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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into acq_performance

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Carles Fernandez 2018-06-24 11:36:14 +02:00
commit eef3221fa2
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4 changed files with 239 additions and 209 deletions
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1
src/tests/unit-tests/signal-processing-blocks/libs/observables_dump_reader.cc
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@ -97,7 +97,6 @@ bool observables_dump_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); 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); d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
std::cout << "Observables sum file opened, Log file: " << d_dump_filename.c_str() << std::endl;
return true; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

1
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
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@ -109,7 +109,6 @@ bool tracking_dump_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); 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); 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; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

1
src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
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@ -93,7 +93,6 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
d_dump_filename = out_file; d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); 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); d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
std::cout << "Tracking Log file: " << d_dump_filename.c_str() << " open ok " << std::endl;
return true; return true;
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)

445
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -69,7 +69,10 @@ DEFINE_double(DLL_bw_hz_start, 1.5, "DLL Wide configuration start sweep value [H
DEFINE_double(DLL_bw_hz_stop, 1.5, "DLL Wide configuration stop sweep value [Hz]"); DEFINE_double(DLL_bw_hz_stop, 1.5, "DLL Wide configuration stop sweep value [Hz]");
DEFINE_double(DLL_bw_hz_step, 0.25, "DLL Wide configuration sweep step value [Hz]"); DEFINE_double(DLL_bw_hz_step, 0.25, "DLL Wide configuration sweep step value [Hz]");
DEFINE_bool(plot_extra, false, "Enable or disable plots of the correlators output and constellation diagrams"); DEFINE_double(PLL_narrow_bw_hz, 5.0, "PLL Narrow configuration value [Hz]");
DEFINE_double(DLL_narrow_bw_hz, 0.75, "DLL Narrow configuration value [Hz]");
DEFINE_int32(plot_detail_level, 0, "Specify the desired plot detail (0,1,2): 0 - Minimum plots (default) 2 - Plot all tracking parameters");
//Emulated acquisition configuration //Emulated acquisition configuration
@ -110,7 +113,8 @@ void GpsL1CADllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
try try
{ {
long int message = pmt::to_long(msg); long int message = pmt::to_long(msg);
rx_message = message; rx_message = message; //3 -> loss of lock
//std::cout << "Received trk message: " << rx_message << std::endl;
} }
catch (boost::bad_any_cast& e) catch (boost::bad_any_cast& e)
{ {
@ -451,18 +455,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<std::vector<double>> std_dev_carrier_phase_error_sweep; //swep config param and cn0 sweep std::vector<std::vector<double>> std_dev_carrier_phase_error_sweep; //swep config param and cn0 sweep
std::vector<std::vector<double>> trk_valid_timestamp_s_sweep; std::vector<std::vector<double>> trk_valid_timestamp_s_sweep;
std::vector<std::vector<double>> generator_CN0_values_sweep_copy;
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
int test_satellite_PRN = 0; int test_satellite_PRN = 0;
double acq_delay_samples = 0.0; double acq_delay_samples = 0.0;
@ -470,35 +463,15 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
tracking_true_obs_reader true_obs_data; tracking_true_obs_reader true_obs_data;
//*********************************************
//***** STEP 3: Generate the input signal *****
//*********************************************
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
}
else
{
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
// open true observables log file written by the simulator
}
}
// CONFIG PARAM SWEEP LOOP // CONFIG PARAM SWEEP LOOP
std::vector<double> PLL_wide_bw_values; std::vector<double> PLL_wide_bw_values;
std::vector<double> DLL_wide_bw_values; std::vector<double> DLL_wide_bw_values;
//***********************************************************
//***** STEP 2: Tracking configuration parameters sweep *****
//***********************************************************
if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop) if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop)
{ {
if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop) if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop)
@ -510,7 +483,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
else else
{ {
//DLL BW Sweep //DLL BW Sweep
for (double dll_bw = FLAGS_DLL_bw_hz_start; dll_bw > FLAGS_DLL_bw_hz_stop; dll_bw = dll_bw - FLAGS_DLL_bw_hz_step) for (double dll_bw = FLAGS_DLL_bw_hz_start; dll_bw >= FLAGS_DLL_bw_hz_stop; dll_bw = dll_bw - FLAGS_DLL_bw_hz_step)
{ {
PLL_wide_bw_values.push_back(FLAGS_PLL_bw_hz_start); PLL_wide_bw_values.push_back(FLAGS_PLL_bw_hz_start);
DLL_wide_bw_values.push_back(dll_bw); DLL_wide_bw_values.push_back(dll_bw);
@ -520,14 +493,55 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
else else
{ {
//PLL BW Sweep //PLL BW Sweep
for (double pll_bw = FLAGS_PLL_bw_hz_start; pll_bw > FLAGS_PLL_bw_hz_stop; pll_bw = pll_bw - FLAGS_PLL_bw_hz_step) for (double pll_bw = FLAGS_PLL_bw_hz_start; pll_bw >= FLAGS_PLL_bw_hz_stop; pll_bw = pll_bw - FLAGS_PLL_bw_hz_step)
{ {
PLL_wide_bw_values.push_back(pll_bw); PLL_wide_bw_values.push_back(pll_bw);
DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start); DLL_wide_bw_values.push_back(FLAGS_DLL_bw_hz_start);
} }
} }
for (int config_idx = 0; config_idx < PLL_wide_bw_values.size(); config_idx++) //*********************************************
//***** STEP 3: Generate the input signal *****
//*********************************************
std::vector<double> cno_vector;
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
}
else
{
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
// open true observables log file written by the simulator
}
}
//************************************************************
//***** STEP 4: Configure the signal tracking parameters *****
//************************************************************
for (unsigned int config_idx = 0; config_idx < PLL_wide_bw_values.size(); config_idx++)
{ {
//CN0 LOOP //CN0 LOOP
// data containers for CN0 sweep // data containers for CN0 sweep
@ -549,13 +563,14 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::vector<double> std_dev_code_phase_error; std::vector<double> std_dev_code_phase_error;
std::vector<double> mean_carrier_phase_error; std::vector<double> mean_carrier_phase_error;
std::vector<double> std_dev_carrier_phase_error; std::vector<double> std_dev_carrier_phase_error;
std::vector<double> valid_CN0_values;
configure_receiver(PLL_wide_bw_values.at(config_idx), configure_receiver(PLL_wide_bw_values.at(config_idx),
DLL_wide_bw_values.at(config_idx), DLL_wide_bw_values.at(config_idx),
2.0, FLAGS_PLL_narrow_bw_hz,
1.0, FLAGS_DLL_narrow_bw_hz,
FLAGS_extend_correlation_symbols); FLAGS_extend_correlation_symbols);
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
//****************************************************************************************** //******************************************************************************************
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) **** //***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
@ -582,8 +597,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
//***** STEP 4: Configure the signal tracking parameters *****
//************************************************************
std::chrono::time_point<std::chrono::system_clock> start, end; std::chrono::time_point<std::chrono::system_clock> start, end;
top_block = gr::make_top_block("Tracking test"); top_block = gr::make_top_block("Tracking test");
@ -625,6 +638,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
//******************************************************************** //********************************************************************
//***** STEP 5: Perform the signal tracking and read the results ***** //***** STEP 5: Perform the signal tracking and read the results *****
//******************************************************************** //********************************************************************
std::cout << "------------ START TRACKING -------------" << std::endl;
tracking->start_tracking(); tracking->start_tracking();
EXPECT_NO_THROW({ EXPECT_NO_THROW({
@ -636,6 +650,8 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std::chrono::duration<double> elapsed_seconds = end - start; std::chrono::duration<double> elapsed_seconds = end - start;
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl; std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl;
int tracking_last_msg = msg_rx->rx_message; //save last aasynchronous tracking message in order to detect a loss of lock
//check results //check results
//load the measured values //load the measured values
tracking_dump_reader trk_dump; tracking_dump_reader trk_dump;
@ -643,7 +659,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
<< "Failure opening tracking dump file"; << "Failure opening tracking dump file";
long int n_measured_epochs = trk_dump.num_epochs(); long int n_measured_epochs = trk_dump.num_epochs();
std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl; //std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl;
arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1); arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1);
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1); arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1);
@ -694,11 +710,12 @@ 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> acc_carrier_phase_hz; std::vector<double> acc_carrier_phase_hz;
try try
{ {
// load the true values // load the true values
long int n_true_epochs = true_obs_data.num_epochs(); long int n_true_epochs = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << n_true_epochs << std::endl; //std::cout << "True observation epochs=" << n_true_epochs << std::endl;
arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1); arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1);
arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1); arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1);
@ -720,45 +737,47 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
double pull_in_offset_s = 1.0; 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"); arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
if (initial_meas_point.size() > 0 and tracking_last_msg != 3)
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_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.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_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.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);
double mean_error; double mean_error;
double std_dev_error; double std_dev_error;
doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz, mean_error, std_dev_error); valid_CN0_values.push_back(generator_CN0_values.at(current_cn0_idx)); //save the current cn0 value (valid tracking)
mean_doppler_error.push_back(mean_error);
std_dev_doppler_error.push_back(std_dev_error);
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); doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz, mean_error, std_dev_error);
mean_code_phase_error.push_back(mean_error); mean_doppler_error.push_back(mean_error);
std_dev_code_phase_error.push_back(std_dev_error); std_dev_doppler_error.push_back(std_dev_error);
acc_carrier_phase_hz = check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles, mean_error, std_dev_error); 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);
mean_carrier_phase_error.push_back(mean_error); mean_code_phase_error.push_back(mean_error);
std_dev_carrier_phase_error.push_back(std_dev_error); std_dev_code_phase_error.push_back(std_dev_error);
//save tracking measurement timestamps to std::vector acc_carrier_phase_hz = check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles, mean_error, std_dev_error);
std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows); mean_carrier_phase_error.push_back(mean_error);
trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s); std_dev_carrier_phase_error.push_back(std_dev_error);
doppler_error_sweep.push_back(doppler_error_hz); //save tracking measurement timestamps to std::vector
code_phase_error_sweep.push_back(code_phase_error_chips); std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows);
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz); trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s);
doppler_error_sweep.push_back(doppler_error_hz);
code_phase_error_sweep.push_back(code_phase_error_chips);
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz);
}
else
{
std::cout << "Tracking output could not be used, possible loss of lock " << std::endl;
}
} }
catch (const std::exception& ex) catch (const std::exception& ex)
{ {
std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl; std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl;
std::vector<double> vector_trk_timestamp_s;
trk_valid_timestamp_s_sweep.push_back(vector_trk_timestamp_s);
doppler_error_sweep.push_back(doppler_error_hz);
code_phase_error_sweep.push_back(code_phase_error_chips);
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz);
} }
} }
@ -772,9 +791,10 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
std_dev_code_phase_error_sweep.push_back(std_dev_code_phase_error); std_dev_code_phase_error_sweep.push_back(std_dev_code_phase_error);
mean_carrier_phase_error_sweep.push_back(mean_carrier_phase_error); mean_carrier_phase_error_sweep.push_back(mean_carrier_phase_error);
std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error); std_dev_carrier_phase_error_sweep.push_back(std_dev_carrier_phase_error);
//make a copy of the CN0 vector for each configuration parameter in order to filter the loss of lock events
generator_CN0_values_sweep_copy.push_back(valid_CN0_values);
} }
std::cout << "A\n\n\n";
//******************************** //********************************
//***** STEP 7: Plot results ***** //***** STEP 7: Plot results *****
//******************************** //********************************
@ -797,9 +817,9 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
Gnuplot::set_GNUPlotPath(gnuplot_path); Gnuplot::set_GNUPlotPath(gnuplot_path);
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate); unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
if (FLAGS_plot_extra) if (FLAGS_plot_detail_level >= 2)
{ {
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
Gnuplot g1("linespoints"); Gnuplot g1("linespoints");
g1.showonscreen(); // window output g1.showonscreen(); // window output
@ -819,7 +839,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g2.showonscreen(); // window output g2.showonscreen(); // window output
g2.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0), g2.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2)); ceil(static_cast<float>(generator_CN0_values.size()) / 2));
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
g2.reset_plot(); g2.reset_plot();
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_idx)) + "," + std::to_string(DLL_wide_bw_values.at(config_idx)) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
@ -839,7 +859,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g3.set_xlabel("Time [s]"); g3.set_xlabel("Time [s]");
g3.set_ylabel("Reported CN0 [dB-Hz]"); g3.set_ylabel("Reported CN0 [dB-Hz]");
g3.cmd("set key box opaque"); g3.cmd("set key box opaque");
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
g3.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), CN0_dBHz_sweep.at(current_cn0_idx), g3.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), CN0_dBHz_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate); std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
@ -850,63 +870,85 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
g3.showonscreen(); // window output g3.showonscreen(); // window output
} }
std::cout << "B\n\n\n";
//PLOT ERROR FIGURES (only if it is used the signal generator) //PLOT ERROR FIGURES (only if it is used the signal generator)
if (!FLAGS_enable_external_signal_file) if (!FLAGS_enable_external_signal_file)
{ {
Gnuplot g4("points"); if (FLAGS_plot_detail_level >= 1)
g4.showonscreen(); // window output
g4.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2));
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
g4.reset_plot(); Gnuplot g5("points");
g4.set_title(std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz] Doppler 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) + ")"); g5.showonscreen(); // window output
g4.set_grid(); g5.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) + ")");
//g4.cmd("set key box opaque"); g5.set_grid();
g4.set_xlabel("Time [s]"); g5.set_xlabel("Time [s]");
g4.set_ylabel("Dopper error [Hz]"); g5.set_ylabel("Code delay error [Chips]");
g4.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
//g4.set_legend(); for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
try
{
g5.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_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)
{
}
}
g5.set_legend();
g5.set_legend();
g5.savetops("Code_error_output");
g5.savetopdf("Code_error_output", 18);
Gnuplot g6("points");
g6.showonscreen(); // window output
g6.set_title("Accumulated carrier phase 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) + ")");
g6.set_grid();
g6.set_xlabel("Time [s]");
g6.set_ylabel("Accumulated carrier phase error [Cycles]");
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
try
{
g6.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), acc_carrier_phase_error_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)
{
}
}
g6.set_legend();
g6.set_legend();
g6.savetops("Carrier_phase_error_output");
g6.savetopdf("Carrier_phase_error_output", 18);
Gnuplot g4("points");
g4.showonscreen(); // window output
g4.set_multiplot(ceil(static_cast<float>(generator_CN0_values.size()) / 2.0),
ceil(static_cast<float>(generator_CN0_values.size()) / 2));
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
{
g4.reset_plot();
g4.set_title(std::to_string(static_cast<int>(round(generator_CN0_values_sweep_copy.at(config_idx).at(current_cn0_idx)))) + "[dB-Hz], 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) + ")");
g4.set_grid();
//g4.cmd("set key box opaque");
g4.set_xlabel("Time [s]");
g4.set_ylabel("Dopper error [Hz]");
try
{
g4.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), doppler_error_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)
{
}
}
g4.unset_multiplot();
g4.savetops("Doppler_error_output");
g4.savetopdf("Doppler_error_output", 18);
} }
g4.unset_multiplot();
g4.savetops("Doppler_error_output");
g4.savetopdf("Doppler_error_output", 18);
Gnuplot g5("points");
g5.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) + ")");
g5.set_grid();
g5.set_xlabel("Time [s]");
g5.set_ylabel("Code delay error [Chips]");
g5.cmd("set key box opaque");
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
g5.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
g5.set_legend();
g5.savetops("Code_error_output");
g5.savetopdf("Code_error_output", 18);
g5.showonscreen(); // window output
Gnuplot g6("points");
g6.set_title("Accumulated carrier phase 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) + ")");
g6.set_grid();
g6.set_xlabel("Time [s]");
g6.set_ylabel("Accumulated carrier phase error [Cycles]");
g6.cmd("set key box opaque");
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
g6.plot_xy(trk_valid_timestamp_s_sweep.at(current_cn0_idx), acc_carrier_phase_error_sweep.at(current_cn0_idx),
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
}
g6.set_legend();
g6.savetops("Carrier_phase_error_output");
g6.savetopdf("Carrier_phase_error_output", 18);
g6.showonscreen(); // window output
} }
} }
catch (const GnuplotException& ge) catch (const GnuplotException& ge)
@ -917,86 +959,77 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
} }
} }
if (FLAGS_plot_gps_l1_tracking_test == true) if (FLAGS_plot_gps_l1_tracking_test == true)
{ {
const std::string gnuplot_executable(FLAGS_gnuplot_executable); std::cout << "Ploting performance metrics..." << std::endl;
if (gnuplot_executable.empty()) try
{ {
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl; if (generator_CN0_values.size() > 1)
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{ {
if (generator_CN0_values.size() > 1) //plot metrics
Gnuplot g7("linespoints");
g7.showonscreen(); // window output
g7.set_title("Doppler error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g7.set_grid();
g7.set_xlabel("CN0 [dB-Hz]");
g7.set_ylabel("Doppler error [Hz]");
g7.set_pointsize(2);
g7.cmd("set termoption lw 2");
g7.cmd("set key box opaque");
for (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{ {
//plot metrics g7.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
mean_doppler_error_sweep.at(config_sweep_idx),
Gnuplot g7("linespoints"); std_dev_doppler_error_sweep.at(config_sweep_idx),
g7.set_title("Doppler error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); "PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
g7.set_grid(); +"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
g7.set_xlabel("CN0 [dB-Hz]");
g7.set_ylabel("Doppler error [Hz]");
g7.set_pointsize(2);
g7.cmd("set termoption lw 2");
g7.cmd("set key box opaque");
for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g7.plot_xy_err(generator_CN0_values,
mean_doppler_error_sweep.at(config_sweep_idx),
std_dev_doppler_error_sweep.at(config_sweep_idx),
"PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
}
g7.savetops("Doppler_error_metrics");
g7.savetopdf("Doppler_error_metrics", 18);
Gnuplot g8("linespoints");
g8.set_title("Accumulated carrier phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g8.set_grid();
g8.set_xlabel("CN0 [dB-Hz]");
g8.set_ylabel("Accumulated Carrier Phase error [Cycles]");
g8.cmd("set key box opaque");
g8.cmd("set termoption lw 2");
g8.set_pointsize(2);
for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g8.plot_xy_err(generator_CN0_values,
mean_carrier_phase_error_sweep.at(config_sweep_idx),
std_dev_carrier_phase_error_sweep.at(config_sweep_idx),
"PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
}
g8.savetops("Carrier_error_metrics");
g8.savetopdf("Carrier_error_metrics", 18);
Gnuplot g9("linespoints");
g9.set_title("Code Phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g9.set_grid();
g9.set_xlabel("CN0 [dB-Hz]");
g9.set_ylabel("Code Phase error [Chips]");
g9.cmd("set key box opaque");
g9.cmd("set termoption lw 2");
g9.set_pointsize(2);
for (int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g9.plot_xy_err(generator_CN0_values,
mean_code_phase_error_sweep.at(config_sweep_idx),
std_dev_code_phase_error_sweep.at(config_sweep_idx),
"PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
}
g9.savetops("Code_error_metrics");
g9.savetopdf("Code_error_metrics", 18);
} }
g7.savetops("Doppler_error_metrics");
g7.savetopdf("Doppler_error_metrics", 18);
Gnuplot g8("linespoints");
g8.set_title("Accumulated carrier phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g8.set_grid();
g8.set_xlabel("CN0 [dB-Hz]");
g8.set_ylabel("Accumulated Carrier Phase error [Cycles]");
g8.cmd("set key box opaque");
g8.cmd("set termoption lw 2");
g8.set_pointsize(2);
for (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g8.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
mean_carrier_phase_error_sweep.at(config_sweep_idx),
std_dev_carrier_phase_error_sweep.at(config_sweep_idx),
"PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
}
g8.savetops("Carrier_error_metrics");
g8.savetopdf("Carrier_error_metrics", 18);
Gnuplot g9("linespoints");
g9.set_title("Code Phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g9.set_grid();
g9.set_xlabel("CN0 [dB-Hz]");
g9.set_ylabel("Code Phase error [Chips]");
g9.cmd("set key box opaque");
g9.cmd("set termoption lw 2");
g9.set_pointsize(2);
for (unsigned int config_sweep_idx = 0; config_sweep_idx < mean_doppler_error_sweep.size(); config_sweep_idx++)
{
g9.plot_xy_err(generator_CN0_values_sweep_copy.at(config_sweep_idx),
mean_code_phase_error_sweep.at(config_sweep_idx),
std_dev_code_phase_error_sweep.at(config_sweep_idx),
"PLL/DLL BW: " + std::to_string(PLL_wide_bw_values.at(config_sweep_idx)) +
+"," + std::to_string(DLL_wide_bw_values.at(config_sweep_idx)) + " Hz");
}
g9.savetops("Code_error_metrics");
g9.savetopdf("Code_error_metrics", 18);
} }
catch (const GnuplotException& ge) }
{ catch (const GnuplotException& ge)
std::cout << ge.what() << std::endl; {
} std::cout << ge.what() << std::endl;
} }
} }
} }