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Improving interchannel bias observables test (duplicated satellites option)

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This commit is contained in:
Javier 2018-10-15 17:02:43 +02:00
parent 0acfdfc8a6
commit e6e85798bd
1 changed files with 71 additions and 20 deletions
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91
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
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@ -239,6 +239,7 @@ public:
void check_results_duplicated_satellite( void check_results_duplicated_satellite(
arma::mat& measured_sat1, arma::mat& measured_sat1,
arma::mat& measured_sat2, arma::mat& measured_sat2,
int ch_id,
std::string data_title); std::string data_title);
HybridObservablesTest() HybridObservablesTest()
@ -1006,13 +1007,40 @@ void HybridObservablesTest::check_results_carrier_doppler(
void HybridObservablesTest::check_results_duplicated_satellite( void HybridObservablesTest::check_results_duplicated_satellite(
arma::mat& measured_sat1, arma::mat& measured_sat1,
arma::mat& measured_sat2, arma::mat& measured_sat2,
int ch_id,
std::string data_title) std::string data_title)
{ {
//1. True value interpolation to match the measurement times //1. True value interpolation to match the measurement times
double t0 = measured_sat1(0, 0); //define the common measured time interval
double t0_sat1 = measured_sat1(0, 0);
int size1 = measured_sat1.col(0).n_rows; int size1 = measured_sat1.col(0).n_rows;
double t1 = measured_sat1(size1 - 1, 0); double t1_sat1 = measured_sat1(size1 - 1, 0);
double t0_sat2 = measured_sat2(0, 0);
int size2 = measured_sat2.col(0).n_rows;
double t1_sat2 = measured_sat2(size2 - 1, 0);
double t0;
double t1;
if (t0_sat1 > t0_sat2)
{
t0 = t0_sat1;
}
else
{
t0 = t0_sat2;
}
if (t1_sat1 > t1_sat2)
{
t1 = t1_sat2;
}
else
{
t1 = t1_sat1;
}
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3)); arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector //conversion between arma::vec and std:vector
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3)); arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
@ -1048,6 +1076,15 @@ void HybridObservablesTest::check_results_duplicated_satellite(
//compute error //compute error
err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp; err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
//save matlab file for further analysis
std::vector<double> tmp_vector_common_time_s(t.colptr(0),
t.colptr(0) + t.n_rows);
std::vector<double> tmp_vector_err_ch0_hz(err_ch0_hz.colptr(0),
err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_ch0_hz, std::string("measured_doppler_error_ch_" + std::to_string(ch_id)));
//compute statistics
arma::vec err2_ch0 = arma::square(err_ch0_hz); arma::vec err2_ch0 = arma::square(err_ch0_hz);
double rmse_ch0 = sqrt(arma::mean(err2_ch0)); double rmse_ch0 = sqrt(arma::mean(err2_ch0));
@ -1089,19 +1126,26 @@ void HybridObservablesTest::check_results_duplicated_satellite(
} }
//check results against the test tolerance //check results against the test tolerance
ASSERT_LT(error_mean_ch0, 5); EXPECT_LT(error_mean_ch0, 5);
ASSERT_GT(error_mean_ch0, -5); EXPECT_GT(error_mean_ch0, -5);
//assuming PLL BW=35 //assuming PLL BW=35
ASSERT_LT(error_var_ch0, 250); EXPECT_LT(error_var_ch0, 250);
ASSERT_LT(max_error_ch0, 100); EXPECT_LT(max_error_ch0, 100);
ASSERT_GT(min_error_ch0, -100); EXPECT_GT(min_error_ch0, -100);
ASSERT_LT(rmse_ch0, 30); EXPECT_LT(rmse_ch0, 30);
//Carrier Phase error //Carrier Phase error
//2. RMSE //2. RMSE
arma::vec err_carrier_phase; arma::vec err_carrier_phase;
err_carrier_phase = delta_measured_carrier_phase_cycles; err_carrier_phase = delta_measured_carrier_phase_cycles;
//save matlab file for further analysis
std::vector<double> tmp_vector_err_carrier_phase(err_carrier_phase.colptr(0),
err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_carrier_phase, std::string("measured_carrier_phase_error_ch_" + std::to_string(ch_id)));
arma::vec err2_carrier_phase = arma::square(err_carrier_phase); arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase)); double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
@ -1143,18 +1187,24 @@ void HybridObservablesTest::check_results_duplicated_satellite(
} }
//check results against the test tolerance //check results against the test tolerance
ASSERT_LT(rmse_carrier_phase, 0.25); EXPECT_LT(rmse_carrier_phase, 0.25);
ASSERT_LT(error_mean_carrier_phase, 0.2); EXPECT_LT(error_mean_carrier_phase, 0.2);
ASSERT_GT(error_mean_carrier_phase, -0.2); EXPECT_GT(error_mean_carrier_phase, -0.2);
ASSERT_LT(error_var_carrier_phase, 0.5); EXPECT_LT(error_var_carrier_phase, 0.5);
ASSERT_LT(max_error_carrier_phase, 0.5); EXPECT_LT(max_error_carrier_phase, 0.5);
ASSERT_GT(min_error_carrier_phase, -0.5); EXPECT_GT(min_error_carrier_phase, -0.5);
//Pseudorange error //Pseudorange error
//2. RMSE //2. RMSE
arma::vec err_pseudorange; arma::vec err_pseudorange;
err_pseudorange = delta_measured_dist_m; err_pseudorange = delta_measured_dist_m;
//save matlab file for further analysis
std::vector<double> tmp_vector_err_pseudorange(err_pseudorange.colptr(0),
err_pseudorange.colptr(0) + err_pseudorange.n_rows);
save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_pseudorange, std::string("measured_pr_error_ch_" + std::to_string(ch_id)));
arma::vec err2_pseudorange = arma::square(err_pseudorange); arma::vec err2_pseudorange = arma::square(err_pseudorange);
double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange)); double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
@ -1196,12 +1246,12 @@ void HybridObservablesTest::check_results_duplicated_satellite(
} }
//check results against the test tolerance //check results against the test tolerance
ASSERT_LT(rmse_pseudorange, 3.0); EXPECT_LT(rmse_pseudorange, 3.0);
ASSERT_LT(error_mean_pseudorange, 1.0); EXPECT_LT(error_mean_pseudorange, 1.0);
ASSERT_GT(error_mean_pseudorange, -1.0); EXPECT_GT(error_mean_pseudorange, -1.0);
ASSERT_LT(error_var_pseudorange, 10.0); EXPECT_LT(error_var_pseudorange, 10.0);
ASSERT_LT(max_error_pseudorange, 10.0); EXPECT_LT(max_error_pseudorange, 10.0);
ASSERT_GT(min_error_pseudorange, -10.0); EXPECT_GT(min_error_pseudorange, -10.0);
} }
bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename) bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
@ -1827,6 +1877,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
check_results_duplicated_satellite( check_results_duplicated_satellite(
measured_obs_vec.at(sat1_ch_id), measured_obs_vec.at(sat1_ch_id),
measured_obs_vec.at(sat2_ch_id), measured_obs_vec.at(sat2_ch_id),
sat1_ch_id,
"Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " "); "Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " ");
} }
else else