GNSS simulator-in-the-loop completed for tracking and telemetry unit tests

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc

@@ -465,7 +465,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
 
                 // PLL commands
                 d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
-                d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
 
                 // DLL commands
                 d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));

src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt

@@ -17,8 +17,10 @@
 #
 
 
-set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES   
+set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
-     tracking_obs_reader.cc
+    tracking_dump_reader.cc
+    tlm_dump_reader.cc   
+    tracking_true_obs_reader.cc
 )
 
 include_directories(

src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.cc

@@ -0,0 +1,73 @@
+//
+// Created by javier on 1/2/2017.
+//
+
+#include "tlm_dump_reader.h"
+
+bool tlm_dump_reader::read_binary_obs()
+    {
+        try {
+            d_dump_file.read((char *) &TOW_at_current_symbol, sizeof(double));
+            d_dump_file.read((char *) &Prn_timestamp_ms, sizeof(double));
+            d_dump_file.read((char *) &d_TOW_at_Preamble, sizeof(double));
+        }
+        catch (const std::ifstream::failure &e) {
+            return false;
+        }
+        return true;
+    }
+
+bool tlm_dump_reader::restart() {
+    if (d_dump_file.is_open())
+    {
+        d_dump_file.clear();
+        d_dump_file.seekg(0, std::ios::beg);
+        return true;
+    }else{
+        return false;
+    }
+}
+
+long int tlm_dump_reader::num_epochs()
+{
+    std::ifstream::pos_type size;
+    int number_of_vars_in_epoch=3;
+    int epoch_size_bytes=sizeof(double)*number_of_vars_in_epoch;
+    std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    if (tmpfile.is_open())
+        {
+            size = tmpfile.tellg();
+            long int  nepoch=size / epoch_size_bytes;
+            return nepoch;
+        }else{
+            return 0;
+        }
+}
+
+bool tlm_dump_reader::open_obs_file(std::string out_file) {
+    if (d_dump_file.is_open() == false)
+    {
+        try
+        {
+            d_dump_filename=out_file;
+            d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
+            d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
+            std::cout << "TLM dump enabled, Log file: " << d_dump_filename.c_str()<< std::endl;
+            return true;
+        }
+        catch (const std::ifstream::failure & e)
+        {
+            std::cout << "Problem opening TLM dump Log file: " << d_dump_filename.c_str()<< std::endl;
+            return false;
+        }
+    }else{
+        return false;
+    }
+}
+
+tlm_dump_reader::~tlm_dump_reader() {
+    if (d_dump_file.is_open() == true)
+    {
+        d_dump_file.close();
+    }
+}

src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.h

@@ -0,0 +1,34 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tlm_dump_reader_H
+#define GNSS_SIM_tlm_dump_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tlm_dump_reader {
+
+public:
+    ~tlm_dump_reader();
+    bool read_binary_obs();
+    bool restart();
+    long int num_epochs();
+    bool open_obs_file(std::string out_file);
+
+    //telemetry decoder dump variables
+    double TOW_at_current_symbol;
+    double Prn_timestamp_ms;
+    double d_TOW_at_Preamble;
+
+private:
+
+    std::string d_dump_filename;
+    std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tlm_dump_reader_H

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc

@@ -0,0 +1,93 @@
+//
+// Created by javier on 1/2/2017.
+//
+
+#include "tracking_dump_reader.h"
+
+bool tracking_dump_reader::read_binary_obs()
+    {
+        try {
+            d_dump_file.read((char *) &abs_E, sizeof(float));
+            d_dump_file.read((char *) &abs_P, sizeof(float));
+            d_dump_file.read((char *) &abs_L, sizeof(float));
+            d_dump_file.read((char *) &prompt_I, sizeof(float));
+            d_dump_file.read((char *) &prompt_Q, sizeof(float));
+
+            d_dump_file.read((char *) &PRN_start_sample_count, sizeof(unsigned long int));
+
+            d_dump_file.read((char *) &acc_carrier_phase_rad, sizeof(double));
+            d_dump_file.read((char *) &carrier_doppler_hz, sizeof(double));
+            d_dump_file.read((char *) &code_freq_chips, sizeof(double));
+            d_dump_file.read((char *) &carr_error_hz, sizeof(double));
+            d_dump_file.read((char *) &carr_error_filt_hz, sizeof(double));
+            d_dump_file.read((char *) &code_error_chips, sizeof(double));
+            d_dump_file.read((char *) &code_error_filt_chips, sizeof(double));
+            d_dump_file.read((char *) &CN0_SNV_dB_Hz, sizeof(double));
+            d_dump_file.read((char *) &carrier_lock_test, sizeof(double));
+            d_dump_file.read((char *) &aux1, sizeof(double));
+            d_dump_file.read((char *) &aux2, sizeof(double));
+
+        }
+        catch (const std::ifstream::failure &e) {
+            return false;
+        }
+        return true;
+    }
+
+bool tracking_dump_reader::restart() {
+    if (d_dump_file.is_open())
+    {
+        d_dump_file.clear();
+        d_dump_file.seekg(0, std::ios::beg);
+        return true;
+    }else{
+        return false;
+    }
+}
+
+long int tracking_dump_reader::num_epochs()
+{
+    std::ifstream::pos_type size;
+    int number_of_double_vars=11;
+    int number_of_float_vars=5;
+    int epoch_size_bytes=sizeof(unsigned long int)+
+            sizeof(double)*number_of_double_vars+
+            sizeof(float)*number_of_float_vars;
+    std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    if (tmpfile.is_open())
+        {
+            size = tmpfile.tellg();
+            long int  nepoch=size / epoch_size_bytes;
+            return nepoch;
+        }else{
+            return 0;
+        }
+}
+
+bool tracking_dump_reader::open_obs_file(std::string out_file) {
+    if (d_dump_file.is_open() == false)
+    {
+        try
+        {
+            d_dump_filename=out_file;
+            d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
+            d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
+            std::cout << "Tracking dump enabled, Log file: " << d_dump_filename.c_str()<< std::endl;
+            return true;
+        }
+        catch (const std::ifstream::failure & e)
+        {
+            std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str()<< std::endl;
+            return false;
+        }
+    }else{
+        return false;
+    }
+}
+
+tracking_dump_reader::~tracking_dump_reader() {
+    if (d_dump_file.is_open() == true)
+    {
+        d_dump_file.close();
+    }
+}

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h

@@ -0,0 +1,63 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tracking_dump_reader_H
+#define GNSS_SIM_tracking_dump_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tracking_dump_reader {
+
+public:
+    ~tracking_dump_reader();
+    bool read_binary_obs();
+    bool restart();
+    long int num_epochs();
+    bool open_obs_file(std::string out_file);
+
+    //tracking dump variables
+    // EPR
+    float abs_E;
+    float abs_P;
+    float abs_L;
+    // PROMPT I and Q (to analyze navigation symbols)
+    float prompt_I;
+    float prompt_Q;
+    // PRN start sample stamp
+    unsigned long int PRN_start_sample_count;
+
+    // accumulated carrier phase
+    double acc_carrier_phase_rad;
+
+    // carrier and code frequency
+    double carrier_doppler_hz;
+    double code_freq_chips;
+
+    // PLL commands
+    double carr_error_hz;
+    double carr_error_filt_hz;
+
+    // DLL commands
+    double code_error_chips;
+    double code_error_filt_chips;
+
+    // CN0 and carrier lock test
+    double CN0_SNV_dB_Hz;
+    double carrier_lock_test;
+
+    // AUX vars (for debug purposes)
+    double aux1;
+    double aux2;
+
+private:
+
+    std::string d_dump_filename;
+    std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tracking_dump_reader_H

src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.h

@@ -1,33 +0,0 @@
-//
-// Created by javier on 23/1/2017.
-//
-
-#ifndef GNSS_SIM_tracking_obs_reader_H
-#define GNSS_SIM_tracking_obs_reader_H
-
-#include <iostream>
-#include <fstream>
-#include <string>
-#include <vector>
-
-class tracking_obs_reader {
-
-public:
-    ~tracking_obs_reader();
-    bool read_binary_obs(double &signal_timestamp_s,
-            double &acc_carrier_phase_cycles,
-            double &doppler_l1_hz,
-            double &prn_delay_chips,
-            double &tow);
-    bool restart();
-    bool open_obs_file(std::string out_file);
-    bool d_dump;
-
-private:
-
-    std::string d_dump_filename;
-    std::ifstream d_dump_file;
-
-};
-
-#endif //GNSS_SIM_tracking_obs_reader_H

src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc

@@ -2,13 +2,9 @@
 // Created by javier on 1/2/2017.
 //
 
-#include "tracking_obs_reader.h"
+#include "tracking_true_obs_reader.h"
 
-bool tracking_obs_reader::read_binary_obs(double &signal_timestamp_s,
+bool tracking_true_obs_reader::read_binary_obs()
-        double &acc_carrier_phase_cycles,
-        double &doppler_l1_hz,
-        double &prn_delay_chips,
-        double &tow)
     {
         try {
             d_dump_file.read((char *) &signal_timestamp_s, sizeof(double));
@@ -18,17 +14,39 @@ bool tracking_obs_reader::read_binary_obs(double &signal_timestamp_s,
             d_dump_file.read((char *) &tow, sizeof(double));
         }
         catch (const std::ifstream::failure &e) {
-            std::cout << "Exception writing tracking obs dump file " << e.what() << std::endl;
+            return false;
         }
         return true;
     }
 
-bool tracking_obs_reader::restart() {
+bool tracking_true_obs_reader::restart() {
-    d_dump_file.clear();
+    if (d_dump_file.is_open())
-    d_dump_file.seekg(0, std::ios::beg);
+    {
+        d_dump_file.clear();
+        d_dump_file.seekg(0, std::ios::beg);
+        return true;
+    }else{
+        return false;
+    }
 }
 
-bool tracking_obs_reader::open_obs_file(std::string out_file) {
+long int tracking_true_obs_reader::num_epochs()
+{
+    std::ifstream::pos_type size;
+    int number_of_vars_in_epoch=5;
+    int epoch_size_bytes=sizeof(double)*number_of_vars_in_epoch;
+    std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    if (tmpfile.is_open())
+        {
+            size = tmpfile.tellg();
+            long int  nepoch=size / epoch_size_bytes;
+            return nepoch;
+        }else{
+            return 0;
+        }
+}
+
+bool tracking_true_obs_reader::open_obs_file(std::string out_file) {
     if (d_dump_file.is_open() == false)
     {
         try
@@ -49,7 +67,7 @@ bool tracking_obs_reader::open_obs_file(std::string out_file) {
     }
 }
 
-tracking_obs_reader::~tracking_obs_reader() {
+tracking_true_obs_reader::~tracking_true_obs_reader() {
     if (d_dump_file.is_open() == true)
     {
         d_dump_file.close();

src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.h

@@ -0,0 +1,36 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tracking_true_obs_reader_H
+#define GNSS_SIM_tracking_true_obs_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tracking_true_obs_reader {
+
+public:
+    ~tracking_true_obs_reader();
+    bool read_binary_obs();
+    bool restart();
+    long int num_epochs();
+    bool open_obs_file(std::string out_file);
+    bool d_dump;
+
+    double signal_timestamp_s;
+    double acc_carrier_phase_cycles;
+    double doppler_l1_hz;
+    double prn_delay_chips;
+    double tow;
+
+private:
+
+    std::string d_dump_filename;
+    std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tracking_true_obs_reader_H

src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc

@@ -31,8 +31,16 @@
  */
 
 
+#include <exception>
+#include <cstring>
 #include <ctime>
 #include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/wait.h>
+#include <unistd.h>
+#include <numeric>
+#include <armadillo>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
@@ -42,6 +50,8 @@
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>
 #include <gtest/gtest.h>
+
+#include "GPS_L1_CA.h"
 #include "gnss_block_factory.h"
 #include "gnss_block_interface.h"
 #include "tracking_interface.h"
@@ -50,9 +60,24 @@
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
 #include "gps_l1_ca_telemetry_decoder.h"
+
+#include "../libs/tracking_true_obs_reader.h"
+#include "../libs/tracking_dump_reader.h"
+#include "../libs/tlm_dump_reader.h"
+
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
-#include "tracking_obs_reader.h"
+
+DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
+DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
+DEFINE_int32(duration, 20, "Duration of the experiment [in seconds]");
+DEFINE_int32(fs_gen_hz, 2600000, "Samppling frequency [Hz]");
+DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
+DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
+DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
+DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");
+DEFINE_int32(test_satellite_PRN,1, "PRN of the satellite under test (must be visible during the observation time)");
+
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
 class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
@@ -164,7 +189,28 @@ GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest
 
 class GpsL1CATelemetryDecoderTest: public ::testing::Test
 {
-protected:
+
+public:
+    std::string generator_binary;
+    std::string p1;
+    std::string p2;
+    std::string p3;
+    std::string p4;
+    std::string p5;
+
+    const int baseband_sampling_freq = FLAGS_fs_gen_hz;
+
+    std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
+    std::string filename_raw_data = FLAGS_filename_raw_data;
+    std::string generated_rinex_obs;
+
+    int configure_generator();
+    int generate_signal();
+    void check_results(arma::vec true_time_s,
+            arma::vec true_value,
+            arma::vec meas_time_s,
+            arma::vec meas_value);
+
     GpsL1CATelemetryDecoderTest()
     {
         factory = std::make_shared<GNSSBlockFactory>();
@@ -176,7 +222,7 @@ protected:
     ~GpsL1CATelemetryDecoderTest()
     {}
 
-    void init();
+    void configure_receiver();
 
     gr::msg_queue::sptr queue;
     gr::top_block_sptr top_block;
@@ -186,16 +232,59 @@ protected:
     size_t item_size;
 };
 
+int GpsL1CATelemetryDecoderTest::configure_generator()
+{
+    // Configure signal generator
+    generator_binary = FLAGS_generator_binary;
 
-void GpsL1CATelemetryDecoderTest::init()
+    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
+    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 GpsL1CATelemetryDecoderTest::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;
+            std::terminate();
+        }
+
+    waitpid(pid, &child_status, 0);
+
+    std::cout << "Signal and Observables RINEX and RAW files created."  << std::endl;
+    return 0;
+}
+
+
+void GpsL1CATelemetryDecoderTest::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 = 1;
+    gnss_synchro.PRN = FLAGS_test_satellite_PRN;
 
-    config->set_property("GNSS-SDR.internal_fs_hz", "2600000");
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(baseband_sampling_freq));
 
     // Set Tracking
     config->set_property("Tracking_1C.item_type", "gr_complex");
@@ -211,21 +300,57 @@ void GpsL1CATelemetryDecoderTest::init()
 
 }
 
+void GpsL1CATelemetryDecoderTest::check_results(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::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. report
+
+    std::cout<< std::setprecision(10)<<"Telemetry reported TOW RMSE="<<rmse<<" [s], mean="<<error_mean<<" [s], stdev="<<sqrt(error_var)<<" [s]."<<std::endl;
+
+}
+
 TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
 {
+
+    // Configure the signal generator
+    configure_generator();
+
+    // Generate signal raw signal samples and observations RINEX file
+    generate_signal();
+
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
-    int fs_in = 2600000;
 
-    init();
+    configure_receiver();
-
-    //todo: call here the gnss simulator
 
     //open true observables log file written by the simulator
-    tracking_obs_reader true_obs_data;
+    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_NO_THROW({
-        if (true_obs_data.open_obs_file("signal_samples/gps_l1_ca_obs_prn1.dat")==false)
+        if (true_obs_data.open_obs_file(true_obs_file)==false)
             {
                 throw std::exception();
             };
@@ -239,8 +364,20 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
 
     boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
 
-    gnss_synchro.Acq_delay_samples = (1023-994.622/1023)*fs_in*1e-3;
+    // load acquisition data based on the first epoch of the true observations
-    gnss_synchro.Acq_doppler_hz = -2583.86;
+    ASSERT_NO_THROW({
+        if (true_obs_data.read_binary_obs()==false)
+        {
+            throw std::exception();
+        };
+    })<< "Failure reading true observables file" << std::endl;
+
+    //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;
 
     std::shared_ptr<TelemetryDecoderInterface> tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C",1, 1));
@@ -261,20 +398,17 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
     }) << "Failure connecting tracking to the top_block." << std::endl;
 
     ASSERT_NO_THROW( {
-        std::string path = std::string(TEST_PATH);
+        std::string file =  "./" + filename_raw_data;
-        std::string file =  path + "signal_samples/signal_out.dat";
         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);
-        //boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
         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, valve, 0);
         top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
         top_block->connect(tracking->get_right_block(), 0, tlm->get_left_block(), 0);
         top_block->connect(tlm->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." << std::endl;
+    }) << "Failure connecting the blocks." << std::endl;
 
     tracking->start_tracking();
 
@@ -286,7 +420,63 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
         end = tv.tv_sec *1000000 + tv.tv_usec;
     }) << "Failure running the top_block." << std::endl;
 
-    // TODO: Verify tracking results
+    //check results
-    std::cout <<  "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
+    //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
+    tlm_dump_reader tlm_dump;
+    ASSERT_NO_THROW({
+        if (tlm_dump.open_obs_file(std::string("./telemetry0.dat"))==false)
+            {
+                throw std::exception();
+            };
+    })<< "Failure opening telemetry dump file" << std::endl;
+
+    nepoch =tlm_dump.num_epochs();
+    std::cout<<"Measured observation epochs="<<nepoch<<std::endl;
+
+    arma::vec tlm_timestamp_s=arma::zeros(nepoch,1);
+    arma::vec tlm_TOW_at_Preamble=arma::zeros(nepoch,1);
+    arma::vec tlm_tow_s=arma::zeros(nepoch,1);
+
+    epoch_counter=0;
+    while(tlm_dump.read_binary_obs())
+    {
+        tlm_timestamp_s(epoch_counter)=tlm_dump.Prn_timestamp_ms/1000.0;
+        tlm_TOW_at_Preamble(epoch_counter)=tlm_dump.d_TOW_at_Preamble;
+        tlm_tow_s(epoch_counter)=tlm_dump.TOW_at_current_symbol;
+        epoch_counter++;
+
+    }
+
+    //Cut measurement initial transitory of the measurements
+    arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
+
+    tlm_timestamp_s=tlm_timestamp_s.subvec(initial_meas_point(0),tlm_timestamp_s.size()-1);
+    tlm_tow_s=tlm_tow_s.subvec(initial_meas_point(0),tlm_tow_s.size()-1);
+
+    check_results(true_timestamp_s,true_tow_s,tlm_timestamp_s,tlm_tow_s);
+
+    std::cout <<  "Test completed in " << (end - begin) << " microseconds" << std::endl;
 }