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Improved pseudorange error computation

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Unknown 2017-11-10 12:04:21 +01:00
parent 994233b9f7
commit b838d5d34c
1 changed files with 133 additions and 20 deletions
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149
src/tests/system-tests/obs_system_test.cc
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@ -60,12 +60,12 @@ concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
DEFINE_string(configuration_file, "./default_configuration.conf", "Path of configuration file"); 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_true, "./default_rinex.txt", "Path of RINEX true observations");
DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations"); DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
DEFINE_double(pr_error_mean_max, 50.0, "Maximum mean error in pseudorange"); DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange");
DEFINE_double(pr_error_std_max, 50.0, "Maximum standard deviation in pseudorange"); DEFINE_double(pr_error_std_max, 5.0, "Maximum standard deviation in pseudorange");
DEFINE_double(cp_error_mean_max, 50.0, "Maximum mean error in carrier phase"); DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
DEFINE_double(cp_error_std_max, 50.0, "Maximum standard deviation in carrier phase"); DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
DEFINE_double(dp_error_mean_max, 5.0, "Maximum mean error in Doppler frequency"); DEFINE_double(dp_error_mean_max, 50.0, "Maximum mean error in Doppler frequency");
DEFINE_double(dp_error_std_max, 10.0, "Maximum standard deviation in Doppler frequency"); DEFINE_double(dp_error_std_max, 15.0, "Maximum standard deviation in Doppler frequency");
class ObsSystemTest: public ::testing::Test class ObsSystemTest: public ::testing::Test
{ {
@ -81,11 +81,21 @@ public:
std::vector<arma::mat>& pseudorange_meas, std::vector<arma::mat>& pseudorange_meas,
std::vector<arma::mat>& carrierphase_meas, std::vector<arma::mat>& carrierphase_meas,
std::vector<arma::mat>& doppler_meas, std::vector<arma::mat>& doppler_meas,
arma::mat& sow_prn_ref,
int signal_type); int signal_type);
void time_alignment_diff( void time_alignment_diff(
std::vector<arma::mat>& ref, std::vector<arma::mat>& ref,
std::vector<arma::mat>& meas, std::vector<arma::mat>& meas,
std::vector<arma::vec>& diff); 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, void compute_pseudorange_error(std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std); double error_th_mean, double error_th_std);
void compute_carrierphase_error( void compute_carrierphase_error(
@ -139,6 +149,7 @@ void ObsSystemTest::read_rinex_files(
std::vector<arma::mat>& pseudorange_meas, std::vector<arma::mat>& pseudorange_meas,
std::vector<arma::mat>& carrierphase_meas, std::vector<arma::mat>& carrierphase_meas,
std::vector<arma::mat>& doppler_meas, std::vector<arma::mat>& doppler_meas,
arma::mat& sow_prn_ref,
int signal_type) int signal_type)
{ {
bool ref_exist = false; bool ref_exist = false;
@ -149,6 +160,7 @@ void ObsSystemTest::read_rinex_files(
std::string cp_string; std::string cp_string;
std::string dp_string; std::string dp_string;
std::string signal_type_string; std::string signal_type_string;
sow_prn_ref.reset();
switch(signal_type) switch(signal_type)
{ {
@ -273,6 +285,10 @@ void ObsSystemTest::read_rinex_files(
while (r_meas >> r_meas_data) 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++) for (int myprn = 1; myprn < max_prn; myprn++)
{ {
gpstk::SatID prn( myprn, sat_type); gpstk::SatID prn( myprn, sat_type);
@ -288,6 +304,13 @@ void ObsSystemTest::read_rinex_files(
dataobj = r_meas_data.getObs(prn, pr_string, r_meas_header); dataobj = r_meas_data.getObs(prn, pr_string, r_meas_header);
double P1 = dataobj.data; double P1 = dataobj.data;
pseudorange_meas.at(myprn).insert_rows(pseudorange_meas.at(myprn).n_rows, arma::rowvec({sow, P1})); 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); dataobj = r_meas_data.getObs(prn, cp_string, r_meas_header);
double L1 = dataobj.data; double L1 = dataobj.data;
@ -300,6 +323,7 @@ void ObsSystemTest::read_rinex_files(
meas_exist = true; meas_exist = true;
} // End of 'if( pointer == roe.obs.end() )' } // End of 'if( pointer == roe.obs.end() )'
} // end for } // end for
sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
} // end while } // end while
} // End of 'try' block } // End of 'try' block
catch(const gpstk::FFStreamError& e) catch(const gpstk::FFStreamError& e)
@ -351,6 +375,94 @@ void ObsSystemTest::time_alignment_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() int ObsSystemTest::configure_receiver()
{ {
config = std::make_shared<FileConfiguration>(configuration_file_); config = std::make_shared<FileConfiguration>(configuration_file_);
@ -477,6 +589,7 @@ void ObsSystemTest::compute_doppler_error(
} }
void ObsSystemTest::check_results() void ObsSystemTest::check_results()
{ {
arma::mat sow_prn_ref;
if(gps_1C) if(gps_1C)
{ {
std::vector<arma::mat> pseudorange_ref(num_prn_gps); std::vector<arma::mat> pseudorange_ref(num_prn_gps);
@ -487,15 +600,15 @@ void ObsSystemTest::check_results()
std::vector<arma::mat> carrierphase_meas(num_prn_gps); std::vector<arma::mat> carrierphase_meas(num_prn_gps);
std::vector<arma::mat> doppler_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, 0); read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 0);
// Time alignment and difference computation // Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gps); std::vector<arma::vec> pr_diff(num_prn_gps);
std::vector<arma::vec> cp_diff(num_prn_gps); std::vector<arma::vec> cp_diff(num_prn_gps);
std::vector<arma::vec> dp_diff(num_prn_gps); std::vector<arma::vec> dp_diff(num_prn_gps);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff); time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff); time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
@ -523,15 +636,15 @@ void ObsSystemTest::check_results()
std::vector<arma::mat> carrierphase_meas(num_prn_gps); std::vector<arma::mat> carrierphase_meas(num_prn_gps);
std::vector<arma::mat> doppler_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, 2); read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 2);
// Time alignment and difference computation // Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gps); std::vector<arma::vec> pr_diff(num_prn_gps);
std::vector<arma::vec> cp_diff(num_prn_gps); std::vector<arma::vec> cp_diff(num_prn_gps);
std::vector<arma::vec> dp_diff(num_prn_gps); std::vector<arma::vec> dp_diff(num_prn_gps);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff); time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff); time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
@ -559,15 +672,15 @@ void ObsSystemTest::check_results()
std::vector<arma::mat> carrierphase_meas(num_prn_gal); std::vector<arma::mat> carrierphase_meas(num_prn_gal);
std::vector<arma::mat> doppler_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, 1); read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 1);
// Time alignment and difference computation // Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gal); std::vector<arma::vec> pr_diff(num_prn_gal);
std::vector<arma::vec> cp_diff(num_prn_gal); std::vector<arma::vec> cp_diff(num_prn_gal);
std::vector<arma::vec> dp_diff(num_prn_gal); std::vector<arma::vec> dp_diff(num_prn_gal);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff); time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff); time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
@ -595,15 +708,15 @@ void ObsSystemTest::check_results()
std::vector<arma::mat> carrierphase_meas(num_prn_gal); std::vector<arma::mat> carrierphase_meas(num_prn_gal);
std::vector<arma::mat> doppler_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, 3); read_rinex_files(pseudorange_ref, carrierphase_ref, doppler_ref, pseudorange_meas, carrierphase_meas, doppler_meas, sow_prn_ref, 3);
// Time alignment and difference computation // Time alignment and difference computation
std::vector<arma::vec> pr_diff(num_prn_gal); std::vector<arma::vec> pr_diff(num_prn_gal);
std::vector<arma::vec> cp_diff(num_prn_gal); std::vector<arma::vec> cp_diff(num_prn_gal);
std::vector<arma::vec> dp_diff(num_prn_gal); std::vector<arma::vec> dp_diff(num_prn_gal);
time_alignment_diff(pseudorange_ref, pseudorange_meas, pr_diff); time_alignment_diff_pr(pseudorange_ref, pseudorange_meas, pr_diff, sow_prn_ref);
time_alignment_diff(carrierphase_ref, carrierphase_meas, cp_diff); time_alignment_diff_cp(carrierphase_ref, carrierphase_meas, cp_diff);
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results