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Better way to compute stdev

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This commit is contained in:
Carles Fernandez 2016-12-25 13:45:06 +01:00
parent 19bc085e89
commit f12e8b97f4
1 changed files with 12 additions and 15 deletions
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27
src/tests/system-tests/obs_gps_l1_system_test.cc
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@ -555,7 +555,6 @@ void Obs_Gps_L1_System_Test::check_results()
double mean_diff = 0.0; double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++) for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{ {
//std::cout << *iter_v << std::endl;
mean_diff = mean_diff + *iter_v; mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1; number_obs = number_obs + 1;
} }
@ -574,11 +573,11 @@ void Obs_Gps_L1_System_Test::check_results()
} }
double sum_ = std::accumulate(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), 0.0); double sum_ = std::accumulate(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), 0.0);
double mean_ = sum_ / mean_pr_diff_v.size(); double mean_ = sum_ / mean_pr_diff_v.size();
std::vector<double> diff_pr(mean_pr_diff_v.size()); double accum = 0.0;
std::transform(mean_pr_diff_v.begin(), mean_pr_diff_v.end(), diff_pr.begin(), std::for_each (std::begin(mean_pr_diff_v), std::end(mean_pr_diff_v), [&](const double d) {
std::bind2nd(std::minus<double>(), mean_)); accum += (d - mean_) * (d - mean_);
double sq_sum_pr = std::inner_product(diff_pr.begin(), diff_pr.end(), diff_pr.begin(), 0.0); });
double stdev_pr = std::sqrt(sq_sum_pr / mean_pr_diff_v.size()); double stdev_pr = std::sqrt(accum / (mean_pr_diff_v.size() - 1));
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl; std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 1.0); ASSERT_LT(stdev_pr, 1.0);
@ -591,7 +590,6 @@ void Obs_Gps_L1_System_Test::check_results()
double mean_diff = 0.0; double mean_diff = 0.0;
for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++) for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{ {
//std::cout << *iter_v << std::endl;
mean_diff = mean_diff + *iter_v; mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1; number_obs = number_obs + 1;
} }
@ -608,7 +606,7 @@ void Obs_Gps_L1_System_Test::check_results()
prn_id++; prn_id++;
} }
// Compute doppler error // Compute Doppler error
prn_id = 0; prn_id = 0;
std::vector<double> mean_doppler_v; std::vector<double> mean_doppler_v;
for(iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++) for(iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
@ -636,15 +634,14 @@ void Obs_Gps_L1_System_Test::check_results()
prn_id++; prn_id++;
} }
sum_ = std::accumulate(mean_doppler_v.begin(), mean_doppler_v.end(), 0.0); sum_ = std::accumulate(mean_doppler_v.begin(), mean_doppler_v.end(), 0.0);
mean_ = sum_ /mean_doppler_v.size(); mean_ = sum_ / mean_doppler_v.size();
std::vector<double> diff_dp(mean_doppler_v.size()); accum = 0.0;
std::transform(mean_doppler_v.begin(), mean_doppler_v.end(), diff_dp.begin(), std::for_each (std::begin(mean_doppler_v), std::end(mean_doppler_v), [&](const double d) {
std::bind2nd(std::minus<double>(), mean_)); accum += (d - mean_) * (d - mean_);
double sq_sum_dp = std::inner_product(diff_dp.begin(), diff_dp.end(), diff_dp.begin(), 0.0); });
double stdev_dp = std::sqrt(sq_sum_dp / mean_doppler_v.size()); double stdev_dp = std::sqrt(accum / (mean_doppler_v.size() - 1));
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl; std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 1.0); ASSERT_LT(stdev_dp, 1.0);
//return 0;
} }