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Adding new position system test flags to set error thresholds

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This commit is contained in:
Javier 2018-10-18 10:11:07 +02:00
parent 4bb13684aa
commit afd0ef8bee
2 changed files with 12 additions and 7 deletions
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7
src/tests/system-tests/libs/position_test_flags.h
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@ -42,5 +42,10 @@ DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a referenc
DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file"); DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file"); DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file"); DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
DEFINE_double(static_2D_error_m, 2.0, "Static scenario 2D (East, North) positioning error threshold [meters]");
DEFINE_double(static_3D_error_m, 5.0, "Static scenario 3D (East, North, Up) positioning error threshold [meters]");
DEFINE_double(accuracy_CEP, 2.0, "Static scenario 2D (East, North) accuracy Circular Error Position (CEP) threshold [meters]");
DEFINE_double(precision_SEP, 10.0, "Static scenario 3D (East, North, Up) precision Spherical Error Position (SEP) threshold [meters]");
DEFINE_double(dynamic_3D_position_RMSE, 10.0, "Dynamic scenario 3D (ECEF) accuracy RMSE threshold [meters]");
DEFINE_double(dynamic_3D_velocity_RMSE, 5.0, "Dynamic scenario 3D (ECEF) accuracy RMSE threshold [meters/second]");
#endif #endif

12
src/tests/system-tests/position_test.cc
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@ -634,10 +634,10 @@ void PositionSystemTest::check_results()
double accuracy_CEP = 0.62 * sqrt(sigma_N_2_accuracy) + 0.56 * sqrt(sigma_E_2_accuracy); double accuracy_CEP = 0.62 * sqrt(sigma_N_2_accuracy) + 0.56 * sqrt(sigma_E_2_accuracy);
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision); double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
EXPECT_LT(static_2D_error_m, 2.0); EXPECT_LT(static_2D_error_m, FLAGS_static_2D_error_m);
EXPECT_LT(static_2D_error_m, 5.0); EXPECT_LT(static_2D_error_m, FLAGS_static_2D_error_m);
ASSERT_LT(accuracy_CEP, 2.0); ASSERT_LT(accuracy_CEP, FLAGS_accuracy_CEP);
ASSERT_LT(precision_SEP, 5.0); ASSERT_LT(precision_SEP, FLAGS_precision_SEP);
if (FLAGS_plot_position_test == true) if (FLAGS_plot_position_test == true)
{ {
@ -841,8 +841,8 @@ void PositionSystemTest::check_results()
//ERROR CHECK //ERROR CHECK
//todo: reduce the error tolerance or enable the option to pass the error tolerance by parameter //todo: reduce the error tolerance or enable the option to pass the error tolerance by parameter
EXPECT_LT(rmse_R_eb_e, 10.0); //3D RMS positioning error less than 10 meters EXPECT_LT(rmse_R_eb_e, FLAGS_dynamic_3D_position_RMSE); //3D RMS positioning error less than 10 meters
EXPECT_LT(rmse_V_eb_e, 5.0); //3D RMS speed error less than 5 meters/s (18 km/h) EXPECT_LT(rmse_V_eb_e, FLAGS_dynamic_3D_velocity_RMSE); //3D RMS speed error less than 5 meters/s (18 km/h)
} }
} }