mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Position file now admits a configuration file
e.g.: ../install/position_test --config_file_ptest=../conf/gnss-sdr.conf
This commit is contained in:
Carles Fernandez
parent
27c31ef3b6
commit
a7c9fd657c
@ -40,15 +40,18 @@
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#include "concurrent_queue.h"
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#include "control_thread.h"
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#include "in_memory_configuration.h"
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#include "file_configuration.h"
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#include "MATH_CONSTANTS.h"
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#include "signal_generator_flags.h"
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DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
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// For GPS NAVIGATION (L1)
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concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
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concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
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class Position_Gps_L1_System_Test: public ::testing::Test
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class Static_Position_System_Test: public ::testing::Test
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{
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public:
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std::string generator_binary;
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@ -65,6 +68,7 @@ public:
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int configure_generator();
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int generate_signal();
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int configure_receiver();
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int run_receiver();
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void check_results();
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@ -77,6 +81,7 @@ public:
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double* east, double* north, double* up);
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std::shared_ptr<InMemoryConfiguration> config;
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std::shared_ptr<FileConfiguration> config_f;
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std::string generated_kml_file;
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private:
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@ -87,7 +92,7 @@ private:
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void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
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void Static_Position_System_Test::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
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double* x, double* y, double* z)
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{
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const double a = 6378137.0; // WGS84
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@ -112,7 +117,7 @@ void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const dou
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}
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void Position_Gps_L1_System_Test::geodetic2Enu(const double latitude, const double longitude, const double altitude,
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void Static_Position_System_Test::geodetic2Enu(const double latitude, const double longitude, const double altitude,
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double* east, double* north, double* up)
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{
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double x, y, z;
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@ -155,7 +160,7 @@ void Position_Gps_L1_System_Test::geodetic2Enu(const double latitude, const doub
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}
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double Position_Gps_L1_System_Test::compute_stdev_precision(const std::vector<double> & vec)
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double Static_Position_System_Test::compute_stdev_precision(const std::vector<double> & vec)
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{
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double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
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double mean__ = sum__ / vec.size();
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@ -168,7 +173,7 @@ double Position_Gps_L1_System_Test::compute_stdev_precision(const std::vector<do
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}
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double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, const double ref)
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double Static_Position_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, const double ref)
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{
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const double mean__ = ref;
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double accum__ = 0.0;
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@ -180,7 +185,7 @@ double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<dou
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}
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int Position_Gps_L1_System_Test::configure_generator()
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int Static_Position_System_Test::configure_generator()
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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@ -202,7 +207,7 @@ int Position_Gps_L1_System_Test::configure_generator()
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}
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int Position_Gps_L1_System_Test::generate_signal()
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int Static_Position_System_Test::generate_signal()
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{
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pid_t wait_result;
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int child_status;
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@ -225,172 +230,188 @@ int Position_Gps_L1_System_Test::generate_signal()
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}
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int Position_Gps_L1_System_Test::configure_receiver()
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int Static_Position_System_Test::configure_receiver()
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{
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config = std::make_shared<InMemoryConfiguration>();
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if(FLAGS_config_file_ptest.empty())
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{
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config = std::make_shared<InMemoryConfiguration>();
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const int sampling_rate_internal = baseband_sampling_freq;
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const int sampling_rate_internal = baseband_sampling_freq;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const int decimation_factor = 1;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const int decimation_factor = 1;
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const float zero = 0.0;
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const int number_of_channels = 8;
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const int in_acquisition = 1;
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const float zero = 0.0;
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const int number_of_channels = 8;
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const int in_acquisition = 1;
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const float threshold = 0.01;
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const float doppler_max = 8000.0;
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const float doppler_step = 500.0;
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const int max_dwells = 1;
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const int tong_init_val = 2;
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const int tong_max_val = 10;
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const int tong_max_dwells = 30;
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const int coherent_integration_time_ms = 1;
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const float threshold = 0.01;
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const float doppler_max = 8000.0;
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const float doppler_step = 500.0;
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const int max_dwells = 1;
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const int tong_init_val = 2;
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const int tong_max_val = 10;
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const int tong_max_dwells = 30;
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const int coherent_integration_time_ms = 1;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const float pll_bw_narrow_hz = 20.0;
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const float dll_bw_narrow_hz = 2.0;
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const int extend_correlation_ms = 1;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const float pll_bw_narrow_hz = 20.0;
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const float dll_bw_narrow_hz = 2.0;
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const int extend_correlation_ms = 1;
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const int display_rate_ms = 1000;
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const int output_rate_ms = 1000;
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const int averaging_depth = 1;
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const int display_rate_ms = 1000;
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const int output_rate_ms = 1000;
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const int averaging_depth = 1;
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(sampling_rate_internal));
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(sampling_rate_internal));
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// Set the assistance system parameters
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
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config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
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config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
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config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
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// Set the assistance system parameters
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
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config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
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config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
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config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
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// Set the Signal Source
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config->set_property("SignalSource.implementation", "File_Signal_Source");
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config->set_property("SignalSource.filename", "./" + filename_raw_data);
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config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("SignalSource.item_type", "ibyte");
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config->set_property("SignalSource.samples", std::to_string(zero));
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// Set the Signal Source
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config->set_property("SignalSource.implementation", "File_Signal_Source");
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config->set_property("SignalSource.filename", "./" + filename_raw_data);
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config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("SignalSource.item_type", "ibyte");
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config->set_property("SignalSource.samples", std::to_string(zero));
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// Set the Signal Conditioner
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config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
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config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.dump", "false");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
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config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
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config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
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config->set_property("InputFilter.band1_end", std::to_string(band1_end));
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config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
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config->set_property("InputFilter.band2_end", std::to_string(band2_end));
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config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
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config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
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config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
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config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
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config->set_property("InputFilter.band1_error", std::to_string(band1_error));
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config->set_property("InputFilter.band2_error", std::to_string(band2_error));
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", std::to_string(grid_density));
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config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("InputFilter.IF", std::to_string(zero));
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config->set_property("Resampler.implementation", "Pass_Through");
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config->set_property("Resampler.dump", "false");
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config->set_property("Resampler.item_type", "gr_complex");
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config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
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config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
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// Set the Signal Conditioner
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config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
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config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.dump", "false");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
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config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
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config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
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config->set_property("InputFilter.band1_end", std::to_string(band1_end));
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config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
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config->set_property("InputFilter.band2_end", std::to_string(band2_end));
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config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
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config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
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config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
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config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
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config->set_property("InputFilter.band1_error", std::to_string(band1_error));
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config->set_property("InputFilter.band2_error", std::to_string(band2_error));
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", std::to_string(grid_density));
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config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("InputFilter.IF", std::to_string(zero));
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config->set_property("Resampler.implementation", "Pass_Through");
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config->set_property("Resampler.dump", "false");
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config->set_property("Resampler.item_type", "gr_complex");
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config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
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config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
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// Set the number of Channels
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config->set_property("Channels_1C.count", std::to_string(number_of_channels));
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config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
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config->set_property("Channel.signal", "1C");
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// Set the number of Channels
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config->set_property("Channels_1C.count", std::to_string(number_of_channels));
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config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
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config->set_property("Channel.signal", "1C");
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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config->set_property("Acquisition_1C.if", std::to_string(zero));
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config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
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config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
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config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.bit_transition_flag", "false");
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config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
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config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
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config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
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config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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config->set_property("Acquisition_1C.if", std::to_string(zero));
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config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
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config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
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config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.bit_transition_flag", "false");
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config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
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config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
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config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
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config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
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// Set Tracking
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config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
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//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
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config->set_property("Tracking_1C.item_type", "gr_complex");
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config->set_property("Tracking_1C.if", std::to_string(zero));
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config->set_property("Tracking_1C.dump", "false");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
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config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
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// Set Tracking
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config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
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//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
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config->set_property("Tracking_1C.item_type", "gr_complex");
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config->set_property("Tracking_1C.if", std::to_string(zero));
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config->set_property("Tracking_1C.dump", "false");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
|
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
|
||||
config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
|
||||
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
|
||||
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
|
||||
config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
|
||||
|
||||
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
|
||||
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
|
||||
config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
|
||||
// Set Telemetry
|
||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||
config->set_property("TelemetryDecoder_1C.dump", "false");
|
||||
config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor));
|
||||
|
||||
// Set Telemetry
|
||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||
config->set_property("TelemetryDecoder_1C.dump", "false");
|
||||
config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor));
|
||||
// Set Observables
|
||||
config->set_property("Observables.implementation", "Hybrid_Observables");
|
||||
config->set_property("Observables.dump", "false");
|
||||
config->set_property("Observables.dump_filename", "./observables.dat");
|
||||
|
||||
// Set Observables
|
||||
config->set_property("Observables.implementation", "Hybrid_Observables");
|
||||
config->set_property("Observables.dump", "false");
|
||||
config->set_property("Observables.dump_filename", "./observables.dat");
|
||||
// Set PVT
|
||||
config->set_property("PVT.implementation", "RTKLIB_PVT");
|
||||
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
|
||||
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
|
||||
config->set_property("PVT.dump_filename", "./PVT");
|
||||
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
|
||||
config->set_property("PVT.flag_nmea_tty_port", "false");
|
||||
config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
|
||||
config->set_property("PVT.flag_rtcm_server", "false");
|
||||
config->set_property("PVT.flag_rtcm_tty_port", "false");
|
||||
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
|
||||
config->set_property("PVT.dump", "false");
|
||||
config->set_property("PVT.rinex_version", std::to_string(2));
|
||||
config->set_property("PVT.positioning_mode", "PPP_Static");
|
||||
config->set_property("PVT.iono_model", "OFF");
|
||||
config->set_property("PVT.trop_model", "OFF");
|
||||
config->set_property("PVT.AR_GPS", "PPP-AR");
|
||||
|
||||
// Set PVT
|
||||
config->set_property("PVT.implementation", "RTKLIB_PVT");
|
||||
//config->set_property("PVT.implementation", "Hybrid_PVT");
|
||||
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
|
||||
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
|
||||
config->set_property("PVT.dump_filename", "./PVT");
|
||||
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
|
||||
config->set_property("PVT.flag_nmea_tty_port", "false");
|
||||
config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
|
||||
config->set_property("PVT.flag_rtcm_server", "false");
|
||||
config->set_property("PVT.flag_rtcm_tty_port", "false");
|
||||
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
|
||||
config->set_property("PVT.dump", "false");
|
||||
config->set_property("PVT.rinex_version", std::to_string(2));
|
||||
config->set_property("PVT.positioning_mode", "PPP_Static");
|
||||
config->set_property("PVT.iono_model", "OFF");
|
||||
config->set_property("PVT.trop_model", "OFF");
|
||||
config->set_property("PVT.AR_GPS", "PPP-AR");
|
||||
config_f = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
config_f = std::make_shared<FileConfiguration>(FLAGS_config_file_ptest);
|
||||
config = 0;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Position_Gps_L1_System_Test::run_receiver()
|
||||
int Static_Position_System_Test::run_receiver()
|
||||
{
|
||||
std::shared_ptr<ControlThread> control_thread;
|
||||
control_thread = std::make_shared<ControlThread>(config);
|
||||
if(FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
control_thread = std::make_shared<ControlThread>(config);
|
||||
}
|
||||
else
|
||||
{
|
||||
control_thread = std::make_shared<ControlThread>(config_f);
|
||||
}
|
||||
|
||||
// start receiver
|
||||
try
|
||||
{
|
||||
@ -420,17 +441,17 @@ int Position_Gps_L1_System_Test::run_receiver()
|
||||
{
|
||||
std::string aux = std::string(buffer);
|
||||
EXPECT_EQ(aux.empty(), false);
|
||||
Position_Gps_L1_System_Test::generated_kml_file = aux.erase(aux.length() - 1, 1);
|
||||
Static_Position_System_Test::generated_kml_file = aux.erase(aux.length() - 1, 1);
|
||||
}
|
||||
pclose(fp);
|
||||
EXPECT_EQ(Position_Gps_L1_System_Test::generated_kml_file.empty(), false);
|
||||
EXPECT_EQ(Static_Position_System_Test::generated_kml_file.empty(), false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void Position_Gps_L1_System_Test::check_results()
|
||||
void Static_Position_System_Test::check_results()
|
||||
{
|
||||
std::fstream myfile(Position_Gps_L1_System_Test::generated_kml_file, std::ios_base::in);
|
||||
std::fstream myfile(Static_Position_System_Test::generated_kml_file, std::ios_base::in);
|
||||
std::string line;
|
||||
|
||||
std::vector<double> pos_e;
|
||||
@ -494,17 +515,20 @@ void Position_Gps_L1_System_Test::check_results()
|
||||
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
|
||||
double mean__u = sum__u / pos_u.size();
|
||||
|
||||
std::cout << "---- ACCURACY ----" << std::endl;
|
||||
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl;
|
||||
std::cout << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
|
||||
std::cout << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
|
||||
std::cout << std::endl;
|
||||
if(FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
std::cout << "---- ACCURACY ----" << std::endl;
|
||||
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl;
|
||||
std::cout << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
|
||||
std::cout << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
|
||||
std::cout << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
|
||||
std::cout << std::endl;
|
||||
}
|
||||
|
||||
std::cout << "---- PRECISION ----" << std::endl;
|
||||
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
|
||||
@ -521,15 +545,18 @@ void Position_Gps_L1_System_Test::check_results()
|
||||
}
|
||||
|
||||
|
||||
TEST_F(Position_Gps_L1_System_Test, Position_system_test)
|
||||
TEST_F(Static_Position_System_Test, Position_system_test)
|
||||
{
|
||||
// Configure the signal generator
|
||||
configure_generator();
|
||||
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if(!FLAGS_disable_generator)
|
||||
if(FLAGS_config_file_ptest.empty())
|
||||
{
|
||||
generate_signal();
|
||||
// Configure the signal generator
|
||||
configure_generator();
|
||||
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if(!FLAGS_disable_generator)
|
||||
{
|
||||
generate_signal();
|
||||
}
|
||||
}
|
||||
|
||||
// Configure receiver
|
||||
|
||||
Loading…
Reference in New Issue
Block a user