mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-11-12 21:33:02 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into doppler_rate
This commit is contained in:
Carles Fernandez
@@ -0,0 +1,69 @@
|
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/*!
|
||||
* \file bayesian_estimation_positivity_test.cc
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||||
* \brief This file implements timing tests for the Bayesian covariance estimator
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||||
* \author Gerald LaMountain, 20168. gerald(at)ece.neu.edu
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
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||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
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||||
*/
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||||
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||||
#include <random>
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#include <armadillo>
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#include <gtest/gtest.h>
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#include "bayesian_estimation.h"
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#define BAYESIAN_TEST_N_TRIALS 100
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#define BAYESIAN_TEST_ITER 10000
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TEST(BayesianEstimationPositivityTest, BayesianPositivityTest)
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{
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Bayesian_estimator bayes;
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arma::vec bayes_mu = arma::zeros(1, 1);
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int bayes_nu = 0;
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int bayes_kappa = 0;
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arma::mat bayes_Psi = arma::ones(1, 1);
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arma::vec input = arma::zeros(1, 1);
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||||
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//--- Perform initializations ------------------------------
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||||
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||||
std::random_device r;
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||||
std::default_random_engine e1(r());
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||||
std::normal_distribution<float> normal_dist(0, 5);
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||||
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||||
for (int k = 0; k < BAYESIAN_TEST_N_TRIALS; k++)
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{
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bayes.init(bayes_mu, bayes_kappa, bayes_nu, bayes_Psi);
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for (int n = 0; n < BAYESIAN_TEST_ITER; n++)
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{
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input(0) = static_cast<double>(normal_dist(e1));
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bayes.update_sequential(input);
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arma::mat output = bayes.get_Psi_est();
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double output0 = output(0, 0);
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ASSERT_EQ(output0 > 0.0, true);
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}
|
||||
}
|
||||
}
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@@ -0,0 +1,568 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_kf_tracking_test.cc
|
||||
* \brief This class implements a tracking test for GPS_L1_CA_KF_Tracking
|
||||
* implementation based on some input parameters.
|
||||
* \author Carles Fernandez, 2018
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
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||||
#include <chrono>
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#include <unistd.h>
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#include <vector>
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#include <armadillo>
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#include <boost/filesystem.hpp>
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#include <gnuradio/top_block.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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||||
#include <gnuradio/analog/sig_source_c.h>
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||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
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||||
#include <gnuradio/blocks/null_sink.h>
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||||
#include <gnuradio/blocks/skiphead.h>
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||||
#include <gtest/gtest.h>
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#include "GPS_L1_CA.h"
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#include "gnss_block_factory.h"
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#include "tracking_interface.h"
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#include "in_memory_configuration.h"
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#include "tracking_true_obs_reader.h"
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#include "tracking_dump_reader.h"
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#include "signal_generator_flags.h"
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#include "gnuplot_i.h"
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#include "test_flags.h"
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#include "gnss_sdr_flags.h"
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DEFINE_bool(plot_gps_l1_kf_tracking_test, false, "Plots results of GpsL1CAKfTrackingTest with gnuplot");
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class GpsL1CAKfTrackingTest_msg_rx;
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typedef boost::shared_ptr<GpsL1CAKfTrackingTest_msg_rx> GpsL1CAKfTrackingTest_msg_rx_sptr;
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GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make();
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class GpsL1CAKfTrackingTest_msg_rx : public gr::block
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{
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private:
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friend GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make();
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void msg_handler_events(pmt::pmt_t msg);
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GpsL1CAKfTrackingTest_msg_rx();
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public:
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int rx_message;
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~GpsL1CAKfTrackingTest_msg_rx(); //!< Default destructor
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||||
};
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||||
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GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make()
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{
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return GpsL1CAKfTrackingTest_msg_rx_sptr(new GpsL1CAKfTrackingTest_msg_rx());
|
||||
}
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|
||||
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||||
void GpsL1CAKfTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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||||
{
|
||||
try
|
||||
{
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||||
long int message = pmt::to_long(msg);
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rx_message = message;
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||||
}
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||||
catch (boost::bad_any_cast& e)
|
||||
{
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||||
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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||||
rx_message = 0;
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||||
}
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||||
}
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||||
|
||||
|
||||
GpsL1CAKfTrackingTest_msg_rx::GpsL1CAKfTrackingTest_msg_rx() : gr::block("GpsL1CAKfTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
||||
{
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||||
this->message_port_register_in(pmt::mp("events"));
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||||
this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CAKfTrackingTest_msg_rx::msg_handler_events, this, _1));
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||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
GpsL1CAKfTrackingTest_msg_rx::~GpsL1CAKfTrackingTest_msg_rx()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// ###########################################################
|
||||
|
||||
class GpsL1CAKfTrackingTest : public ::testing::Test
|
||||
{
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||||
public:
|
||||
std::string generator_binary;
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||||
std::string p1;
|
||||
std::string p2;
|
||||
std::string p3;
|
||||
std::string p4;
|
||||
std::string p5;
|
||||
|
||||
std::string implementation = "GPS_L1_CA_KF_Tracking";
|
||||
|
||||
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
||||
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string filename_raw_data = FLAGS_filename_raw_data;
|
||||
|
||||
int configure_generator();
|
||||
int generate_signal();
|
||||
void check_results_doppler(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
void check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
void check_results_codephase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
|
||||
GpsL1CAKfTrackingTest()
|
||||
{
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
item_size = sizeof(gr_complex);
|
||||
gnss_synchro = Gnss_Synchro();
|
||||
}
|
||||
|
||||
~GpsL1CAKfTrackingTest()
|
||||
{
|
||||
}
|
||||
|
||||
void configure_receiver();
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
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};
|
||||
|
||||
|
||||
int GpsL1CAKfTrackingTest::configure_generator()
|
||||
{
|
||||
// Configure signal generator
|
||||
generator_binary = FLAGS_generator_binary;
|
||||
|
||||
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
||||
if (FLAGS_dynamic_position.empty())
|
||||
{
|
||||
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
||||
}
|
||||
else
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int GpsL1CAKfTrackingTest::generate_signal()
|
||||
{
|
||||
int child_status;
|
||||
|
||||
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
|
||||
|
||||
int pid;
|
||||
if ((pid = fork()) == -1)
|
||||
perror("fork err");
|
||||
else if (pid == 0)
|
||||
{
|
||||
execv(&generator_binary[0], parmList);
|
||||
std::cout << "Return not expected. Must be an execv err." << std::endl;
|
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std::terminate();
|
||||
}
|
||||
|
||||
waitpid(pid, &child_status, 0);
|
||||
|
||||
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CAKfTrackingTest::configure_receiver()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
||||
// Set Tracking
|
||||
config->set_property("Tracking_1C.implementation", implementation);
|
||||
config->set_property("Tracking_1C.item_type", "gr_complex");
|
||||
if (FLAGS_dll_bw_hz != 0.0)
|
||||
{
|
||||
config->set_property("Tracking_1C.dll_bw_hz", std::to_string(FLAGS_dll_bw_hz));
|
||||
}
|
||||
else
|
||||
{
|
||||
config->set_property("Tracking_1C.dll_bw_hz", "2.0");
|
||||
}
|
||||
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
||||
config->set_property("Tracking_1C.extend_correlation_ms", "1");
|
||||
config->set_property("Tracking_1C.dump", "true");
|
||||
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CAKfTrackingTest::check_results_doppler(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
{
|
||||
// 1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::uvec true_time_s_valid = find(true_time_s > 0);
|
||||
true_time_s = true_time_s(true_time_s_valid);
|
||||
true_value = true_value(true_time_s_valid);
|
||||
arma::uvec meas_time_s_valid = find(meas_time_s > 0);
|
||||
meas_time_s = meas_time_s(meas_time_s_valid);
|
||||
meas_value = meas_value(meas_time_s_valid);
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
// 2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
// 3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
// 5. report
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CAKfTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
{
|
||||
// 1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::uvec true_time_s_valid = find(true_time_s > 0);
|
||||
true_time_s = true_time_s(true_time_s_valid);
|
||||
true_value = true_value(true_time_s_valid);
|
||||
arma::uvec meas_time_s_valid = find(meas_time_s > 0);
|
||||
meas_time_s = meas_time_s(meas_time_s_valid);
|
||||
meas_value = meas_value(meas_time_s_valid);
|
||||
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
// 2. RMSE
|
||||
arma::vec err;
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
// 3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
// 5. report
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CAKfTrackingTest::check_results_codephase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
{
|
||||
// 1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::uvec true_time_s_valid = find(true_time_s > 0);
|
||||
true_time_s = true_time_s(true_time_s_valid);
|
||||
true_value = true_value(true_time_s_valid);
|
||||
arma::uvec meas_time_s_valid = find(meas_time_s > 0);
|
||||
meas_time_s = meas_time_s(meas_time_s_valid);
|
||||
meas_value = meas_value(meas_time_s_valid);
|
||||
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
// 2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
// 3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
// 5. report
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
|
||||
{
|
||||
// Configure the signal generator
|
||||
configure_generator();
|
||||
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if (FLAGS_disable_generator == false)
|
||||
{
|
||||
generate_signal();
|
||||
}
|
||||
|
||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||
|
||||
configure_receiver();
|
||||
|
||||
// open true observables log file written by the simulator
|
||||
tracking_true_obs_reader true_obs_data;
|
||||
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
|
||||
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_); //std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
|
||||
boost::shared_ptr<GpsL1CAKfTrackingTest_msg_rx> msg_rx = GpsL1CAKfTrackingTest_msg_rx_make();
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
|
||||
<< "Failure reading true tracking dump file." << std::endl
|
||||
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
|
||||
" is not available?";
|
||||
|
||||
// restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
std::string file = "./" + filename_raw_data;
|
||||
const char* file_name = file.c_str();
|
||||
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
|
||||
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
|
||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
||||
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
|
||||
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
|
||||
top_block->connect(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of tracking test.";
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
// check results
|
||||
// load the true values
|
||||
long int nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
while (true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
|
||||
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
|
||||
<< "Failure opening tracking dump file";
|
||||
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
//trk_dump.restart();
|
||||
|
||||
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
|
||||
std::vector<double> prompt;
|
||||
std::vector<double> early;
|
||||
std::vector<double> late;
|
||||
std::vector<double> promptI;
|
||||
std::vector<double> promptQ;
|
||||
|
||||
epoch_counter = 0;
|
||||
while (trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
prompt.push_back(trk_dump.abs_P);
|
||||
early.push_back(trk_dump.abs_E);
|
||||
late.push_back(trk_dump.abs_L);
|
||||
promptI.push_back(trk_dump.prompt_I);
|
||||
promptQ.push_back(trk_dump.prompt_Q);
|
||||
}
|
||||
|
||||
// Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
||||
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
|
||||
trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
|
||||
|
||||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
|
||||
std::chrono::duration<double> elapsed_seconds = end - start;
|
||||
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds." << std::endl;
|
||||
|
||||
if (FLAGS_plot_gps_l1_kf_tracking_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
if (gnuplot_executable.empty())
|
||||
{
|
||||
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl;
|
||||
std::cout << "gnuplot has not been found in your system." << std::endl;
|
||||
std::cout << "Test results will not be plotted." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
boost::filesystem::path p(gnuplot_executable);
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
std::vector<double> timevec;
|
||||
double t = 0.0;
|
||||
for (auto it = prompt.begin(); it != prompt.end(); it++)
|
||||
{
|
||||
timevec.push_back(t);
|
||||
t = t + GPS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title("GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("Time [s]");
|
||||
g1.set_ylabel("Correlators' output");
|
||||
g1.cmd("set key box opaque");
|
||||
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
|
||||
g1.plot_xy(timevec, prompt, "Prompt", decimate);
|
||||
g1.plot_xy(timevec, early, "Early", decimate);
|
||||
g1.plot_xy(timevec, late, "Late", decimate);
|
||||
g1.savetops("Correlators_outputs");
|
||||
g1.savetopdf("Correlators_outputs", 18);
|
||||
g1.showonscreen(); // window output
|
||||
|
||||
Gnuplot g2("points");
|
||||
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g2.set_grid();
|
||||
g2.set_xlabel("Inphase");
|
||||
g2.set_ylabel("Quadrature");
|
||||
g2.cmd("set size ratio -1");
|
||||
g2.plot_xy(promptI, promptQ);
|
||||
g2.savetops("Constellation");
|
||||
g2.savetopdf("Constellation", 18);
|
||||
g2.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException& ge)
|
||||
{
|
||||
std::cout << ge.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user