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Improving tracking and observables unit test plots

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This commit is contained in:
Javier Arribas 2018-07-17 18:31:55 +02:00
parent 639eb0d59c
commit e88447675d
2 changed files with 140 additions and 13 deletions
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93
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -58,6 +58,8 @@
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
#include "gnss_sdr_sample_counter.h" #include "gnss_sdr_sample_counter.h"
#include <matio.h> #include <matio.h>
#include "test_flags.h"
#include "gnuplot_i.h"
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES ######### // ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@ -183,6 +185,7 @@ public:
int configure_generator(); int configure_generator();
int generate_signal(); int generate_signal();
bool save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename);
void check_results_carrier_phase( void check_results_carrier_phase(
arma::mat& true_ch0, arma::mat& true_ch0,
arma::mat& true_ch1, arma::mat& true_ch1,
@ -283,10 +286,12 @@ void HybridObservablesTest::configure_receiver()
config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "35.0"); config->set_property("Tracking_1C.pll_bw_hz", "5.0");
config->set_property("Tracking_1C.dll_bw_hz", "0.5"); config->set_property("Tracking_1C.dll_bw_hz", "0.20");
config->set_property("Tracking_1C.pll_bw_narrow_hz", "1.0");
config->set_property("Tracking_1C.dll_bw_narrow_hz", "0.1");
config->set_property("Tracking_1C.extend_correlation_symbols", "20");
config->set_property("Tracking_1C.early_late_space_chips", "0.5"); config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true"); config->set_property("TelemetryDecoder_1C.dump", "true");
config->set_property("Observables.dump", "true"); config->set_property("Observables.dump", "true");
@ -384,6 +389,41 @@ void HybridObservablesTest::check_results_carrier_phase(
} }
bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
{
try
{
// WRITE MAT FILE
mat_t* matfp;
matvar_t* matvar;
filename.append(".mat");
std::cout << "save_mat_xy write " << filename << std::endl;
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT5);
if (reinterpret_cast<long*>(matfp) != NULL)
{
size_t dims[2] = {1, x.size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
else
{
std::cout << "save_mat_xy: error creating file" << std::endl;
}
Mat_Close(matfp);
return true;
}
catch (const std::exception& ex)
{
std::cout << "save_mat_xy: " << ex.what() << std::endl;
return false;
}
}
void HybridObservablesTest::check_results_code_psudorange( void HybridObservablesTest::check_results_code_psudorange(
arma::mat& true_ch0, arma::mat& true_ch0,
arma::mat& true_ch1, arma::mat& true_ch1,
@ -397,7 +437,12 @@ void HybridObservablesTest::check_results_code_psudorange(
int size1 = measured_ch0.col(0).n_rows; int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows; int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0)); double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
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
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
arma::vec true_ch0_dist_interp; arma::vec true_ch0_dist_interp;
arma::vec true_ch1_dist_interp; arma::vec true_ch1_dist_interp;
@ -438,6 +483,31 @@ void HybridObservablesTest::check_results_code_psudorange(
<< " [meters]" << std::endl; << " [meters]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
//plots
Gnuplot g3("linespoints");
g3.set_title("Delta Pseudorange error [m]");
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Pseudorange error [m]");
//conversion between arma::vec and std:vector
std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector, range_error_m,
"Delta pseudorrange error");
g3.set_legend();
g3.savetops("Delta_pseudorrange_error");
g3.savetopdf("Delta_pseudorrange_error", 18);
if (FLAGS_show_plots)
{
g3.showonscreen(); // window output
}
else
{
g3.disablescreen();
}
//check results against the test tolerance
ASSERT_LT(rmse, 0.5); ASSERT_LT(rmse, 0.5);
ASSERT_LT(error_mean, 0.5); ASSERT_LT(error_mean, 0.5);
ASSERT_GT(error_mean, -0.5); ASSERT_GT(error_mean, -0.5);
@ -468,7 +538,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
tracking_true_obs_reader true_obs_data_ch1; tracking_true_obs_reader true_obs_data_ch1;
int test_satellite_PRN = FLAGS_test_satellite_PRN; int test_satellite_PRN = FLAGS_test_satellite_PRN;
int test_satellite_PRN2 = FLAGS_test_satellite_PRN2; int test_satellite_PRN2 = FLAGS_test_satellite_PRN2;
std::cout << "Testing satellite PRNs " << test_satellite_PRN << "," << test_satellite_PRN << std::endl; std::cout << "Testing satellite PRNs " << test_satellite_PRN << "," << test_satellite_PRN2 << std::endl;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn"); 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(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat"); true_obs_file.append(".dat");
@ -700,6 +770,21 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
} }
//Cut measurement initial transitory of the measurements //Cut measurement initial transitory of the measurements
double initial_transitory_s = 30.0;
index = arma::find(measured_ch0.col(0) >= (measured_ch0(0, 0) + initial_transitory_s), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch0.shed_rows(0, index(0));
}
index = arma::find(measured_ch1.col(0) >= (measured_ch1(0, 0) + initial_transitory_s), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch1.shed_rows(0, index(0));
}
index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first"); index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0)) if ((index.size() > 0) and (index(0) > 0))
{ {

60
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -540,6 +540,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<std::vector<double>> doppler_error_sweep; std::vector<std::vector<double>> doppler_error_sweep;
std::vector<std::vector<double>> code_phase_error_sweep; std::vector<std::vector<double>> code_phase_error_sweep;
std::vector<std::vector<double>> code_phase_error_meters_sweep;
std::vector<std::vector<double>> acc_carrier_phase_error_sweep; std::vector<std::vector<double>> acc_carrier_phase_error_sweep;
std::vector<double> mean_doppler_error; std::vector<double> mean_doppler_error;
@ -697,6 +698,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
{ {
std::vector<double> doppler_error_hz; std::vector<double> doppler_error_hz;
std::vector<double> code_phase_error_chips; std::vector<double> code_phase_error_chips;
std::vector<double> code_phase_error_meters;
std::vector<double> acc_carrier_phase_hz; std::vector<double> acc_carrier_phase_hz;
try try
@ -745,6 +747,10 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
rmse_doppler.push_back(rmse); rmse_doppler.push_back(rmse);
code_phase_error_chips = check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips, mean_error, std_dev_error, rmse); code_phase_error_chips = check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips, mean_error, std_dev_error, rmse);
for (unsigned int ii = 0; ii < code_phase_error_chips.size(); ii++)
{
code_phase_error_meters.push_back(GPS_L1_CA_CHIP_PERIOD * code_phase_error_chips.at(ii) * GPS_C_m_s);
}
mean_code_phase_error.push_back(mean_error); mean_code_phase_error.push_back(mean_error);
std_dev_code_phase_error.push_back(std_dev_error); std_dev_code_phase_error.push_back(std_dev_error);
rmse_code_phase.push_back(rmse); rmse_code_phase.push_back(rmse);
@ -760,6 +766,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
doppler_error_sweep.push_back(doppler_error_hz); doppler_error_sweep.push_back(doppler_error_hz);
code_phase_error_sweep.push_back(code_phase_error_chips); code_phase_error_sweep.push_back(code_phase_error_chips);
code_phase_error_meters_sweep.push_back(code_phase_error_meters);
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz);
} }
else else
@ -921,13 +928,48 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
code_phase_error_sweep.at(current_cn0_idx), code_phase_error_sweep.at(current_cn0_idx),
"Code_error_" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) + "Code_error_chips" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx))); std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
} }
g5.set_legend(); g5.set_legend();
g5.set_legend(); g5.set_legend();
g5.savetops("Code_error_output"); g5.savetops("Code_error_chips");
g5.savetopdf("Code_error_output", 18); g5.savetopdf("Code_error_chips", 18);
Gnuplot g5b("points");
if (FLAGS_show_plots)
{
g5b.showonscreen(); // window output
}
else
{
g5b.disablescreen();
}
g5b.set_title("Code delay error, PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g5b.set_grid();
g5b.set_xlabel("Time [s]");
g5b.set_ylabel("Code delay error [meters]");
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
try
{
g5b.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_meters_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
catch (const GnuplotException& ge)
{
}
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
code_phase_error_sweep.at(current_cn0_idx),
"Code_error_meters" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
}
g5b.set_legend();
g5b.set_legend();
g5b.savetops("Code_error_meters");
g5b.savetopdf("Code_error_meters", 18);
Gnuplot g6("points"); Gnuplot g6("points");
@ -957,13 +999,13 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
acc_carrier_phase_error_sweep.at(current_cn0_idx), acc_carrier_phase_error_sweep.at(current_cn0_idx),
"Carrier_phase_error_output" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) + "Carrier_phase_error" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx))); std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
} }
g6.set_legend(); g6.set_legend();
g6.set_legend(); g6.set_legend();
g6.savetops("Carrier_phase_error_output"); g6.savetops("Acc_carrier_phase_error_cycles");
g6.savetopdf("Carrier_phase_error_output", 18); g6.savetopdf("Acc_carrier_phase_error_cycles", 18);
Gnuplot g4("points"); Gnuplot g4("points");
if (FLAGS_show_plots) if (FLAGS_show_plots)
@ -995,12 +1037,12 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), save_mat_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx),
doppler_error_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx),
"Doppler_error_output" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) + "Doppler_error" + std::to_string(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)) +
std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx))); std::to_string(PLL_wide_bw_values.at(config_idx)) + "_" + std::to_string(DLL_wide_bw_values.at(config_idx)));
} }
g4.unset_multiplot(); g4.unset_multiplot();
g4.savetops("Doppler_error_output"); g4.savetops("Doppler_error_hz");
g4.savetopdf("Doppler_error_output", 18); g4.savetopdf("Doppler_error_hz", 18);
} }
} }
} }