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https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-16 12:12:57 +00:00
read and compare measurements
This commit is contained in:
Carles Fernandez
parent
4c8a74936c
commit
c2c96e5391
@ -321,7 +321,6 @@ int Trk_System_Test::run_receiver()
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{
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std::cout << "STD exception: " << ex.what();
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}
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// Get the name of the RINEX obs file generated by the receiver
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FILE *fp;
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std::string argum2 = std::string("/bin/ls *O | tail -1");
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@ -339,62 +338,58 @@ int Trk_System_Test::run_receiver()
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}
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generated_rinex_obs = std::string(without_trailing);
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pclose(fp);
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return 0;
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}
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void Trk_System_Test::check_results()
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{
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std::vector<std::vector<std::map<double, double>> > pseudorange_ref(33);
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std::vector<std::vector<std::map<double, double>> > carrierphase_ref(33);
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std::vector<std::vector<std::pair<double, double>> > pseudorange_ref(33);
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std::vector<std::vector<std::pair<double, double>> > carrierphase_ref(33);
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std::vector<std::vector<std::map<double, double>> > pseudorange_meas(33);
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std::vector<std::vector<std::map<double, double>> > carrierphase_meas(33);
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std::vector<std::vector<std::pair<double, double>> > pseudorange_meas(33);
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std::vector<std::vector<std::pair<double, double>> > carrierphase_meas(33);
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// Open reference RINEX observables file
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// Open and read reference RINEX observables file
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try
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{
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gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
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r_ref.exceptions(std::ios::failbit);
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gpstk::Rinex3ObsData r_ref_data;
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gpstk::Rinex3ObsHeader r_ref_header;
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gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
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r_ref.exceptions(std::ios::failbit);
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gpstk::Rinex3ObsData r_ref_data;
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gpstk::Rinex3ObsHeader r_ref_header;
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gpstk::RinexDatum dataobj;
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gpstk::RinexDatum dataobj;
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r_ref >> r_ref_header;
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r_ref >> r_ref_header;
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while (r_ref >> r_ref_data)
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{
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for (int myprn = 1; myprn < 33; myprn++)
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{
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gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
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//std::cout << " PRN " << myprn << std::endl;
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gpstk::CommonTime time = r_ref_data.time;
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//std::cout << time << " " << std::endl;
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double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
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//std::cout << "Time: " << sow << std::endl;
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gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
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if( pointer == r_ref_data.obs.end() )
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while (r_ref >> r_ref_data)
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{
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// PRN not present; do nothing
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}
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else
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{
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dataobj = r_ref_data.getObs(prn, "P1", r_ref_header);
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double P1 = dataobj.data;
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std::map<double, double> pseudo;
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pseudo[sow] = P1;
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pseudorange_ref.at(myprn).push_back(pseudo);
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for (int myprn = 1; myprn < 33; myprn++)
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{
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gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
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gpstk::CommonTime time = r_ref_data.time;
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double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
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dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
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double L1 = dataobj.data;
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std::map<double, double> carrier;
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carrier[sow]= L1;
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carrierphase_ref.at(myprn).push_back(carrier);
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} // End of 'if( pointer == roe.obs.end() )'
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} // end for
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} // end while
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gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
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if( pointer == r_ref_data.obs.end() )
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{
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// PRN not present; do nothing
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}
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else
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{
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dataobj = r_ref_data.getObs(prn, "P1", r_ref_header);
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double P1 = dataobj.data;
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std::pair<double, double> pseudo(sow,P1);
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pseudorange_ref.at(myprn).push_back(pseudo);
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dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
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double L1 = dataobj.data;
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std::pair<double, double> carrier(sow, L1);
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carrierphase_ref.at(myprn).push_back(carrier);
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} // End of 'if( pointer == roe.obs.end() )'
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} // end for
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} // end while
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} // End of 'try' block
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catch(gpstk::FFStreamError& e)
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{
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@ -413,58 +408,54 @@ void Trk_System_Test::check_results()
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}
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// Example: count observations per sat:
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std::vector<std::vector<std::map<double, double>> >::iterator iter;
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/* std::vector<std::vector<std::pair<double, double>> >::iterator iter;
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int prn_id=0;
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for(iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
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{
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double size_v = iter->size();
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std::cout << "Size for sat " << prn_id << ": " << size_v << std::endl;
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prn_id++;
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}
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{
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double size_v = iter->size();
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std::cout << "Size for sat " << prn_id << ": " << size_v << std::endl;
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prn_id++;
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}*/
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// Open GNSS-SDR-generated RINEX observables file
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// Open and read GNSS-SDR-generated RINEX observables file
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try
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{
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std::string arg2_gen = std::string("./") + generated_rinex_obs;
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gpstk::Rinex3ObsStream r_meas(arg2_gen);
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gpstk::Rinex3ObsData r_meas_data;
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gpstk::Rinex3ObsHeader r_meas_header;
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gpstk::RinexDatum dataobj;
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std::string arg2_gen = std::string("./") + generated_rinex_obs;
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gpstk::Rinex3ObsStream r_meas(arg2_gen);
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r_meas.exceptions(std::ios::failbit);
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gpstk::Rinex3ObsData r_meas_data;
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gpstk::Rinex3ObsHeader r_meas_header;
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gpstk::RinexDatum dataobj;
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r_meas >> r_meas_header;
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r_meas >> r_meas_header;
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while (r_meas >> r_meas_data)
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{
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for (int myprn = 1; myprn < 33; myprn++)
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{
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gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
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//std::cout << " PRN " << myprn << std::endl;
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gpstk::CommonTime time = r_meas_data.time;
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//std::cout << time << " " << std::endl;
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double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
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//std::cout << "Time: " << sow << std::endl;
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gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
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if( pointer == r_meas_data.obs.end() )
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while (r_meas >> r_meas_data)
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{
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// PRN not present; do nothing
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}
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else
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{
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dataobj = r_meas_data.getObs(prn, "C1", r_meas_header);
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double P1 = dataobj.data;
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std::map<double, double> pseudo;
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pseudo[sow] = P1;
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pseudorange_meas.at(myprn).push_back(pseudo);
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for (int myprn = 1; myprn < 33; myprn++)
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{
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gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
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gpstk::CommonTime time = r_meas_data.time;
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double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
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dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
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double L1 = dataobj.data;
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std::map<double, double> carrier;
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carrier[sow]= L1;
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carrierphase_meas.at(myprn).push_back(carrier);
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} // End of 'if( pointer == roe.obs.end() )'
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} // end for
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} // end while
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gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
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if( pointer == r_meas_data.obs.end() )
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{
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// PRN not present; do nothing
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}
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else
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{
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dataobj = r_meas_data.getObs(prn, "C1", r_meas_header);
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double P1 = dataobj.data;
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std::pair<double, double> pseudo(sow, P1);
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pseudorange_meas.at(myprn).push_back(pseudo);
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dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
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double L1 = dataobj.data;
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std::pair<double, double> carrier(sow,L1);
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carrierphase_meas.at(myprn).push_back(carrier);
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} // End of 'if( pointer == roe.obs.end() )'
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} // end for
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} // end while
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} // End of 'try' block
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catch(gpstk::FFStreamError& e)
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{
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@ -482,19 +473,108 @@ void Trk_System_Test::check_results()
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exit(1);
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}
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// Time alignment!
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// Time alignment
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std::vector<std::vector<std::pair<double, double>> > pseudorange_ref_aligned(33);
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std::vector<std::vector<std::pair<double, double>> > carrierphase_ref_aligned(33);
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// Read reference pseudoranges from a given satellite
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std::vector<std::vector<std::pair<double, double>> >::iterator iter;
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std::vector<std::pair<double, double>>::iterator it;
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std::vector<std::pair<double, double>>::iterator it2;
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// Read obtained pseudoranges from a given satellite
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std::vector<std::vector<double>> pr_diff(33);
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std::vector<std::vector<double>> cp_diff(33);
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std::vector<std::vector<double>>::iterator iter_diff;
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std::vector<double>::iterator iter_v;
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int prn_id = 0;
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for(iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
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{
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for(it = iter->begin(); it != iter->end(); it++)
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{
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// If a measure exists for this sow, store it
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for(it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
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{
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if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
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{
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pseudorange_ref_aligned.at(prn_id).push_back(*it);
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pr_diff.at(prn_id).push_back(it->second - it2->second );
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}
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}
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}
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prn_id++;
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}
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prn_id = 0;
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for(iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
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{
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for(it = iter->begin(); it != iter->end(); it++)
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{
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// If a measure exists for this sow, store it
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for(it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
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{
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if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
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{
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carrierphase_ref_aligned.at(prn_id).push_back(*it);
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cp_diff.at(prn_id).push_back(it->second - it2->second );
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}
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}
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}
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prn_id++;
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}
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// Compute pseudorange error
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prn_id = 0;
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for(iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
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{
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// For each satellite with reference and measurements aligned in time
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int number_obs = 0;
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double mean_diff = 0.0;
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for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
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{
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//std::cout << *iter_v << std::endl;
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mean_diff = mean_diff + *iter_v;
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number_obs = number_obs + 1;
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}
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if(number_obs > 0)
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{
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mean_diff = mean_diff / number_obs;
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std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff << std::endl;
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}
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else
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{
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mean_diff = 0.0;
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}
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// Read reference carrier phase from a given satellite
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// Read obtained carrier phase from a given satellite
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prn_id++;
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}
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// Compute carrier phase error
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prn_id = 0;
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for(iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
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{
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// For each satellite with reference and measurements aligned in time
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int number_obs = 0;
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double mean_diff = 0.0;
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for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
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{
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//std::cout << *iter_v << std::endl;
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mean_diff = mean_diff + *iter_v;
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number_obs = number_obs + 1;
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}
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if(number_obs > 0)
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{
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mean_diff = mean_diff / number_obs;
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std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff << std::endl;
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}
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else
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{
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mean_diff = 0.0;
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}
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prn_id++;
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}
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//return 0;
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}
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