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https://github.com/gnss-sdr/gnss-sdr
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Adding Galileo INAV and FNAV page decoder unit test
This commit is contained in:
Javier Arribas
parent
050543b427
commit
a7d28c20c1
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@ -158,6 +158,7 @@ DECLARE_string(log_dir);
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#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
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#endif
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#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
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#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
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#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
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@ -0,0 +1,288 @@
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/*!
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* \file galileo_fnav_inav_decoder_test.cc
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* \brief This class implements the unit test for the Galileo FNAV and INAV frames
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* according to the Galileo ICD
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* \author Javier Arribas, 2018. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "galileo_navigation_message.h"
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#include "galileo_fnav_message.h"
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#include "convolutional.h"
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#include <unistd.h>
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#include <chrono>
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#include <exception>
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#include <string>
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#include <armadillo>
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <gtest/gtest.h>
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class Galileo_FNAV_INAV_test : public ::testing::Test
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{
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public:
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Galileo_Navigation_Message INAV_decoder;
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Galileo_Fnav_Message FNAV_decoder;
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// vars for Viterbi decoder
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int32_t *out0, *out1, *state0, *state1;
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int32_t g_encoder[2];
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const int32_t nn = 2; // Coding rate 1/n
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const int32_t KK = 7; // Constraint Length
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int32_t mm = KK - 1;
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int32_t flag_even_word_arrived;
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void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits, int32_t _datalength)
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{
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Viterbi(page_part_bits, out0, state0, out1, state1,
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page_part_symbols, KK, nn, _datalength);
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}
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void deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
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{
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for (int32_t r = 0; r < rows; r++)
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{
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for (int32_t c = 0; c < cols; c++)
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{
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out[c * rows + r] = in[r * cols + c];
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}
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}
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}
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bool decode_INAV_word(double *page_part_symbols, int32_t frame_length)
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{
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// 1. De-interleave
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double *page_part_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
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deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
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for (int32_t i = 0; i < frame_length; i++)
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{
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if ((i + 1) % 2 == 0)
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{
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page_part_symbols_deint[i] = -page_part_symbols_deint[i];
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}
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}
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int32_t *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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const int32_t CodeLength = 240;
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int32_t DataLength = (CodeLength / nn) - mm;
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viterbi_decoder(page_part_symbols_deint, page_part_bits, DataLength);
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volk_gnsssdr_free(page_part_symbols_deint);
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// 3. Call the Galileo page decoder
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std::string page_String;
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for (int32_t i = 0; i < (frame_length / 2); i++)
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{
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if (page_part_bits[i] > 0)
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{
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page_String.push_back('1');
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}
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else
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{
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page_String.push_back('0');
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}
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}
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bool crc_ok = false;
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if (page_part_bits[0] == 1)
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{
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// DECODE COMPLETE WORD (even + odd) and TEST CRC
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INAV_decoder.split_page(page_String, flag_even_word_arrived);
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if (INAV_decoder.flag_CRC_test == true)
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{
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std::cout << "Galileo E1 INAV PAGE CRC correct \n";
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//std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
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crc_ok = true;
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}
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flag_even_word_arrived = 0;
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}
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else
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{
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// STORE HALF WORD (even page)
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INAV_decoder.split_page(page_String.c_str(), flag_even_word_arrived);
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flag_even_word_arrived = 1;
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}
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volk_gnsssdr_free(page_part_bits);
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return crc_ok;
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}
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bool decode_FNAV_word(double *page_symbols, int32_t frame_length)
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{
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// 1. De-interleave
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double *page_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
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deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180
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for (int32_t i = 0; i < frame_length; i++)
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{
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if ((i + 1) % 2 == 0)
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{
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page_symbols_deint[i] = -page_symbols_deint[i];
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}
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}
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int32_t *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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const int32_t CodeLength = 488;
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int32_t DataLength = (CodeLength / nn) - mm;
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viterbi_decoder(page_symbols_deint, page_bits, DataLength);
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volk_gnsssdr_free(page_symbols_deint);
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// 3. Call the Galileo page decoder
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std::string page_String;
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for (int32_t i = 0; i < frame_length; i++)
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{
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if (page_bits[i] > 0)
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{
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page_String.push_back('1');
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}
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else
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{
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page_String.push_back('0');
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}
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}
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volk_gnsssdr_free(page_bits);
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// DECODE COMPLETE WORD (even + odd) and TEST CRC
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FNAV_decoder.split_page(page_String);
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if (FNAV_decoder.flag_CRC_test == true)
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{
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std::cout << "Galileo E5a FNAV PAGE CRC correct \n";
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return true;
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}
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else
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{
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return false;
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}
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}
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Galileo_FNAV_INAV_test()
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{
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// vars for Viterbi decoder
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int32_t max_states = 1 << mm; // 2^mm
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g_encoder[0] = 121; // Polynomial G1
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g_encoder[1] = 91; // Polynomial G2
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out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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// create appropriate transition matrices
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nsc_transit(out0, state0, 0, g_encoder, KK, nn);
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nsc_transit(out1, state1, 1, g_encoder, KK, nn);
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flag_even_word_arrived = 0;
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}
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~Galileo_FNAV_INAV_test()
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{
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volk_gnsssdr_free(out0);
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volk_gnsssdr_free(out1);
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volk_gnsssdr_free(state0);
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volk_gnsssdr_free(state1);
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}
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};
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TEST_F(Galileo_FNAV_INAV_test, ValidationOfResults)
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{
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std::chrono::time_point<std::chrono::system_clock> start, end;
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std::chrono::duration<double> elapsed_seconds(0);
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int repetitions = 10;
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// FNAV FULLY ENCODED FRAME
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double FNAV_frame[488] = {-1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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1, -1, -1, 1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1,
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-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1,
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-1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1,
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-1, -1, -1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, 1, 1,
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-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1,
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-1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, -1, -1, -1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1,
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-1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, 1, 1, -1,
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1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
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-1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1,
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1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1,
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-1, 1, -1, -1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
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1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
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1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1};
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ASSERT_NO_THROW({
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for (int n = 0; n < repetitions; n++)
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{
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EXPECT_EQ(decode_FNAV_word(&FNAV_frame[0], 488), true);
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}
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}) << "Exception during FNAV frame decoding";
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// INAV FULLY ENCODED FRAME
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double INAV_frame_even[240] = {-1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1,
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-1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, 1, -1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, 1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
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1, -1, 1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1,
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-1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1};
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double INAV_frame_odd[240] = {1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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1, 1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, -1, 1,
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1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1,
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-1, -1, 1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
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1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1,
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1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1,
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-1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1,
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1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, 1,
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-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1,
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-1, -1, 1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1,
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1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, -1, -1, -1, -1, 1, 1, -1, -1, 1, 1};
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ASSERT_NO_THROW({
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for (int n = 0; n < repetitions; n++)
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{
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decode_INAV_word(&INAV_frame_even[0], 240);
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EXPECT_EQ(decode_INAV_word(&INAV_frame_odd[0], 240), true);
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}
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}) << "Exception during INAV frame decoding";
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std::cout << "Galileo FNAV/INAV Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
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}
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