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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-16 05:00:35 +00:00
Added GnuPlot to observables system test
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b838d5d34c
commit
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@ -32,6 +32,7 @@
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#include <algorithm>
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#include <algorithm>
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#include <chrono>
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#include <chrono>
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#include <boost/filesystem.hpp>
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#include <cstdlib>
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#include <cstdlib>
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#include <exception>
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#include <exception>
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#include <iostream>
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#include <iostream>
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@ -48,6 +49,8 @@
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#include <gpstk/Rinex3ObsData.hpp>
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#include <gpstk/Rinex3ObsData.hpp>
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#include <gpstk/Rinex3ObsHeader.hpp>
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#include <gpstk/Rinex3ObsHeader.hpp>
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#include <gpstk/Rinex3ObsStream.hpp>
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#include <gpstk/Rinex3ObsStream.hpp>
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#include "gnuplot_i.h"
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#include "test_flags.h"
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#include "concurrent_map.h"
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#include "concurrent_map.h"
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#include "concurrent_queue.h"
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#include "concurrent_queue.h"
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#include "control_thread.h"
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#include "control_thread.h"
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@ -66,6 +69,7 @@ DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
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DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
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DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
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DEFINE_double(dp_error_mean_max, 50.0, "Maximum mean error in Doppler frequency");
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DEFINE_double(dp_error_mean_max, 50.0, "Maximum mean error in Doppler frequency");
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DEFINE_double(dp_error_std_max, 15.0, "Maximum standard deviation in Doppler frequency");
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DEFINE_double(dp_error_std_max, 15.0, "Maximum standard deviation in Doppler frequency");
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DEFINE_bool(plot_obs_sys_test, false, "Plots results of ObsSystemTest with gnuplot");
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class ObsSystemTest: public ::testing::Test
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class ObsSystemTest: public ::testing::Test
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{
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{
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@ -97,13 +101,16 @@ public:
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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arma::mat& sow_prn_ref);
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arma::mat& sow_prn_ref);
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void compute_pseudorange_error(std::vector<arma::vec>& diff,
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void compute_pseudorange_error(std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std);
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double error_th_mean, double error_th_std,
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std::string signal_name);
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void compute_carrierphase_error(
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void compute_carrierphase_error(
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std);
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double error_th_mean, double error_th_std,
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std::string signal_name);
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void compute_doppler_error(
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void compute_doppler_error(
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std);
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double error_th_mean, double error_th_std,
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std::string signal_name);
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std::string filename_rinex_obs = FLAGS_filename_rinex_true;
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std::string filename_rinex_obs = FLAGS_filename_rinex_true;
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std::string generated_rinex_obs = FLAGS_filename_rinex_obs;
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std::string generated_rinex_obs = FLAGS_filename_rinex_obs;
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std::string configuration_file_ = FLAGS_configuration_file;
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std::string configuration_file_ = FLAGS_configuration_file;
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@ -466,12 +473,7 @@ void ObsSystemTest::time_alignment_diff_pr(
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int ObsSystemTest::configure_receiver()
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int ObsSystemTest::configure_receiver()
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{
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{
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config = std::make_shared<FileConfiguration>(configuration_file_);
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config = std::make_shared<FileConfiguration>(configuration_file_);
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int d_rinex_ver = config->property("PVT.rinex_version", 0);
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if(d_rinex_ver != 2)
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{
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std::cout << "Invalid RINEX version. Set PVT.rinex_version=2 in configuration file." << std::endl;
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std::cout << "GPSTk does not work with RINEX v. 3.02." << std::endl;
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}
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if( config->property("Channels_1C.count", 0) > 0 )
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if( config->property("Channels_1C.count", 0) > 0 )
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{gps_1C = true;}
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{gps_1C = true;}
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if( config->property("Channels_1B.count", 0) > 0 )
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if( config->property("Channels_1B.count", 0) > 0 )
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@ -524,16 +526,23 @@ int ObsSystemTest::run_receiver()
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void ObsSystemTest::compute_pseudorange_error(
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void ObsSystemTest::compute_pseudorange_error(
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std)
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double error_th_mean, double error_th_std,
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std::string signal_name)
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{
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{
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int prn_id = 0;
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int prn_id = 0;
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std::vector<arma::vec>::iterator iter_diff;
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std::vector<arma::vec>::iterator iter_diff;
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std::vector<double> means;
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std::vector<double> stddevs;
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std::vector<double> prns;
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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{
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{
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if(!iter_diff->is_empty())
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if(!iter_diff->is_empty())
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{
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{
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double d_mean = arma::mean(*iter_diff);
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double d_mean = arma::mean(*iter_diff);
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << d_mean;
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std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << " +/- " << d_stddev;
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std::cout << " [m]" << std::endl;
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std::cout << " [m]" << std::endl;
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@ -542,20 +551,62 @@ void ObsSystemTest::compute_pseudorange_error(
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}
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}
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prn_id++;
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prn_id++;
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}
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}
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if(FLAGS_plot_obs_sys_test == true)
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{
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const std::string gnuplot_executable(FLAGS_gnuplot_executable);
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if(gnuplot_executable.empty())
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{
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std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
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std::cout << "gnuplot has not been found in your system." << std::endl;
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std::cout << "Test results will not be plotted." << std::endl;
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}
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else
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{
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try
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{
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boost::filesystem::path p(gnuplot_executable);
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boost::filesystem::path dir = p.parent_path();
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std::string gnuplot_path = dir.native();
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Gnuplot::set_GNUPlotPath(gnuplot_path);
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Gnuplot g1("linespoints");
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g1.set_title(signal_name + " Pseudorange error");
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g1.set_grid();
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g1.set_xlabel("PRN");
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g1.set_ylabel("Pseudorange error [m]");
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g1.plot_xy(prns, means, "Mean");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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g1.showonscreen(); // window output
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}
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catch (const GnuplotException & ge)
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{
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std::cout << ge.what() << std::endl;
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}
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}
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}
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}
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}
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void ObsSystemTest::compute_carrierphase_error(
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void ObsSystemTest::compute_carrierphase_error(
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std)
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double error_th_mean, double error_th_std,
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std::string signal_name)
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{
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{
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int prn_id = 0;
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int prn_id = 0;
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std::vector<double> means;
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std::vector<double> stddevs;
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std::vector<double> prns;
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std::vector<arma::vec>::iterator iter_diff;
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std::vector<arma::vec>::iterator iter_diff;
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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{
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{
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if(!iter_diff->is_empty())
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if(!iter_diff->is_empty())
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{
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{
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double d_mean = arma::mean(*iter_diff);
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double d_mean = arma::mean(*iter_diff);
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << d_mean;
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std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << " +/- " << d_stddev;
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std::cout << " whole cycles" << std::endl;
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std::cout << " whole cycles" << std::endl;
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@ -564,20 +615,62 @@ void ObsSystemTest::compute_carrierphase_error(
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}
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}
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prn_id++;
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prn_id++;
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}
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}
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if(FLAGS_plot_obs_sys_test == true)
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{
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const std::string gnuplot_executable(FLAGS_gnuplot_executable);
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if(gnuplot_executable.empty())
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{
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std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
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std::cout << "gnuplot has not been found in your system." << std::endl;
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std::cout << "Test results will not be plotted." << std::endl;
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}
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else
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{
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try
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{
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boost::filesystem::path p(gnuplot_executable);
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boost::filesystem::path dir = p.parent_path();
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std::string gnuplot_path = dir.native();
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Gnuplot::set_GNUPlotPath(gnuplot_path);
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Gnuplot g1("linespoints");
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g1.set_title(signal_name + " Carrier phase error");
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g1.set_grid();
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g1.set_xlabel("PRN");
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g1.set_ylabel("Carrier phase error [whole cycles]");
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g1.plot_xy(prns, means, "Mean");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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g1.showonscreen(); // window output
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}
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catch (const GnuplotException & ge)
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{
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std::cout << ge.what() << std::endl;
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}
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}
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}
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}
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}
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void ObsSystemTest::compute_doppler_error(
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void ObsSystemTest::compute_doppler_error(
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std::vector<arma::vec>& diff,
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std::vector<arma::vec>& diff,
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double error_th_mean, double error_th_std)
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double error_th_mean, double error_th_std,
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std::string signal_name)
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{
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{
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int prn_id = 0;
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int prn_id = 0;
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std::vector<double> means;
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std::vector<double> stddevs;
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std::vector<double> prns;
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std::vector<arma::vec>::iterator iter_diff;
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std::vector<arma::vec>::iterator iter_diff;
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
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{
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{
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if(!iter_diff->is_empty())
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if(!iter_diff->is_empty())
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{
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{
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double d_mean = arma::mean(*iter_diff);
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double d_mean = arma::mean(*iter_diff);
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << d_mean;
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std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << " +/- " << d_stddev;
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std::cout << " [Hz]" << std::endl;
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std::cout << " [Hz]" << std::endl;
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@ -586,6 +679,41 @@ void ObsSystemTest::compute_doppler_error(
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}
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}
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prn_id++;
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prn_id++;
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}
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}
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if(FLAGS_plot_obs_sys_test == true)
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{
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const std::string gnuplot_executable(FLAGS_gnuplot_executable);
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if(gnuplot_executable.empty())
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{
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std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
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std::cout << "gnuplot has not been found in your system." << std::endl;
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std::cout << "Test results will not be plotted." << std::endl;
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}
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else
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{
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try
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{
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boost::filesystem::path p(gnuplot_executable);
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boost::filesystem::path dir = p.parent_path();
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std::string gnuplot_path = dir.native();
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Gnuplot::set_GNUPlotPath(gnuplot_path);
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Gnuplot g1("linespoints");
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g1.set_title(signal_name + " Doppler error");
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g1.set_grid();
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g1.set_xlabel("PRN");
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g1.set_ylabel("Doppler error [Hz]");
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g1.plot_xy(prns, means, "Mean");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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g1.showonscreen(); // window output
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}
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catch (const GnuplotException & ge)
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{
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std::cout << ge.what() << std::endl;
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}
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}
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}
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}
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}
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void ObsSystemTest::check_results()
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void ObsSystemTest::check_results()
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{
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{
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@ -612,19 +740,21 @@ void ObsSystemTest::check_results()
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time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
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time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
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// Results
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// Results
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std::cout << std::endl;
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std::cout << std::endl;
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std::cout << "GPS L1 C/A obs. results" << std::endl;
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std::cout << "GPS L1 C/A obs. results" << std::endl;
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// Compute pseudorange error
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// Compute pseudorange error
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compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
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compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L1 C/A");
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// Compute carrier phase error
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// Compute carrier phase error
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compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
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compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L1 C/A");
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// Compute Doppler error
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// Compute Doppler error
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compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
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compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L1 C/A");
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}
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}
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if(gps_L5)
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if(gps_L5)
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{
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{
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@ -648,19 +778,21 @@ void ObsSystemTest::check_results()
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time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
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time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
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// Results
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// Results
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std::cout << std::endl;
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std::cout << std::endl;
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std::cout << "GPS L5 obs. results" << std::endl;
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std::cout << "GPS L5 obs. results" << std::endl;
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// Compute pseudorange error
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// Compute pseudorange error
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compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
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compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L5");
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// Compute carrier phase error
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// Compute carrier phase error
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compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
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compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L5");
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// Compute Doppler error
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// Compute Doppler error
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compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
|
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L5");
|
||||||
}
|
}
|
||||||
if(gal_1B)
|
if(gal_1B)
|
||||||
{
|
{
|
||||||
@ -684,19 +816,21 @@ void ObsSystemTest::check_results()
|
|||||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||||
|
|
||||||
// Results
|
// Results
|
||||||
|
std::cout << std::endl;
|
||||||
|
std::cout << std::endl;
|
||||||
std::cout << "Galileo E1B obs. results" << std::endl;
|
std::cout << "Galileo E1B obs. results" << std::endl;
|
||||||
|
|
||||||
// Compute pseudorange error
|
// Compute pseudorange error
|
||||||
|
|
||||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
|
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E1B");
|
||||||
|
|
||||||
// Compute carrier phase error
|
// Compute carrier phase error
|
||||||
|
|
||||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
|
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E1B");
|
||||||
|
|
||||||
// Compute Doppler error
|
// Compute Doppler error
|
||||||
|
|
||||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
|
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E1B");
|
||||||
}
|
}
|
||||||
if(gal_E5a)
|
if(gal_E5a)
|
||||||
{
|
{
|
||||||
@ -720,19 +854,21 @@ void ObsSystemTest::check_results()
|
|||||||
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
|
||||||
|
|
||||||
// Results
|
// Results
|
||||||
|
std::cout << std::endl;
|
||||||
|
std::cout << std::endl;
|
||||||
std::cout << "Galileo E5a obs. results" << std::endl;
|
std::cout << "Galileo E5a obs. results" << std::endl;
|
||||||
|
|
||||||
// Compute pseudorange error
|
// Compute pseudorange error
|
||||||
|
|
||||||
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std);
|
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E5a");
|
||||||
|
|
||||||
// Compute carrier phase error
|
// Compute carrier phase error
|
||||||
|
|
||||||
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std);
|
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E5a");
|
||||||
|
|
||||||
// Compute Doppler error
|
// Compute Doppler error
|
||||||
|
|
||||||
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std);
|
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E5a");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -754,11 +890,11 @@ TEST_F(ObsSystemTest, Observables_system_test)
|
|||||||
bool is_gen_rinex_obs_valid = false;
|
bool is_gen_rinex_obs_valid = false;
|
||||||
if(internal_rinex_generation)
|
if(internal_rinex_generation)
|
||||||
{
|
{
|
||||||
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, 2);
|
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, config->property("PVT.rinex_version", 3));
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
is_gen_rinex_obs_valid = check_valid_rinex_obs(generated_rinex_obs, 2);
|
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.";
|
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;
|
std::cout << "The file is valid." << std::endl;
|
||||||
|
Loading…
Reference in New Issue
Block a user