mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
Improving position test for dynamic scenarios
This commit is contained in:
Javier Arribas
parent
b4db4013eb
commit
e282b075f4
@ -55,11 +55,11 @@ bool rtklib_solver_dump_reader::read_binary_obs()
|
||||
// std::cout << "qr" << qr[n] << std::endl;
|
||||
// }
|
||||
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude));
|
||||
std::cout << "latitude: " << latitude << std::endl;
|
||||
//std::cout << "latitude: " << latitude << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude));
|
||||
std::cout << "longitude: " << longitude << std::endl;
|
||||
//std::cout << "longitude: " << longitude << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height));
|
||||
std::cout << "height: " << height << std::endl;
|
||||
//std::cout << "height: " << height << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns));
|
||||
// std::cout << "ns: " << (int)ns << std::endl;
|
||||
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status));
|
||||
@ -103,22 +103,20 @@ bool rtklib_solver_dump_reader::restart()
|
||||
|
||||
int64_t rtklib_solver_dump_reader::num_epochs()
|
||||
{
|
||||
// std::ifstream::pos_type size;
|
||||
// int number_of_double_vars = 1;
|
||||
// int number_of_float_vars = 17;
|
||||
// int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
||||
// sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
// std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
// if (tmpfile.is_open())
|
||||
// {
|
||||
// size = tmpfile.tellg();
|
||||
// int64_t nepoch = size / epoch_size_bytes;
|
||||
// return nepoch;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
std::ifstream::pos_type size;
|
||||
int epoch_size_bytes = sizeof(TOW_at_current_symbol_ms) + sizeof(week) + sizeof(RX_time) + sizeof(clk_offset_s) + sizeof(rr) + sizeof(qr) + sizeof(latitude) + sizeof(longitude) + sizeof(height) + sizeof(ns) + sizeof(status) + sizeof(type) + sizeof(AR_ratio) + sizeof(AR_thres) + sizeof(dop);
|
||||
|
||||
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
if (tmpfile.is_open())
|
||||
{
|
||||
size = tmpfile.tellg();
|
||||
int64_t nepoch = size / epoch_size_bytes;
|
||||
return nepoch;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -54,6 +54,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
|
||||
vec.push_back(0.0);
|
||||
}
|
||||
}
|
||||
parse_vector(vec);
|
||||
}
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
@ -137,11 +138,13 @@ int64_t spirent_motion_csv_dump_reader::num_epochs()
|
||||
{
|
||||
int64_t nepoch = 0;
|
||||
std::string line;
|
||||
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
std::ifstream tmpfile(d_dump_filename.c_str());
|
||||
if (tmpfile.is_open())
|
||||
{
|
||||
while (std::getline(tmpfile, line))
|
||||
{
|
||||
++nepoch;
|
||||
}
|
||||
return nepoch - header_lines;
|
||||
}
|
||||
else
|
||||
|
||||
@ -462,6 +462,16 @@ void StaticPositionSystemTest::check_results()
|
||||
std::vector<double> pos_n;
|
||||
std::vector<double> pos_u;
|
||||
|
||||
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat V_eb_e; //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
|
||||
arma::mat LLH; //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
|
||||
arma::vec receiver_time_s;
|
||||
|
||||
arma::mat ref_R_eb_e; //ECEF position (x,y,z) reference in the Earth frame (Nx3)
|
||||
arma::mat ref_V_eb_e; //ECEF velocity (x,y,z) reference in the Earth frame (Nx3)
|
||||
arma::mat ref_LLH; //Geodetic coordinates (latitude, longitude, height) reference in WGS84 datum
|
||||
arma::vec ref_time_s;
|
||||
|
||||
std::istringstream iss2(FLAGS_static_position);
|
||||
std::string str_aux;
|
||||
std::getline(iss2, str_aux, ',');
|
||||
@ -538,6 +548,12 @@ void StaticPositionSystemTest::check_results()
|
||||
//use complete binary dump from pvt solver
|
||||
rtklib_solver_dump_reader pvt_reader;
|
||||
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
|
||||
int64_t n_epochs = pvt_reader.num_epochs();
|
||||
R_eb_e = arma::zeros(n_epochs, 3);
|
||||
V_eb_e = arma::zeros(n_epochs, 3);
|
||||
LLH = arma::zeros(n_epochs, 3);
|
||||
receiver_time_s = arma::zeros(n_epochs, 1);
|
||||
int64_t current_epoch = 0;
|
||||
while (pvt_reader.read_binary_obs())
|
||||
{
|
||||
double north, east, up;
|
||||
@ -548,7 +564,27 @@ void StaticPositionSystemTest::check_results()
|
||||
pos_n.push_back(north);
|
||||
pos_u.push_back(up);
|
||||
// getchar();
|
||||
|
||||
// receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
|
||||
receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
|
||||
R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
|
||||
R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
|
||||
R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
|
||||
V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
|
||||
V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
|
||||
V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
|
||||
LLH(current_epoch, 0) = pvt_reader.latitude;
|
||||
LLH(current_epoch, 1) = pvt_reader.longitude;
|
||||
LLH(current_epoch, 2) = pvt_reader.height;
|
||||
|
||||
//debug check
|
||||
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
|
||||
// std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
|
||||
// std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
|
||||
// getchar();
|
||||
current_epoch++;
|
||||
}
|
||||
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
|
||||
}
|
||||
|
||||
// compute results
|
||||
@ -618,6 +654,158 @@ void StaticPositionSystemTest::check_results()
|
||||
else
|
||||
{
|
||||
//dynamic position
|
||||
spirent_motion_csv_dump_reader ref_reader;
|
||||
ref_reader.open_obs_file(FLAGS_ref_motion_filename);
|
||||
int64_t n_epochs = ref_reader.num_epochs();
|
||||
ref_R_eb_e = arma::zeros(n_epochs, 3);
|
||||
ref_V_eb_e = arma::zeros(n_epochs, 3);
|
||||
ref_LLH = arma::zeros(n_epochs, 3);
|
||||
ref_time_s = arma::zeros(n_epochs, 1);
|
||||
int64_t current_epoch = 0;
|
||||
while (ref_reader.read_csv_obs())
|
||||
{
|
||||
ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
|
||||
ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
|
||||
ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
|
||||
ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
|
||||
ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
|
||||
ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
|
||||
ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
|
||||
ref_LLH(current_epoch, 0) = ref_reader.Lat;
|
||||
ref_LLH(current_epoch, 1) = ref_reader.Long;
|
||||
ref_LLH(current_epoch, 2) = ref_reader.Height;
|
||||
current_epoch++;
|
||||
}
|
||||
|
||||
//interpolation of reference data to receiver epochs timestamps
|
||||
arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
|
||||
arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
|
||||
arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
|
||||
arma::vec tmp_vector;
|
||||
for (int n = 0; n < 3; n++)
|
||||
{
|
||||
arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_R_eb_e.col(n) = tmp_vector;
|
||||
arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_V_eb_e.col(n) = tmp_vector;
|
||||
arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
|
||||
ref_interp_LLH.col(n) = tmp_vector;
|
||||
}
|
||||
|
||||
//compute error vectors
|
||||
|
||||
arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
|
||||
arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
|
||||
arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
|
||||
error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
|
||||
error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
|
||||
error_LLH = LLH - ref_interp_LLH;
|
||||
arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
|
||||
arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
|
||||
for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
|
||||
{
|
||||
error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
|
||||
error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
|
||||
}
|
||||
//Error statistics
|
||||
arma::vec tmp_vec;
|
||||
//RMSE, Mean, Variance and peaks
|
||||
tmp_vec = arma::square(error_module_R_eb_e);
|
||||
double rmse_R_eb_e = sqrt(arma::mean(tmp_vec));
|
||||
double error_mean_R_eb_e = arma::mean(error_module_R_eb_e);
|
||||
double error_var_R_eb_e = arma::var(error_module_R_eb_e);
|
||||
double max_error_R_eb_e = arma::max(error_module_R_eb_e);
|
||||
double min_error_R_eb_e = arma::min(error_module_R_eb_e);
|
||||
|
||||
tmp_vec = arma::square(error_module_V_eb_e);
|
||||
double rmse_V_eb_e = sqrt(arma::mean(tmp_vec));
|
||||
double error_mean_V_eb_e = arma::mean(error_module_V_eb_e);
|
||||
double error_var_V_eb_e = arma::var(error_module_V_eb_e);
|
||||
double max_error_V_eb_e = arma::max(error_module_V_eb_e);
|
||||
double min_error_V_eb_e = arma::min(error_module_V_eb_e);
|
||||
|
||||
//report
|
||||
std::cout << "----- Position and Velocity 3D ECEF error statistics -----" << std::endl;
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "---- 3D ECEF Position RMSE = "
|
||||
<< rmse_R_eb_e << ", mean = " << error_mean_R_eb_e
|
||||
<< ", stdev = " << sqrt(error_var_R_eb_e)
|
||||
<< " (max,min) = " << max_error_R_eb_e
|
||||
<< "," << min_error_R_eb_e
|
||||
<< " [m]" << std::endl;
|
||||
std::cout << "---- 3D ECEF Velocity RMSE = "
|
||||
<< rmse_V_eb_e << ", mean = " << error_mean_V_eb_e
|
||||
<< ", stdev = " << sqrt(error_var_V_eb_e)
|
||||
<< " (max,min) = " << max_error_V_eb_e
|
||||
<< "," << min_error_V_eb_e
|
||||
<< " [m/s]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
|
||||
//plots
|
||||
Gnuplot g1("points");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g1.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g1.disablescreen();
|
||||
}
|
||||
g1.set_title("3D ECEF error coordinates");
|
||||
g1.set_grid();
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
|
||||
std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
|
||||
std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
|
||||
|
||||
g1.cmd("set key box opaque");
|
||||
g1.plot_xyz(X, Y, Z, "ECEF_3d_error");
|
||||
g1.set_legend();
|
||||
g1.savetops("ECEF_3d_error");
|
||||
|
||||
|
||||
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
|
||||
Gnuplot g3("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g3.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g3.disablescreen();
|
||||
}
|
||||
g3.set_title("3D Position estimation error module [m]");
|
||||
g3.set_grid();
|
||||
g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g3.set_ylabel("3D Position error [m]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
|
||||
g3.cmd("set key box opaque");
|
||||
g3.plot_xy(time_vector_from_start_s, error_vec,
|
||||
"Position_3d_error");
|
||||
g3.set_legend();
|
||||
g3.savetops("Position_3d_error");
|
||||
|
||||
Gnuplot g4("linespoints");
|
||||
if (FLAGS_show_plots)
|
||||
{
|
||||
g4.showonscreen(); // window output
|
||||
}
|
||||
else
|
||||
{
|
||||
g4.disablescreen();
|
||||
}
|
||||
g4.set_title("3D Velocity estimation error module [m/s]");
|
||||
g4.set_grid();
|
||||
g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
|
||||
g4.set_ylabel("3D Velocity error [m/s]");
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
|
||||
g4.cmd("set key box opaque");
|
||||
g4.plot_xy(time_vector_from_start_s, error_vec2,
|
||||
"Velocity_3d_error");
|
||||
g4.set_legend();
|
||||
g4.savetops("Velocity_3d_error");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user