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Compute error stdev for pseudorange diff and Doppler

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This commit is contained in:
Carles Fernandez 2016-12-25 12:10:15 +01:00
parent 1eb75e0170
commit c3e545ecfd
1 changed files with 26 additions and 3 deletions
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29
src/tests/system-tests/trk_system_test.cc
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@ -33,6 +33,7 @@
#include <exception>
#include <iostream>
#include <cstring>
#include <numeric>
#include <stdio.h>
#include <stdlib.h>
#include <sys/wait.h>
@ -458,12 +459,12 @@ void Trk_System_Test::check_results()
dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow,L1);
std::pair<double, double> carrier(sow, L1);
carrierphase_meas.at(myprn).push_back(carrier);
dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, L1);
std::pair<double, double> doppler(sow, D1);
doppler_meas.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
@ -531,6 +532,7 @@ void Trk_System_Test::check_results()
{
carrierphase_ref_aligned.at(prn_id).push_back(*it);
cp_diff.at(prn_id).push_back(it->second - it2->second );
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << std::endl;
}
}
}
@ -556,6 +558,7 @@ void Trk_System_Test::check_results()
// Compute pseudorange error
prn_id = 0;
std::vector<double> mean_pr_diff_v;
for(iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
@ -570,6 +573,7 @@ void Trk_System_Test::check_results()
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_pr_diff_v.push_back(mean_diff);
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff << std::endl;
}
else
@ -579,6 +583,15 @@ void Trk_System_Test::check_results()
prn_id++;
}
double sum_ = std::accumulate(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), 0.0);
double mean_ = sum_ / mean_pr_diff_v.size();
std::vector<double> diff_pr(mean_pr_diff_v.size());
std::transform(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), diff_pr.begin(),
std::bind2nd(std::minus<double>(), mean_));
double sq_sum_pr = std::inner_product(diff_pr.begin(), diff_pr.end(), diff_pr.begin(), 0.0);
double stdev_pr = std::sqrt(sq_sum_pr / mean_pr_diff_v.size());
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 1.0);
// Compute carrier phase error
prn_id = 0;
@ -608,6 +621,7 @@ void Trk_System_Test::check_results()
// Compute doppler error
prn_id = 0;
std::vector<double> mean_doppler_v;
for(iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
@ -622,6 +636,7 @@ void Trk_System_Test::check_results()
if(number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_doppler_v.push_back(mean_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << std::endl;
}
else
@ -631,7 +646,15 @@ void Trk_System_Test::check_results()
prn_id++;
}
sum_ = std::accumulate(mean_doppler_v.begin(), mean_doppler_v.end(), 0.0);
mean_ = sum_ /mean_doppler_v.size();
std::vector<double> diff_dp(mean_doppler_v.size());
std::transform(mean_doppler_v.begin(), mean_doppler_v.end(), diff_dp.begin(),
std::bind2nd(std::minus<double>(), mean_));
double sq_sum_dp = std::inner_product(diff_dp.begin(), diff_dp.end(), diff_dp.begin(), 0.0);
double stdev_dp = std::sqrt(sq_sum_dp / mean_doppler_v.size());
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 1.0);
//return 0;
}