
dp_string = "D5X";
|
||||
signal_type_string = "Galileo E5a";
|
||||
break;
|
||||
}
|
||||
|
||||
// Open and read reference RINEX observables file
|
||||
std::cout << "Read: RINEX " << signal_type_string << " True" << std::endl;
|
||||
try
|
||||
{
|
||||
gpstk::Rinex3ObsStream r_ref(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 < max_prn; myprn++)
|
||||
{
|
||||
gpstk::SatID prn( myprn, sat_type);
|
||||
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, pr_string, r_ref_header);
|
||||
double P1 = dataobj.data;
|
||||
pseudorange_ref.at(myprn).insert_rows(pseudorange_ref.at(myprn).n_rows, arma::rowvec({sow, P1}));
|
||||
|
||||
dataobj = r_ref_data.getObs(prn, cp_string, r_ref_header);
|
||||
double L1 = dataobj.data;
|
||||
carrierphase_ref.at(myprn).insert_rows(carrierphase_ref.at(myprn).n_rows, arma::rowvec({sow, L1}));
|
||||
|
||||
dataobj = r_ref_data.getObs(prn, dp_string, r_ref_header);
|
||||
double D1 = dataobj.data;
|
||||
doppler_ref.at(myprn).insert_rows(doppler_ref.at(myprn).n_rows, arma::rowvec({sow, D1}));
|
||||
|
||||
ref_exist = true;
|
||||
} // 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);
|
||||
}
|
||||
|
||||
// Open and read measured RINEX observables file
|
||||
std::cout << "Read: RINEX "<< signal_type_string << " measures" << std::endl;
|
||||
try
|
||||
{
|
||||
std::string arg2_gen;
|
||||
if(internal_rinex_generation)
|
||||
{
|
||||
arg2_gen = std::string("./") + generated_rinex_obs;
|
||||
}
|
||||
else
|
||||
{
|
||||
arg2_gen = 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)
|
||||
{
|
||||
double pr_min = 0.0;
|
||||
double sow_insert = 0.0;
|
||||
double prn_min = 0.0;
|
||||
bool set_pr_min = true;
|
||||
for (int myprn = 1; myprn < max_prn; myprn++)
|
||||
{
|
||||
gpstk::SatID prn( myprn, sat_type);
|
||||
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, pr_string, r_meas_header);
|
||||
double P1 = dataobj.data;
|
||||
pseudorange_meas.at(myprn).insert_rows(pseudorange_meas.at(myprn).n_rows, arma::rowvec({sow, P1}));
|
||||
if(set_pr_min || (P1 < pr_min))
|
||||
{
|
||||
set_pr_min = false;
|
||||
pr_min = P1;
|
||||
sow_insert = sow;
|
||||
prn_min = static_cast<double>(myprn);
|
||||
}
|
||||
|
||||
dataobj = r_meas_data.getObs(prn, cp_string, r_meas_header);
|
||||
double L1 = dataobj.data;
|
||||
carrierphase_meas.at(myprn).insert_rows(carrierphase_meas.at(myprn).n_rows, arma::rowvec({sow, L1}));
|
||||
|
||||
dataobj = r_meas_data.getObs(prn, dp_string, r_meas_header);
|
||||
double D1 = dataobj.data;
|
||||
doppler_meas.at(myprn).insert_rows(doppler_meas.at(myprn).n_rows, arma::rowvec({sow, D1}));
|
||||
|
||||
meas_exist = true;
|
||||
} // End of 'if( pointer == roe.obs.end() )'
|
||||
} // end for
|
||||
sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
|
||||
} // 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);
|
||||
}
|
||||
EXPECT_TRUE(ref_exist) << "RINEX reference file does not contain " << signal_type_string << " information";
|
||||
EXPECT_TRUE(meas_exist) << "RINEX generated file does not contain " << signal_type_string << " information";
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::time_alignment_diff(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff)
|
||||
{
|
||||
std::vector<arma::mat>::iterator iter_ref;
|
||||
std::vector<arma::mat>::iterator iter_meas;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
arma::mat mat_aux;
|
||||
|
||||
iter_ref = ref.begin();
|
||||
iter_diff = diff.begin();
|
||||
for(iter_meas = meas.begin(); iter_meas != meas.end(); iter_meas++)
|
||||
{
|
||||
if( !iter_meas->is_empty() && !iter_ref->is_empty() )
|
||||
{
|
||||
arma::uvec index_ = arma::find(iter_meas->col(0) > iter_ref->at(0, 0));
|
||||
arma::uword index_min = arma::min(index_);
|
||||
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
|
||||
arma::uword index_max = arma::max(index_);
|
||||
mat_aux = iter_meas->rows(index_min, index_max);
|
||||
arma::vec ref_aligned;
|
||||
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
|
||||
*iter_diff = ref_aligned - mat_aux.col(1);
|
||||
}
|
||||
iter_ref++;
|
||||
iter_diff++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::time_alignment_diff_cp(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff)
|
||||
{
|
||||
std::vector<arma::mat>::iterator iter_ref;
|
||||
std::vector<arma::mat>::iterator iter_meas;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
arma::mat mat_aux;
|
||||
|
||||
iter_ref = ref.begin();
|
||||
iter_diff = diff.begin();
|
||||
for(iter_meas = meas.begin(); iter_meas != meas.end(); iter_meas++)
|
||||
{
|
||||
if( !iter_meas->is_empty() && !iter_ref->is_empty() )
|
||||
{
|
||||
arma::uvec index_ = arma::find(iter_meas->col(0) > iter_ref->at(0, 0));
|
||||
arma::uword index_min = arma::min(index_);
|
||||
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
|
||||
arma::uword index_max = arma::max(index_);
|
||||
mat_aux = iter_meas->rows(index_min, index_max);
|
||||
mat_aux.col(1) -= arma::min(mat_aux.col(1));
|
||||
arma::vec ref_aligned;
|
||||
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
|
||||
ref_aligned -= arma::min(ref_aligned);
|
||||
*iter_diff = ref_aligned - mat_aux.col(1);
|
||||
}
|
||||
iter_ref++;
|
||||
iter_diff++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::time_alignment_diff_pr(
|
||||
std::vector<arma::mat>& ref,
|
||||
std::vector<arma::mat>& meas,
|
||||
std::vector<arma::vec>& diff,
|
||||
arma::mat& sow_prn_ref)
|
||||
{
|
||||
std::vector<arma::mat>::iterator iter_ref;
|
||||
std::vector<arma::mat>::iterator iter_meas;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
arma::mat mat_aux;
|
||||
arma::vec subtraction_meas;
|
||||
arma::vec subtraction_ref;
|
||||
|
||||
arma::mat subtraction_pr_ref = sow_prn_ref;
|
||||
arma::vec::iterator iter_vec0 = subtraction_pr_ref.begin_col(0);
|
||||
arma::vec::iterator iter_vec1 = subtraction_pr_ref.begin_col(1);
|
||||
arma::vec::iterator iter_vec2 = subtraction_pr_ref.begin_col(2);
|
||||
|
||||
for(iter_vec1 = subtraction_pr_ref.begin_col(1); iter_vec1 != subtraction_pr_ref.end_col(1); iter_vec1++)
|
||||
{
|
||||
arma::vec aux_pr; //vector with only 1 element
|
||||
arma::vec aux_sow = {*iter_vec0}; //vector with only 1 element
|
||||
arma::interp1(ref.at(static_cast<int>(*iter_vec2)).col(0),
|
||||
ref.at(static_cast<int>(*iter_vec2)).col(1),
|
||||
aux_sow,
|
||||
aux_pr);
|
||||
*iter_vec1 = aux_pr(0);
|
||||
iter_vec0++;
|
||||
iter_vec2++;
|
||||
}
|
||||
|
||||
iter_ref = ref.begin();
|
||||
iter_diff = diff.begin();
|
||||
for(iter_meas = meas.begin(); iter_meas != meas.end(); iter_meas++)
|
||||
{
|
||||
if( !iter_meas->is_empty() && !iter_ref->is_empty() )
|
||||
{
|
||||
arma::uvec index_ = arma::find(iter_meas->col(0) > iter_ref->at(0, 0));
|
||||
arma::uword index_min = arma::min(index_);
|
||||
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
|
||||
arma::uword index_max = arma::max(index_);
|
||||
mat_aux = iter_meas->rows(index_min, index_max);
|
||||
arma::interp1(sow_prn_ref.col(0), sow_prn_ref.col(1), mat_aux.col(0), subtraction_meas);
|
||||
mat_aux.col(1) -= subtraction_meas;
|
||||
arma::vec ref_aligned;
|
||||
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
|
||||
arma::interp1(subtraction_pr_ref.col(0), subtraction_pr_ref.col(1), mat_aux.col(0), subtraction_ref);
|
||||
ref_aligned -= subtraction_ref;
|
||||
*iter_diff = ref_aligned - mat_aux.col(1);
|
||||
}
|
||||
iter_ref++;
|
||||
iter_diff++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int ObsSystemTest::configure_receiver()
|
||||
{
|
||||
config = std::make_shared<FileConfiguration>(configuration_file_);
|
||||
|
||||
if( config->property("Channels_1C.count", 0) > 0 )
|
||||
{gps_1C = true;}
|
||||
if( config->property("Channels_1B.count", 0) > 0 )
|
||||
{gal_1B = true;}
|
||||
if( config->property("Channels_5X.count", 0) > 0 )
|
||||
{gal_E5a = true;}
|
||||
if( config->property("Channels_7X.count", 0) > 0 ) //NOT DEFINITIVE!!!!!
|
||||
{gps_L5 = true;}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int ObsSystemTest::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);
|
||||
generated_rinex_obs = aux.erase(aux.length() - 1, 1);
|
||||
internal_rinex_generation = true;
|
||||
}
|
||||
pclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::compute_pseudorange_error(
|
||||
std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name)
|
||||
{
|
||||
int prn_id = 0;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
std::vector<double> means;
|
||||
std::vector<double> stddevs;
|
||||
std::vector<double> prns;
|
||||
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
|
||||
{
|
||||
if(!iter_diff->is_empty())
|
||||
{
|
||||
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
|
||||
means.push_back(d_mean);
|
||||
double d_stddev = arma::stddev(*iter_diff);
|
||||
stddevs.push_back(d_stddev);
|
||||
prns.push_back(static_cast<double>(prn_id));
|
||||
std::cout << "-- RMS pseudorange difference for sat " << prn_id << ": " << d_mean;
|
||||
std::cout << " +/- " << d_stddev;
|
||||
std::cout << " [m]" << std::endl;
|
||||
EXPECT_LT(d_mean, error_th_mean);
|
||||
EXPECT_LT(d_stddev, error_th_std);
|
||||
}
|
||||
prn_id++;
|
||||
}
|
||||
if(FLAGS_plot_obs_sys_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if(gnuplot_executable.empty())
|
||||
{
|
||||
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
|
||||
std::cout << "gnuplot has not been found in your system." << std::endl;
|
||||
std::cout << "Test results will not be plotted." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title(signal_name + " Pseudorange error");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("PRN");
|
||||
g1.set_ylabel("Pseudorange error [m]");
|
||||
g1.plot_xy(prns, means, "RMS error");
|
||||
g1.plot_xy(prns, stddevs, "Standard deviation");
|
||||
//g1.savetops("FFT_execution_times_extended");
|
||||
//g1.savetopdf("FFT_execution_times_extended", 18);
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException & ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::compute_carrierphase_error(
|
||||
std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name)
|
||||
{
|
||||
int prn_id = 0;
|
||||
std::vector<double> means;
|
||||
std::vector<double> stddevs;
|
||||
std::vector<double> prns;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
|
||||
{
|
||||
if(!iter_diff->is_empty())
|
||||
{
|
||||
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
|
||||
means.push_back(d_mean);
|
||||
double d_stddev = arma::stddev(*iter_diff);
|
||||
stddevs.push_back(d_stddev);
|
||||
prns.push_back(static_cast<double>(prn_id));
|
||||
std::cout << "-- RMS carrier phase difference for sat " << prn_id << ": " << d_mean;
|
||||
std::cout << " +/- " << d_stddev;
|
||||
std::cout << " whole cycles" << std::endl;
|
||||
EXPECT_LT(d_mean, error_th_mean);
|
||||
EXPECT_LT(d_stddev, error_th_std);
|
||||
}
|
||||
prn_id++;
|
||||
}
|
||||
if(FLAGS_plot_obs_sys_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if(gnuplot_executable.empty())
|
||||
{
|
||||
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
|
||||
std::cout << "gnuplot has not been found in your system." << std::endl;
|
||||
std::cout << "Test results will not be plotted." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title(signal_name + " Carrier phase error");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("PRN");
|
||||
g1.set_ylabel("Carrier phase error [whole cycles]");
|
||||
g1.plot_xy(prns, means, "RMS error");
|
||||
g1.plot_xy(prns, stddevs, "Standard deviation");
|
||||
//g1.savetops("FFT_execution_times_extended");
|
||||
//g1.savetopdf("FFT_execution_times_extended", 18);
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException & ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::compute_doppler_error(
|
||||
std::vector<arma::vec>& diff,
|
||||
double error_th_mean, double error_th_std,
|
||||
std::string signal_name)
|
||||
{
|
||||
int prn_id = 0;
|
||||
std::vector<double> means;
|
||||
std::vector<double> stddevs;
|
||||
std::vector<double> prns;
|
||||
std::vector<arma::vec>::iterator iter_diff;
|
||||
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
|
||||
{
|
||||
if(!iter_diff->is_empty())
|
||||
{
|
||||
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
|
||||
means.push_back(d_mean);
|
||||
double d_stddev = arma::stddev(*iter_diff);
|
||||
stddevs.push_back(d_stddev);
|
||||
prns.push_back(static_cast<double>(prn_id));
|
||||
std::cout << "-- RMS Doppler difference for sat " << prn_id << ": " << d_mean;
|
||||
std::cout << " +/- " << d_stddev;
|
||||
std::cout << " [Hz]" << std::endl;
|
||||
EXPECT_LT(d_mean, error_th_mean);
|
||||
EXPECT_LT(d_stddev, error_th_std);
|
||||
}
|
||||
prn_id++;
|
||||
}
|
||||
if(FLAGS_plot_obs_sys_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if(gnuplot_executable.empty())
|
||||
{
|
||||
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
|
||||
std::cout << "gnuplot has not been found in your system." << std::endl;
|
||||
std::cout << "Test results will not be plotted." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title(signal_name + " Doppler error");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("PRN");
|
||||
g1.set_ylabel("Doppler error [Hz]");
|
||||
g1.plot_xy(prns, means, "RMS error");
|
||||
g1.plot_xy(prns, stddevs, "Standard deviation");
|
||||
//g1.savetops("FFT_execution_times_extended");
|
||||
//g1.savetopdf("FFT_execution_times_extended", 18);
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException & ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ObsSystemTest::check_results()
|
||||
{
|
||||
arma::mat sow_prn_ref;
|
||||
if(gps_1C)
|
||||
{
|
||||
std::vector<arma::mat> pseudorange_ref(num_prn_gps);
|
||||
std::vector<arma::mat> carrierphase_ref(num_prn_gps);
|
||||
std::vector<arma::mat> doppler_ref(num_prn_gps);
|
||||
|
||||
std::vector<arma::mat> pseudorange_meas(num_prn_gps);
|
||||
std::vector<arma::mat> carrierphase_meas(num_prn_gps);
|
||||
std::vector<arma::mat> doppler_meas(num_prn_gps);
|
||||
|
||||
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 0);
|
||||
|
||||
// Time alignment and difference computation
|
||||
|
||||
std::vector<arma::vec> pr_diff(num_prn_gps);
|
||||
std::vector<arma::vec> cp_diff(num_prn_gps);
|
||||
std::vector<arma::vec> dp_diff(num_prn_gps);
|
||||
time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
|
||||
time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
|
||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||
|
||||
// Results
|
||||
std::cout << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "GPS L1 C/A obs. results" << std::endl;
|
||||
|
||||
// Compute pseudorange error
|
||||
|
||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L1 C/A");
|
||||
|
||||
// Compute carrier phase error
|
||||
|
||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L1 C/A");
|
||||
|
||||
// Compute Doppler error
|
||||
|
||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L1 C/A");
|
||||
}
|
||||
if(gps_L5)
|
||||
{
|
||||
std::vector<arma::mat> pseudorange_ref(num_prn_gps);
|
||||
std::vector<arma::mat> carrierphase_ref(num_prn_gps);
|
||||
std::vector<arma::mat> doppler_ref(num_prn_gps);
|
||||
|
||||
std::vector<arma::mat> pseudorange_meas(num_prn_gps);
|
||||
std::vector<arma::mat> carrierphase_meas(num_prn_gps);
|
||||
std::vector<arma::mat> doppler_meas(num_prn_gps);
|
||||
|
||||
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 2);
|
||||
|
||||
// Time alignment and difference computation
|
||||
|
||||
std::vector<arma::vec> pr_diff(num_prn_gps);
|
||||
std::vector<arma::vec> cp_diff(num_prn_gps);
|
||||
std::vector<arma::vec> dp_diff(num_prn_gps);
|
||||
time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
|
||||
time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
|
||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||
|
||||
// Results
|
||||
std::cout << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "GPS L5 obs. results" << std::endl;
|
||||
|
||||
// Compute pseudorange error
|
||||
|
||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L5");
|
||||
|
||||
// Compute carrier phase error
|
||||
|
||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L5");
|
||||
|
||||
// Compute Doppler error
|
||||
|
||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L5");
|
||||
}
|
||||
if(gal_1B)
|
||||
{
|
||||
std::vector<arma::mat> pseudorange_ref(num_prn_gal);
|
||||
std::vector<arma::mat> carrierphase_ref(num_prn_gal);
|
||||
std::vector<arma::mat> doppler_ref(num_prn_gal);
|
||||
|
||||
std::vector<arma::mat> pseudorange_meas(num_prn_gal);
|
||||
std::vector<arma::mat> carrierphase_meas(num_prn_gal);
|
||||
std::vector<arma::mat> doppler_meas(num_prn_gal);
|
||||
|
||||
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 1);
|
||||
|
||||
// Time alignment and difference computation
|
||||
|
||||
std::vector<arma::vec> pr_diff(num_prn_gal);
|
||||
std::vector<arma::vec> cp_diff(num_prn_gal);
|
||||
std::vector<arma::vec> dp_diff(num_prn_gal);
|
||||
time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
|
||||
time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
|
||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||
|
||||
// Results
|
||||
std::cout << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "Galileo E1B obs. results" << std::endl;
|
||||
|
||||
// Compute pseudorange error
|
||||
|
||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E1B");
|
||||
|
||||
// Compute carrier phase error
|
||||
|
||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E1B");
|
||||
|
||||
// Compute Doppler error
|
||||
|
||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E1B");
|
||||
}
|
||||
if(gal_E5a)
|
||||
{
|
||||
std::vector<arma::mat> pseudorange_ref(num_prn_gal);
|
||||
std::vector<arma::mat> carrierphase_ref(num_prn_gal);
|
||||
std::vector<arma::mat> doppler_ref(num_prn_gal);
|
||||
|
||||
std::vector<arma::mat> pseudorange_meas(num_prn_gal);
|
||||
std::vector<arma::mat> carrierphase_meas(num_prn_gal);
|
||||
std::vector<arma::mat> doppler_meas(num_prn_gal);
|
||||
|
||||
read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 3);
|
||||
|
||||
// Time alignment and difference computation
|
||||
|
||||
std::vector<arma::vec> pr_diff(num_prn_gal);
|
||||
std::vector<arma::vec> cp_diff(num_prn_gal);
|
||||
std::vector<arma::vec> dp_diff(num_prn_gal);
|
||||
time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
|
||||
time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
|
||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||
|
||||
// Results
|
||||
std::cout << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "Galileo E5a obs. results" << std::endl;
|
||||
|
||||
// Compute pseudorange error
|
||||
|
||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E5a");
|
||||
|
||||
// Compute carrier phase error
|
||||
|
||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E5a");
|
||||
|
||||
// Compute Doppler error
|
||||
|
||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E5a");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_F(ObsSystemTest, Observables_system_test)
|
||||
{
|
||||
std::cout << "Validating input RINEX obs (TRUE) file: " << filename_rinex_obs << " ..." << std::endl;
|
||||
bool is_rinex_obs_valid = check_valid_rinex_obs(filename_rinex_obs, 3);
|
||||
ASSERT_EQ(true, is_rinex_obs_valid) << "The RINEX observation file " << filename_rinex_obs << " is not well formed. Only RINEX v. 3.00 files are allowed";
|
||||
std::cout << "The file is valid." << std::endl;
|
||||
// Configure receiver
|
||||
configure_receiver();
|
||||
if(generated_rinex_obs.compare("default_string") == 0)
|
||||
{
|
||||
// Run the receiver
|
||||
ASSERT_EQ( run_receiver(), 0) << "Problem executing the software-defined signal generator";
|
||||
}
|
||||
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << generated_rinex_obs << " ..." << std::endl;
|
||||
bool is_gen_rinex_obs_valid = false;
|
||||
if(internal_rinex_generation)
|
||||
{
|
||||
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, config->property("PVT.rinex_version", 3));
|
||||
}
|
||||
else
|
||||
{
|
||||
is_gen_rinex_obs_valid = check_valid_rinex_obs(generated_rinex_obs, config->property("PVT.rinex_version", 3));
|
||||
}
|
||||
ASSERT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << 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 GNSS-SDR in Space 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;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user