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Carles Fernandez 2020-07-11 13:07:01 +02:00
parent 200a5b8cd4
commit c7cd0ee9ad
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@ -61,14 +61,15 @@ using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<GalileoE5bPcps
using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>; using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
#endif #endif
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(); GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
{ {
private: private:
friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(); friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
void msg_handler_events(pmt::pmt_t msg); void msg_handler_events(pmt::pmt_t msg);
GalileoE5bPcpsAcquisitionTest_msg_rx(); explicit GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue);
Concurrent_Queue<int>& channel_internal_queue;
public: public:
int rx_message; int rx_message;
@ -76,9 +77,9 @@ public:
}; };
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make() GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue)
{ {
return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx()); return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx(queue));
} }
@ -88,6 +89,7 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
{ {
int64_t message = pmt::to_long(std::move(msg)); int64_t message = pmt::to_long(std::move(msg));
rx_message = message; rx_message = message;
channel_internal_queue.push(rx_message);
} }
catch (boost::bad_any_cast& e) catch (boost::bad_any_cast& e)
{ {
@ -97,7 +99,7 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
} }
GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
{ {
this->message_port_register_in(pmt::mp("events")); this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), this->set_msg_handler(pmt::mp("events"),
@ -128,17 +130,65 @@ protected:
config = std::make_shared<InMemoryConfiguration>(); config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex); item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro(); gnss_synchro = Gnss_Synchro();
stop = false;
} }
~GalileoE5bPcpsAcquisitionTest() = default; ~GalileoE5bPcpsAcquisitionTest() = default;
void init(); void init();
void start_queue();
void wait_message();
void process_message();
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
#if GNURADIO_USES_STD_POINTERS
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
#else
boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
#endif
gr::top_block_sptr top_block; gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory; std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config; std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro; Gnss_Synchro gnss_synchro;
size_t item_size; size_t item_size;
bool stop;
int message;
std::thread ch_thread;
unsigned int num_of_realizations = 10;
unsigned int realization_counter;
unsigned int detection_counter;
unsigned int correct_estimation_counter;
unsigned int acquired_samples;
unsigned int mean_acq_time_us;
double expected_doppler_hz = -632;
double expected_delay_chips = 53;
double expected_delay_sec = 94;
double expected_delay_chips1 = 0.0;
double expected_delay_sec1 = 0.0;
double expected_doppler_hz1 = 0.0;
double expected_delay_chips2 = 0.0;
double expected_delay_sec2 = 0.0;
double expected_doppler_hz2 = 0.0;
double expected_delay_chips3 = 0.0;
double expected_delay_sec3 = 0.0;
double expected_doppler_hz3 = 0.0;
float max_doppler_error_hz = 0.0;
float max_delay_error_chips = 0.0;
double fs_in = 12e6;
double mse_doppler;
double mse_delay;
double Pd;
double Pfa_p;
double Pfa_a;
int sat = 0;
}; };
@ -155,15 +205,15 @@ void GalileoE5bPcpsAcquisitionTest::init()
config->set_property("SignalSource.signal_0", "7X"); config->set_property("SignalSource.signal_0", "7X");
config->set_property("SignalSource.PRN_0", "11"); config->set_property("SignalSource.PRN_0", "11");
config->set_property("SignalSource.CN0_dB_0", "50"); config->set_property("SignalSource.CN0_dB_0", "50");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000)); config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(50)); config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.delay_sec_0", std::to_string(94)); config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
config->set_property("SignalSource.noise_flag", "false"); config->set_property("SignalSource.noise_flag", "false");
config->set_property("SignalSource.data_flag", "false"); config->set_property("SignalSource.data_flag", "false");
config->set_property("SignalSource.BW_BB", "0.97"); config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("SignalSource.dump", "false"); config->set_property("SignalSource.dump", "false");
config->set_property("SignalSource.dump_filename", "../data/signal_source.dat"); config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000"); config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
config->set_property("InputFilter.implementation", "Fir_Filter"); config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex"); config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex"); config->set_property("InputFilter.output_item_type", "gr_complex");
@ -193,21 +243,121 @@ void GalileoE5bPcpsAcquisitionTest::init()
config->set_property("Acquisition_7X.repeat_satellite", "false"); config->set_property("Acquisition_7X.repeat_satellite", "false");
} }
void GalileoE5bPcpsAcquisitionTest::start_queue()
{
stop = false;
ch_thread = std::thread(&GalileoE5bPcpsAcquisitionTest::wait_message, this);
}
void GalileoE5bPcpsAcquisitionTest::wait_message()
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
while (!stop)
{
acquisition->reset();
start = std::chrono::system_clock::now();
channel_internal_queue.wait_and_pop(message);
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
mean_acq_time_us += elapsed_seconds.count() * 1e6;
process_message();
}
}
void GalileoE5bPcpsAcquisitionTest::process_message()
{
if (message == 1)
{
double delay_error_chips = 0.0;
double doppler_error_hz = 0.0;
switch (sat)
{
case 0:
delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
break;
case 1:
delay_error_chips = std::abs(static_cast<double>(expected_delay_chips1) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
doppler_error_hz = std::abs(expected_doppler_hz1 - gnss_synchro.Acq_doppler_hz);
break;
case 2:
delay_error_chips = std::abs(static_cast<double>(expected_delay_chips2) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
doppler_error_hz = std::abs(expected_doppler_hz2 - gnss_synchro.Acq_doppler_hz);
break;
case 3:
delay_error_chips = std::abs(static_cast<double>(expected_delay_chips3) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
doppler_error_hz = std::abs(expected_doppler_hz3 - gnss_synchro.Acq_doppler_hz);
break;
default: // case 3
std::cout << "Error: message from unexpected acquisition channel\n";
break;
}
detection_counter++;
// The term -5 is here to correct the additional delay introduced by the FIR filter
/*
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
*/
mse_delay += std::pow(delay_error_chips, 2);
mse_doppler += std::pow(doppler_error_hz, 2);
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
{
correct_estimation_counter++;
}
}
realization_counter++;
// std::cout << correct_estimation_counter << "correct estimation counter\n";
std::cout << "Progress: " << round(static_cast<float>(realization_counter / num_of_realizations * 100)) << "% \r" << std::flush;
// std::cout << message << "message'\n'";
if (realization_counter == num_of_realizations)
{
mse_delay /= num_of_realizations;
mse_doppler /= num_of_realizations;
Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
Pfa_p = static_cast<double>(detection_counter - correct_estimation_counter) / static_cast<double>(num_of_realizations);
mean_acq_time_us /= num_of_realizations;
stop_queue();
top_block->stop();
}
}
void GalileoE5bPcpsAcquisitionTest::stop_queue()
{
stop = true;
}
TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate) TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate)
{ {
init(); init();
#if GNURADIO_USES_STD_POINTERS #if GNURADIO_USES_STD_POINTERS
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0); acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#else #else
boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0); acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#endif #endif
} }
TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun) TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
{ {
int fs_in = 4000000;
int nsamples = 4000; int nsamples = 4000;
std::chrono::time_point<std::chrono::system_clock> begin, end; std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0); std::chrono::duration<double> elapsed_seconds(0);
@ -216,12 +366,12 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
top_block = gr::make_top_block("Acquisition test"); top_block = gr::make_top_block("Acquisition test");
init(); init();
#if GNURADIO_USES_STD_POINTERS #if GNURADIO_USES_STD_POINTERS
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0); acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#else #else
boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0); acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#endif #endif
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(); auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
ASSERT_NO_THROW({ ASSERT_NO_THROW({
acquisition->connect(top_block); acquisition->connect(top_block);
@ -245,16 +395,16 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults) TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
{ {
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test"); top_block = gr::make_top_block("Acquisition test");
double expected_delay_samples = 2920;
double expected_doppler_hz = -632;
init(); init();
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0); #if GNURADIO_USES_STD_POINTERS
acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#else
acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
#endif
std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1); std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(); auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>(); std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
ASSERT_NO_THROW({ ASSERT_NO_THROW({
@ -281,10 +431,6 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
acquisition->connect(top_block); acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block."; }) << "Failure connecting acquisition to the top_block.";
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->init();
ASSERT_NO_THROW({ ASSERT_NO_THROW({
std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get()); std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1); std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
@ -295,22 +441,55 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test."; }) << "Failure connecting the blocks of acquisition test.";
EXPECT_NO_THROW({ acquisition->reset();
begin = std::chrono::system_clock::now(); acquisition->init();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - begin;
}) << "Failure running the top_block.";
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples; // i = 0 --> satellite in acquisition is visible
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; // i = 1 --> satellite in acquisition is not visible
for (unsigned int i = 0; i < 1; i++)
{
init();
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; switch (i)
{
case 0:
{
gnss_synchro.PRN = 11; // present
break;
}
case 1:
{
gnss_synchro.PRN = 19; // not present
break;
}
}
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples); acquisition->set_gnss_synchro(&gnss_synchro);
float delay_error_chips = static_cast<float>(delay_error_samples) * 10230.0 / 4000.0; acquisition->set_local_code();
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); acquisition->set_state(1);
start_queue();
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)"; EXPECT_NO_THROW({
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips"; top_block->run(); // Start threads and wait
}) << "Failure running the top_block.";
stop_queue();
ch_thread.join();
if (i == 0)
{
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
// std::cout << gnss_synchro.Acq_delay_samples << "acq delay'\n'";
// std::cout << gnss_synchro.Acq_doppler_hz << "acq doppler'\n'";
EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
}
else if (i == 1)
{
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
}
}
} }