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Merge branch 'next' into trk_hi_dyn

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This commit is contained in:
Antonio Ramos 2018-09-09 20:42:58 +02:00
commit f22a1586c7
74 changed files with 2228 additions and 2133 deletions
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3
CMakeLists.txt
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@ -76,6 +76,7 @@ endif(ENABLE_PACKAGING)
# Testing # Testing
option(ENABLE_UNIT_TESTING "Build unit tests" ON) option(ENABLE_UNIT_TESTING "Build unit tests" ON)
option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF) option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
option(ENABLE_SYSTEM_TESTING "Build system tests" OFF) option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF) option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
@ -341,7 +342,7 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1") set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5") set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable") set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0") set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master") set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10") set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12") set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")

12
README.md
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@ -229,20 +229,20 @@ $ sudo ldconfig
#### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test: #### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test:
~~~~~~ ~~~~~~
$ wget https://github.com/google/googletest/archive/release-1.8.0.zip $ wget https://github.com/google/googletest/archive/release-1.8.1.zip
$ unzip release-1.8.0.zip $ unzip release-1.8.1.zip
$ cd googletest-release-1.8.0 $ cd googletest-release-1.8.1
$ cmake -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF . $ cmake -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF .
$ make $ make
~~~~~~ ~~~~~~
Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line: Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line:
~~~~~~ ~~~~~~
export GTEST_DIR=/home/username/googletest-release-1.8.0/googletest export GTEST_DIR=/home/username/googletest-release-1.8.1/googletest
~~~~~~ ~~~~~~
changing `/home/username/googletest-release-1.8.0/googletest` by the actual directory where you built googletest. changing `/home/username/googletest-release-1.8.1/googletest` by the actual directory where you built googletest.

8
cmake/Modules/FindGFORTRAN.cmake
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@ -135,6 +135,14 @@
/usr/lib/sparc64-linux-gnu /usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32 /usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu /usr/lib/alpha-linux-gnu
/usr/lib/gcc/x86_64-linux-gnu/8 # libgfortran8
/usr/lib/gcc/aarch64-linux-gnu/8
/usr/lib/gcc/arm-linux-gnueabihf/8
/usr/lib/gcc/i686-linux-gnu/8
/usr/lib/gcc/powerpc64le-linux-gnu/8
/usr/lib/gcc/s390x-linux-gnu/8
/usr/lib/gcc/alpha-linux-gnu/8
) )
INCLUDE(FindPackageHandleStandardArgs) INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN) FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)

57
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -364,8 +364,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_rinexobs_rate_ms = rinexobs_rate_ms; d_rinexobs_rate_ms = rinexobs_rate_ms;
d_rinexnav_rate_ms = rinexnav_rate_ms; d_rinexnav_rate_ms = rinexnav_rate_ms;
d_dump_filename.append("_raw.dat"); dump_ls_pvt_filename.append("_pvt.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk); d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
d_ls_pvt->set_averaging_depth(1); d_ls_pvt->set_averaging_depth(1);
@ -374,23 +373,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_last_status_print_seg = 0; d_last_status_print_seg = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT dump file " << e.what();
}
}
}
// Create Sys V message queue // Create Sys V message queue
first_fix = true; first_fix = true;
@ -500,18 +482,6 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{ {
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty"; LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
} }
if (d_dump_file.is_open() == true)
{
try
{
d_dump_file.close();
}
catch (const std::exception& ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
} }
@ -2102,7 +2072,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
<< std::fixed << std::setprecision(3) << std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl; << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss); std::cout << std::setprecision(ss);
LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]"; DLOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
// boost::posix_time::ptime p_time; // boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time); // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
@ -2110,7 +2080,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6)); // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl; // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]"; << " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
@ -2119,27 +2089,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
<< d_ls_pvt->get_vdop() << d_ls_pvt->get_vdop()
<< " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */ << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
} }
// MULTIPLEXED FILE RECORDING - Record results to file
if (d_dump == true)
{
try
{
double tmp_double;
for (uint32_t i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][epoch].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = 0;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_rx_time), sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
} }
} }

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -122,7 +122,6 @@ private:
uint32_t d_nchannels; uint32_t d_nchannels;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file;
int32_t d_output_rate_ms; int32_t d_output_rate_ms;
int32_t d_display_rate_ms; int32_t d_display_rate_ms;

29
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -73,16 +73,9 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
omegatau = OMEGA_EARTH_DOT * traveltime; omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Build a rotation matrix ---------------------------------------------- //--- Build a rotation matrix ----------------------------------------------
arma::mat R3 = arma::zeros(3, 3); arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
R3(0, 0) = cos(omegatau); {-sin(omegatau), cos(omegatau), 0.0},
R3(0, 1) = sin(omegatau); {0.0, 0.0, 1.0}};
R3(0, 2) = 0.0;
R3(1, 0) = -sin(omegatau);
R3(1, 1) = cos(omegatau);
R3(1, 2) = 0.0;
R3(2, 0) = 0.0;
R3(2, 1) = 0.0;
R3(2, 2) = 1;
//--- Do the rotation ------------------------------------------------------ //--- Do the rotation ------------------------------------------------------
arma::vec X_sat_rot; arma::vec X_sat_rot;
@ -394,19 +387,9 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3, 3); arma::mat F = {{-sl, -sb * cl, cb * cl},
{cl, -sb * sl, cb * sl},
F(0, 0) = -sl; {0, 0, cb, sb}};
F(0, 1) = -sb * cl;
F(0, 2) = cb * cl;
F(1, 0) = cl;
F(1, 1) = -sb * sl;
F(1, 2) = cb * sl;
F(2, 0) = 0;
F(2, 1) = cb;
F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;

74
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -86,7 +86,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
} }
catch (const std::ifstream::failure& e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
} }
} }
} }
@ -103,7 +103,7 @@ rtklib_solver::~rtklib_solver()
} }
catch (const std::exception& ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
} }
} }
} }
@ -556,34 +556,78 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
try try
{ {
double tmp_double; double tmp_double;
uint32_t tmp_uint32;
// TOW
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// WEEK
tmp_uint32 = adjgpsweek(nav_data.eph[0].week);
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time // PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time; tmp_double = gnss_observables_map.begin()->second.RX_time;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// User clock offset [s] // User clock offset [s]
tmp_double = rx_position_and_time(3); tmp_double = rx_position_and_time(3);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
tmp_double = pvt_sol.rr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
tmp_double = pvt_sol.qr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Latitude [deg] // GEO user position Latitude [deg]
tmp_double = this->get_latitude(); tmp_double = get_latitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Longitude [deg] // GEO user position Longitude [deg]
tmp_double = this->get_longitude(); tmp_double = get_longitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Height [m] // GEO user position Height [m]
tmp_double = this->get_height(); tmp_double = get_height();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// NUMBER OF VALID SATS
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ns), sizeof(uint8_t));
// RTKLIB solution status
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
// AR ratio factor for validation
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
// AR ratio threshold for validation
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
// GDOP / PDOP/ HDOP/ VDOP
d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[3]), sizeof(double));
} }
catch (const std::ifstream::failure& e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what(); LOG(WARNING) << "Exception writing RTKLIB dump file " << e.what();
} }
} }
} }

4
src/algorithms/input_filter/adapters/CMakeLists.txt
View File

@ -37,6 +37,10 @@ include_directories(
${VOLK_INCLUDE_DIRS} ${VOLK_INCLUDE_DIRS}
) )
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h") file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
list(SORT INPUT_FILTER_ADAPTER_HEADERS) list(SORT INPUT_FILTER_ADAPTER_HEADERS)
add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS}) add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})

4
src/algorithms/input_filter/adapters/fir_filter.h
View File

@ -43,8 +43,12 @@
#include <gnuradio/blocks/float_to_char.h> #include <gnuradio/blocks/float_to_char.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/float_to_short.h> #include <gnuradio/blocks/float_to_short.h>
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h> #include <gnuradio/filter/fir_filter_ccf.h>
#include <gnuradio/filter/fir_filter_fff.h> #include <gnuradio/filter/fir_filter_fff.h>
#endif
#include <cmath> #include <cmath>
#include <string> #include <string>
#include <vector> #include <vector>

4
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.h
View File

@ -36,9 +36,13 @@
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "short_x2_to_cshort.h" #include "short_x2_to_cshort.h"
#include "complex_float_to_complex_byte.h" #include "complex_float_to_complex_byte.h"
#ifdef GR_GREATER_38
#include <gnuradio/filter/freq_xlating_fir_filter.h>
#else
#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h> #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
#include <gnuradio/filter/freq_xlating_fir_filter_fcf.h> #include <gnuradio/filter/freq_xlating_fir_filter_fcf.h>
#include <gnuradio/filter/freq_xlating_fir_filter_scf.h> #include <gnuradio/filter/freq_xlating_fir_filter_scf.h>
#endif
#include <gnuradio/blocks/file_sink.h> #include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/complex_to_float.h> #include <gnuradio/blocks/complex_to_float.h>
#include <gnuradio/blocks/char_to_short.h> #include <gnuradio/blocks/char_to_short.h>

4
src/algorithms/input_filter/adapters/pulse_blanking_filter.h
View File

@ -35,7 +35,11 @@
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "pulse_blanking_cc.h" #include "pulse_blanking_cc.h"
#include <gnuradio/blocks/file_sink.h> #include <gnuradio/blocks/file_sink.h>
#ifdef GR_GREATER_38
#include <gnuradio/filter/freq_xlating_fir_filter.h>
#else
#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h> #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
#endif
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;

2
src/algorithms/libs/galileo_e1_signal_processing.cc
View File

@ -108,7 +108,7 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn) void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
{ {
std::string _galileo_signal = _Signal; std::string _galileo_signal = _Signal;
const uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS); const uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (uint32_t i = 0; i < _codeLength; i++) for (uint32_t i = 0; i < _codeLength; i++)

4
src/algorithms/resampler/adapters/CMakeLists.txt
View File

@ -32,9 +32,9 @@ include_directories(
) )
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h") file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")

14
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
View File

@ -98,6 +98,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = nullptr;
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm; DataLength = (CodeLength / nn) - mm;
@ -114,7 +115,6 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
@ -133,6 +133,17 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
break; break;
} }
default: default:
d_bits_per_preamble = 0;
d_samples_per_preamble = 0;
d_preamble_period_symbols = 0;
d_preamble_samples = nullptr;
d_secondary_code_samples = nullptr;
d_samples_per_symbol = 0U;
d_PRN_code_period_ms = 0U;
d_required_symbols = 0U;
d_frame_length_symbols = 0.0;
CodeLength = 0;
DataLength = 0;
std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl; std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
} }
@ -412,6 +423,7 @@ void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_
} }
} }
void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{ {
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());

5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
View File

@ -29,8 +29,8 @@
*/ */
#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H #ifndef GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_galileo_telemetry_decoder_cc_H #define GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#include "Galileo_E1.h" #include "Galileo_E1.h"
@ -56,7 +56,6 @@ galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_S
/*! /*!
* \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD * \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
*
*/ */
class galileo_telemetry_decoder_cc : public gr::block class galileo_telemetry_decoder_cc : public gr::block
{ {

2
src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.h
View File

@ -1,5 +1,5 @@
/*! /*!
* \file GPS_L1_CA_KF_Tracking.h * \file gps_l1_ca_kf_tracking.h
* \brief Interface of an adapter of a DLL + Kalman carrier * \brief Interface of an adapter of a DLL + Kalman carrier
* tracking loop block for GPS L1 C/A signals * tracking loop block for GPS L1 C/A signals
* \author Javier Arribas, 2018. jarribas(at)cttc.es * \author Javier Arribas, 2018. jarribas(at)cttc.es

4
src/core/receiver/CMakeLists.txt
View File

@ -98,9 +98,9 @@ if(ENABLE_AD9361)
set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_AD9361) endif(ENABLE_AD9361)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
include_directories( include_directories(

43
src/tests/CMakeLists.txt
View File

@ -18,6 +18,7 @@
add_subdirectory(unit-tests/signal-processing-blocks/libs) add_subdirectory(unit-tests/signal-processing-blocks/libs)
add_subdirectory(system-tests/libs)
################################################################################ ################################################################################
# Google Test - https://github.com/google/googletest # Google Test - https://github.com/google/googletest
@ -54,7 +55,7 @@ if(NOT ${GTEST_DIR_LOCAL})
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION} GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
INSTALL_COMMAND "" INSTALL_COMMAND ""
@ -66,7 +67,7 @@ if(NOT ${GTEST_DIR_LOCAL})
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION} GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
@ -135,6 +136,10 @@ if(Boost_VERSION LESS 105000)
add_definitions(-DOLD_BOOST=1) add_definitions(-DOLD_BOOST=1)
endif(Boost_VERSION LESS 105000) endif(Boost_VERSION LESS 105000)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
if(OPENSSL_FOUND) if(OPENSSL_FOUND)
add_definitions( -DUSE_OPENSSL_FALLBACK=1 ) add_definitions( -DUSE_OPENSSL_FALLBACK=1 )
endif(OPENSSL_FOUND) endif(OPENSSL_FOUND)
@ -166,6 +171,10 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
if(ENABLE_UNIT_TESTING_MINIMAL)
add_definitions(-DUNIT_TESTING_MINIMAL=1)
endif(ENABLE_UNIT_TESTING_MINIMAL)
################################################################################ ################################################################################
# Optional generator # Optional generator
@ -342,6 +351,7 @@ set(LIST_INCLUDE_DIRS
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/tests/unit-tests/signal-processing-blocks/libs ${CMAKE_SOURCE_DIR}/src/tests/unit-tests/signal-processing-blocks/libs
${CMAKE_SOURCE_DIR}/src/tests/system-tests/libs
${CMAKE_SOURCE_DIR}/src/tests/common-files ${CMAKE_SOURCE_DIR}/src/tests/common-files
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
@ -489,29 +499,24 @@ if(ENABLE_SYSTEM_TESTING)
${GTEST_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GTEST_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES}
${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES}
${GNURADIO_ANALOG_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_ANALOG_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}
gnss_sp_libs gnss_rx gnss_system_parameters ) gnss_sp_libs gnss_rx gnss_system_parameters
system_testing_lib)
add_system_test(position_test) add_system_test(position_test)
if(GPSTK_FOUND OR OWN_GPSTK) #if(GPSTK_FOUND OR OWN_GPSTK)
## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST ## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST
set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES} # set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
gnss_sp_libs gnss_rx ${gpstk_libs} ) # gnss_sp_libs gnss_rx ${gpstk_libs} )
set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk) # set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
add_system_test(obs_gps_l1_system_test) # add_system_test(obs_gps_l1_system_test)
add_system_test(obs_system_test) # add_system_test(obs_system_test)
endif(GPSTK_FOUND OR OWN_GPSTK) #endif(GPSTK_FOUND OR OWN_GPSTK)
else(ENABLE_SYSTEM_TESTING_EXTRA) else(ENABLE_SYSTEM_TESTING_EXTRA)
# Avoid working with old executables if they were switched ON and then OFF # Avoid working with old executables if they were switched ON and then OFF
if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test) if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test) file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test) endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(ENABLE_SYSTEM_TESTING_EXTRA) endif(ENABLE_SYSTEM_TESTING_EXTRA)
else(ENABLE_SYSTEM_TESTING) else(ENABLE_SYSTEM_TESTING)
# Avoid working with old executables if they were switched ON and then OFF # Avoid working with old executables if they were switched ON and then OFF
@ -521,12 +526,6 @@ else(ENABLE_SYSTEM_TESTING)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test) if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test) file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test) endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
endif(ENABLE_SYSTEM_TESTING) endif(ENABLE_SYSTEM_TESTING)

2
src/tests/common-files/signal_generator_flags.h
View File

@ -38,7 +38,7 @@ DEFINE_bool(disable_generator, false, "Disable the signal generator (a external
DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary"); DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file"); DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]"); DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]");
DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]"); DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [latitude,longitude,height]");
DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format"); DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file"); DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file"); DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");

44
src/tests/system-tests/libs/CMakeLists.txt Normal file
View File

@ -0,0 +1,44 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
set(SYSTEM_TESTING_LIB_SOURCES
geofunctions.cc
spirent_motion_csv_dump_reader.cc
rtklib_solver_dump_reader.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
)
file(GLOB SYSTEM_TESTING_LIB_HEADERS "*.h")
list(SORT SYSTEM_TESTING_LIB_HEADERS)
add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LIB_HEADERS})
source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
if(NOT MATIO_FOUND)
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
else(NOT MATIO_FOUND)
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE})
endif(NOT MATIO_FOUND)

460
src/tests/system-tests/libs/geofunctions.cc Normal file
View File

@ -0,0 +1,460 @@
/*!
* \file geofunctions.cc
* \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "geofunctions.h"
const double STRP_G_SI = 9.80665;
const double STRP_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
arma::mat Skew_symmetric(const arma::vec &a)
{
arma::mat A = arma::zeros(3, 3);
A << 0.0 << -a(2) << a(1) << arma::endr
<< a(2) << 0.0 << -a(0) << arma::endr
<< -a(1) << a(0) << 0 << arma::endr;
// {{0, -a(2), a(1)},
// {a(2), 0, -a(0)},
// {-a(1), a(0), 0}};
return A;
}
double WGS84_g0(double Lat_rad)
{
const double k = 0.001931853; // normal gravity constant
const double e2 = 0.00669438002290; // the square of the first numerical eccentricity
const double nge = 9.7803253359; // normal gravity value on the equator (m/sec^2)
double b = sin(Lat_rad); // Lat in degrees
b = b * b;
double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
return g0;
}
double WGS84_geocentric_radius(double Lat_geodetic_rad)
{
// WGS84 earth model Geocentric radius (Eq. 2.88)
const double WGS84_A = 6378137.0; // Semi-major axis of the Earth, a [m]
const double WGS84_IF = 298.257223563; // Inverse flattening of the Earth
const double WGS84_F = (1.0 / WGS84_IF); // The flattening of the Earth
// double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); // Eccentricity of the Earth
// transverse radius of curvature
double R_E = WGS84_A / sqrt(1 - WGS84_E * WGS84_E * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.66)
// geocentric radius at the Earth surface
double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
(1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88)
return r_eS;
}
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{
double lambda;
double phi;
double h;
const double dtr = STRP_PI / 180.0;
const double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
const double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
double cl = cos(lambda * dtr);
double sl = sin(lambda * dtr);
double cb = cos(phi * dtr);
double sb = sin(phi * dtr);
arma::mat F = {{-sl, -sb * cl, cb * cl},
{cl, -sb * sl, cb * sl},
{0.0, cb, sb}};
arma::vec local_vector;
local_vector = arma::htrans(F) * dx;
double E = local_vector(0);
double N = local_vector(1);
double U = local_vector(2);
double hor_dis;
hor_dis = sqrt(E * E + N * N);
if (hor_dis < 1.0E-20)
{
*Az = 0.0;
*El = 90.0;
}
else
{
*Az = atan2(E, N) / dtr;
*El = atan2(U, hor_dis) / dtr;
}
if (*Az < 0)
{
*Az = *Az + 360.0;
}
*D = sqrt(dx(0) * dx(0) + dx(1) * dx(1) + dx(2) * dx(2));
return 0;
}
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
{
*h = 0.0;
const double tolsq = 1.e-10; // tolerance to accept convergence
const int maxit = 10; // max number of iterations
const double rtd = 180.0 / STRP_PI;
// compute square of eccentricity
double esq;
if (finv < 1.0E-20)
{
esq = 0.0;
}
else
{
esq = (2.0 - 1.0 / finv) / finv;
}
// first guess
double P = sqrt(X * X + Y * Y); // P is distance from spin axis
// direct calculation of longitude
if (P > 1.0E-20)
{
*dlambda = atan2(Y, X) * rtd;
}
else
{
*dlambda = 0.0;
}
// correct longitude bound
if (*dlambda < 0)
{
*dlambda = *dlambda + 360.0;
}
double r = sqrt(P * P + Z * Z); // r is distance from origin (0,0,0)
double sinphi;
if (r > 1.0E-20)
{
sinphi = Z / r;
}
else
{
sinphi = 0.0;
}
*dphi = asin(sinphi);
// initial value of height = distance from origin minus
// approximate distance from origin to surface of ellipsoid
if (r < 1.0E-20)
{
*h = 0.0;
return 1;
}
*h = r - a * (1 - sinphi * sinphi / finv);
// iterate
double cosphi;
double N_phi;
double dP;
double dZ;
double oneesq = 1.0 - esq;
for (int i = 0; i < maxit; i++)
{
sinphi = sin(*dphi);
cosphi = cos(*dphi);
// compute radius of curvature in prime vertical direction
N_phi = a / sqrt(1 - esq * sinphi * sinphi);
// compute residuals in P and Z
dP = P - (N_phi + (*h)) * cosphi;
dZ = Z - (N_phi * oneesq + (*h)) * sinphi;
// update height and latitude
*h = *h + (sinphi * dZ + cosphi * dP);
*dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
// test for convergence
if ((dP * dP + dZ * dZ) < tolsq)
{
break;
}
if (i == (maxit - 1))
{
// LOG(WARNING) << "The computation of geodetic coordinates did not converge";
}
}
*dphi = (*dphi) * rtd;
return 0;
}
arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
{
// Parameters
const double R_0 = 6378137; // WGS84 Equatorial radius in meters
const double mu = 3.986004418E14; // WGS84 Earth gravitational constant (m^3 s^-2)
const double J_2 = 1.082627E-3; // WGS84 Earth's second gravitational constant
const double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
// Calculate distance from center of the Earth
double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
// If the input position is 0,0,0, produce a dummy output
arma::vec g = arma::zeros(3, 1);
if (mag_r != 0)
{
// Calculate gravitational acceleration using (2.142)
double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
(1 - z_scale) * r_eb_e(1),
(3 - z_scale) * r_eb_e(2)};
arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
// Add centripetal acceleration using (2.133)
g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
g(2) = gamma_(2);
}
return g;
}
arma::vec LLH_to_deg(arma::vec &LLH)
{
const double rtd = 180.0 / STRP_PI;
LLH(0) = LLH(0) * rtd;
LLH(1) = LLH(1) * rtd;
return LLH;
}
double degtorad(double angleInDegrees)
{
double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
return angleInRadians;
}
double radtodeg(double angleInRadians)
{
double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
return angleInDegrees;
}
double mstoknotsh(double MetersPerSeconds)
{
double knots = mstokph(MetersPerSeconds) * 0.539957;
return knots;
}
double mstokph(double MetersPerSeconds)
{
double kph = 3600.0 * MetersPerSeconds / 1e3;
return kph;
}
arma::vec CTM_to_Euler(arma::mat &C)
{
// Calculate Euler angles using (2.23)
arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(C(1, 2), C(2, 2)); // roll
if (C(0, 2) < -1.0) C(0, 2) = -1.0;
if (C(0, 2) > 1.0) C(0, 2) = 1.0;
eul(1) = -asin(C(0, 2)); // pitch
eul(2) = atan2(C(0, 1), C(0, 0)); // yaw
return eul;
}
arma::mat Euler_to_CTM(const arma::vec &eul)
{
// Eq.2.15
// Euler angles to Attitude matrix is equivalent to rotate the body
// in the three axes:
// arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
// arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
// arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
// arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
// C_b_n=C_b_n.t();
// Precalculate sines and cosines of the Euler angles
double sin_phi = sin(eul(0));
double cos_phi = cos(eul(0));
double sin_theta = sin(eul(1));
double cos_theta = cos(eul(1));
double sin_psi = sin(eul(2));
double cos_psi = cos(eul(2));
// Calculate coordinate transformation matrix using (2.22)
arma::mat C = {{cos_theta * cos_psi, cos_theta * sin_psi, -sin_theta},
{-cos_phi * sin_psi + sin_phi * sin_theta * cos_psi, cos_phi * cos_psi + sin_phi * sin_theta * sin_psi, sin_phi * cos_theta},
{sin_phi * sin_psi + cos_phi * sin_theta * cos_psi, -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi, cos_phi * cos_theta}};
return C;
}
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
{
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(XYZ[1], XYZ[0]);
double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
double phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
double h = 0.1;
double oldh = 0.0;
double N;
int iterations = 0;
do
{
oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
h = sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) / cos(phi) - N;
iterations = iterations + 1;
if (iterations > 100)
{
//std::cout << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
break;
}
}
while (std::abs(h - oldh) > 1.0e-12);
arma::vec LLH = {{phi, lambda, h}}; //radians
return LLH;
}
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
{
// Compute the Latitude of the ECEF position
LLH = cart2geo(r_eb_e, 4); // ECEF -> WGS84 geographical
// Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1));
// C++11 and arma >= 5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; // ECEF to Geo
// Transform velocity using (2.73)
v_eb_n = C_e_n * v_eb_e;
C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED
}
void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
{
// Parameters
double R_0 = 6378137; // WGS84 Equatorial radius in meters
double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
// Convert position using (2.112)
double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1));
r_eb_e = {(R_E + LLH(2)) * cos_lat * cos_long,
(R_E + LLH(2)) * cos_lat * sin_long,
((1 - e * e) * R_E + LLH(2)) * sin_lat};
// Calculate ECEF to Geo coordinate transformation matrix using (2.150)
// C++11 and arma>=5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n;
// Transform attitude using (2.15)
C_b_e = C_e_n.t() * C_b_n;
}
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
{
// Parameters
const double R_0 = 6378137; // WGS84 Equatorial radius in meters
const double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));
// Convert position using (2.112)
double cos_lat = cos(L_b);
double sin_lat = sin(L_b);
double cos_long = cos(lambda_b);
double sin_long = sin(lambda_b);
r_eb_e = {(R_E + h_b) * cos_lat * cos_long,
(R_E + h_b) * cos_lat * sin_long,
((1 - pow(e, 2)) * R_E + h_b) * sin_lat};
// Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n;
}

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/*!
* \file geofunctions.h
* \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GEOFUNCTIONS_H
#define GNSS_SDR_GEOFUNCTIONS_H
#include <armadillo>
arma::mat Skew_symmetric(const arma::vec &a); //!< Calculates skew-symmetric matrix
double WGS84_g0(double Lat_rad);
double WGS84_geocentric_radius(double Lat_geodetic_rad);
/*!
* \brief Transformation of vector dx into topocentric coordinate
* system with origin at x
* Inputs:
* x - vector origin coordinates (in ECEF system [X; Y; Z;])
* dx - vector ([dX; dY; dZ;]).
*
* Outputs:
* D - vector length. Units like the input
* Az - azimuth from north positive clockwise, degrees
* El - elevation angle, degrees
*
* Based on a Matlab function by Kai Borre
*/
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/*!
* \brief Subroutine to calculate geodetic coordinates latitude, longitude,
* height given Cartesian coordinates X,Y,Z, and reference ellipsoid
* values semi-major axis (a) and the inverse of flattening (finv).
*
* The output units of angular quantities will be in decimal degrees
* (15.5 degrees not 15 deg 30 min). The output units of h will be the
* same as the units of X,Y,Z,a.
*
* Inputs:
* a - semi-major axis of the reference ellipsoid
* finv - inverse of flattening of the reference ellipsoid
* X,Y,Z - Cartesian coordinates
*
* Outputs:
* dphi - latitude
* dlambda - longitude
* h - height above reference ellipsoid
*
* Based in a Matlab function by Kai Borre
*/
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
arma::mat Gravity_ECEF(const arma::vec &r_eb_e); //!< Calculates acceleration due to gravity resolved about ECEF-frame
/*!
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
* coordinates (latitude, longitude, h) on a selected reference ellipsoid.
*
* Choices of Reference Ellipsoid for Geographical Coordinates
* 0. International Ellipsoid 1924
* 1. International Ellipsoid 1967
* 2. World Geodetic System 1972
* 3. Geodetic Reference System 1980
* 4. World Geodetic System 1984
*/
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
arma::vec LLH_to_deg(arma::vec &LLH);
double degtorad(double angleInDegrees);
double radtodeg(double angleInRadians);
double mstoknotsh(double MetersPerSeconds);
double mstokph(double Kph);
arma::vec CTM_to_Euler(arma::mat &C);
arma::mat Euler_to_CTM(const arma::vec &eul);
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
/*!
* \brief From Geographic to ECEF coordinates
*
* Inputs:
* LLH latitude (rad), longitude (rad), height (m)
* v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
* north, east, and down (m/s)
* C_b_n body-to-NED coordinate transformation matrix
*
* Outputs:
* r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
* along ECEF-frame axes (m)
* v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
* ECEF-frame axes (m/s)
* C_b_e body-to-ECEF-frame coordinate transformation matrix
*
*/
void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
/*!
* \brief Converts curvilinear to Cartesian position and velocity
* resolving axes from NED to ECEF
* This function created 11/4/2012 by Paul Groves
*
* Inputs:
* L_b latitude (rad)
* lambda_b longitude (rad)
* h_b height (m)
* v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
* north, east, and down (m/s)
*
* Outputs:
* r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
* along ECEF-frame axes (m)
* v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
* ECEF-frame axes (m/s)
*/
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
#endif

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/*!
* \file signal_generator_flags.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_POSITION_TEST_FLAGS_H_
#define GNSS_SDR_POSITION_TEST_FLAGS_H_
#include <gflags/gflags.h>
#include <limits>
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of with gnuplot");
DEFINE_bool(static_scenario, true, "Compute figures of merit for static user position (DRMS, CEP, etc..)");
DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back to KML PVT file (contains only position information)");
DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
#endif

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/*!
* \file rtklib_solver_dump_reader.cc
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "rtklib_solver_dump_reader.h"
#include <iostream>
bool rtklib_solver_dump_reader::read_binary_obs()
{
try
{
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(uint32_t));
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(uint32_t));
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[1]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[2]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[3]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[4]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[5]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[1]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[2]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[3]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[4]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[5]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(uint8_t));
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(uint8_t));
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(uint8_t));
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&dop[1]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&dop[2]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&dop[3]), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
return false;
}
return true;
}
bool rtklib_solver_dump_reader::restart()
{
if (d_dump_file.is_open())
{
d_dump_file.clear();
d_dump_file.seekg(0, std::ios::beg);
return true;
}
else
{
return false;
}
}
int64_t rtklib_solver_dump_reader::num_epochs()
{
std::ifstream::pos_type size;
int epoch_size_bytes = 2 * sizeof(uint32_t) + 21 * sizeof(double) + 3 * sizeof(uint8_t) + 2 * sizeof(float);
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;
}
}
bool rtklib_solver_dump_reader::open_obs_file(std::string out_file)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = out_file;
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);
return true;
}
catch (const std::ifstream::failure &e)
{
std::cout << "Problem opening rtklib_solver dump Log file: " << d_dump_filename.c_str() << std::endl;
return false;
}
}
else
{
return false;
}
}
rtklib_solver_dump_reader::~rtklib_solver_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}

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/*!
* \file rtklib_solver_dump_reader.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
#define GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
#include <cstdint>
#include <fstream>
#include <string>
#include <vector>
class rtklib_solver_dump_reader
{
public:
~rtklib_solver_dump_reader();
bool read_binary_obs();
bool restart();
int64_t num_epochs();
bool open_obs_file(std::string out_file);
// rtklib_solver dump variables
// TOW
uint32_t TOW_at_current_symbol_ms;
// WEEK
uint32_t week;
// PVT GPS time
double RX_time;
// User clock offset [s]
double clk_offset_s;
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
double rr[6];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
double qr[6];
// GEO user position Latitude [deg]
double latitude;
// GEO user position Longitude [deg]
double longitude;
// GEO user position Height [m]
double height;
// NUMBER OF VALID SATS
uint8_t ns;
// RTKLIB solution status
uint8_t status;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
uint8_t type;
// AR ratio factor for validation
float AR_ratio;
// AR ratio threshold for validation
float AR_thres;
// GDOP / PDOP / HDOP / VDOP
double dop[4];
private:
std::string d_dump_filename;
std::ifstream d_dump_file;
};
#endif //GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H

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/*!
* \file spirent_motion_csv_dump_reader.cc
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "spirent_motion_csv_dump_reader.h"
#include <boost/tokenizer.hpp>
#include <iostream>
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
{
header_lines = 2;
TOW_ms = 0.0;
Pos_X = 0.0;
Pos_Y = 0.0;
Pos_Z = 0.0;
Vel_X = 0.0;
Vel_Y = 0.0;
Vel_Z = 0.0;
Acc_X = 0.0;
Acc_Y = 0.0;
Acc_Z = 0.0;
Jerk_X = 0.0;
Jerk_Y = 0.0;
Jerk_Z = 0.0;
Lat = 0.0;
Long = 0.0;
Height = 0.0;
Heading = 0.0;
Elevation = 0.0;
Bank = 0.0;
Ang_vel_X = 0.0;
Ang_vel_Y = 0.0;
Ang_vel_Z = 0.0;
Ang_acc_X = 0.0;
Ang_acc_Y = 0.0;
Ang_acc_Z = 0.0;
Ant1_Pos_X = 0.0;
Ant1_Pos_Y = 0.0;
Ant1_Pos_Z = 0.0;
Ant1_Vel_X = 0.0;
Ant1_Vel_Y = 0.0;
Ant1_Vel_Z = 0.0;
Ant1_Acc_X = 0.0;
Ant1_Acc_Y = 0.0;
Ant1_Acc_Z = 0.0;
Ant1_Lat = 0.0;
Ant1_Long = 0.0;
Ant1_Height = 0.0;
Ant1_DOP = 0.0;
}
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}
bool spirent_motion_csv_dump_reader::read_csv_obs()
{
try
{
std::vector<double> vec;
std::string line;
if (getline(d_dump_file, line))
{
boost::tokenizer<boost::escaped_list_separator<char>> tk(
line, boost::escaped_list_separator<char>('\\', ',', '\"'));
for (boost::tokenizer<boost::escaped_list_separator<char>>::iterator i(
tk.begin());
i != tk.end(); ++i)
{
try
{
vec.push_back(std::stod(*i));
}
catch (const std::exception &ex)
{
vec.push_back(0.0);
}
}
parse_vector(vec);
}
}
catch (const std::ifstream::failure &e)
{
return false;
}
return true;
}
bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
{
try
{
int n = 0;
TOW_ms = vec.at(n++);
Pos_X = vec.at(n++);
Pos_Y = vec.at(n++);
Pos_Z = vec.at(n++);
Vel_X = vec.at(n++);
Vel_Y = vec.at(n++);
Vel_Z = vec.at(n++);
Acc_X = vec.at(n++);
Acc_Y = vec.at(n++);
Acc_Z = vec.at(n++);
Jerk_X = vec.at(n++);
Jerk_Y = vec.at(n++);
Jerk_Z = vec.at(n++);
Lat = vec.at(n++);
Long = vec.at(n++);
Height = vec.at(n++);
Heading = vec.at(n++);
Elevation = vec.at(n++);
Bank = vec.at(n++);
Ang_vel_X = vec.at(n++);
Ang_vel_Y = vec.at(n++);
Ang_vel_Z = vec.at(n++);
Ang_acc_X = vec.at(n++);
Ang_acc_Y = vec.at(n++);
Ang_acc_Z = vec.at(n++);
Ant1_Pos_X = vec.at(n++);
Ant1_Pos_Y = vec.at(n++);
Ant1_Pos_Z = vec.at(n++);
Ant1_Vel_X = vec.at(n++);
Ant1_Vel_Y = vec.at(n++);
Ant1_Vel_Z = vec.at(n++);
Ant1_Acc_X = vec.at(n++);
Ant1_Acc_Y = vec.at(n++);
Ant1_Acc_Z = vec.at(n++);
Ant1_Lat = vec.at(n++);
Ant1_Long = vec.at(n++);
Ant1_Height = vec.at(n++);
Ant1_DOP = vec.at(n++);
return true;
}
catch (const std::exception &ex)
{
return false;
}
}
bool spirent_motion_csv_dump_reader::restart()
{
if (d_dump_file.is_open())
{
d_dump_file.clear();
d_dump_file.seekg(0, std::ios::beg);
std::string line;
for (int n = 0; n < header_lines; n++)
{
getline(d_dump_file, line);
}
return true;
}
else
{
return false;
}
}
int64_t spirent_motion_csv_dump_reader::num_epochs()
{
int64_t nepoch = 0LL;
std::string line;
std::ifstream tmpfile(d_dump_filename.c_str());
if (tmpfile.is_open())
{
while (std::getline(tmpfile, line))
{
++nepoch;
}
return nepoch - header_lines;
}
else
{
return 0;
}
}
bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = out_file;
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str());
std::string line;
for (int n = 0; n < header_lines; n++)
{
getline(d_dump_file, line);
}
return true;
}
catch (const std::ifstream::failure &e)
{
std::cout << "Problem opening Spirent CSV dump Log file: " << d_dump_filename.c_str() << std::endl;
return false;
}
}
else
{
return false;
}
}
void spirent_motion_csv_dump_reader::close_obs_file()
{
if (d_dump_file.is_open() == false)
{
d_dump_file.close();
}
}

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/*!
* \file spirent_motion_csv_dump_reader.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#define GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#include <cstdint>
#include <fstream>
#include <string>
#include <vector>
class spirent_motion_csv_dump_reader
{
public:
spirent_motion_csv_dump_reader();
~spirent_motion_csv_dump_reader();
bool read_csv_obs();
bool restart();
int64_t num_epochs();
bool open_obs_file(std::string out_file);
void close_obs_file();
int header_lines;
// dump variables
double TOW_ms;
double Pos_X;
double Pos_Y;
double Pos_Z;
double Vel_X;
double Vel_Y;
double Vel_Z;
double Acc_X;
double Acc_Y;
double Acc_Z;
double Jerk_X;
double Jerk_Y;
double Jerk_Z;
double Lat;
double Long;
double Height;
double Heading;
double Elevation;
double Bank;
double Ang_vel_X;
double Ang_vel_Y;
double Ang_vel_Z;
double Ang_acc_X;
double Ang_acc_Y;
double Ang_acc_Z;
double Ant1_Pos_X;
double Ant1_Pos_Y;
double Ant1_Pos_Z;
double Ant1_Vel_X;
double Ant1_Vel_Y;
double Ant1_Vel_Z;
double Ant1_Acc_X;
double Ant1_Acc_Y;
double Ant1_Acc_Z;
double Ant1_Lat;
double Ant1_Long;
double Ant1_Height;
double Ant1_DOP;
private:
std::string d_dump_filename;
std::ifstream d_dump_file;
bool parse_vector(std::vector<double> &vec);
};
#endif // GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H

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/*!
* \file obs_gps_l1_system_test.cc
* \brief This class implements a test for the validation of generated observables.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
#include "in_memory_configuration.h"
#include "signal_generator_flags.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
#include <gpstk/RinexUtilities.hpp>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <algorithm>
#include <chrono>
#include <cstdlib>
#include <exception>
#include <iostream>
#include <numeric>
#include <string>
#include <thread>
#include <unistd.h>
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
class ObsGpsL1SystemTest : public ::testing::Test
{
public:
std::string generator_binary;
std::string p1;
std::string p2;
std::string p3;
std::string p4;
std::string p5;
const double baseband_sampling_freq = 2.6e6;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
std::string generated_rinex_obs;
int configure_generator();
int generate_signal();
int configure_receiver();
int run_receiver();
void check_results();
bool check_valid_rinex_nav(std::string filename); // return true if the file is a valid Rinex navigation file.
bool check_valid_rinex_obs(std::string filename); // return true if the file is a valid Rinex observation file.
double compute_stdev(const std::vector<double>& vec);
std::shared_ptr<InMemoryConfiguration> config;
};
bool ObsGpsL1SystemTest::check_valid_rinex_nav(std::string filename)
{
bool res = false;
res = gpstk::isRinexNavFile(filename);
return res;
}
double ObsGpsL1SystemTest::compute_stdev(const std::vector<double>& vec)
{
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size();
double accum__ = 0.0;
std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
accum__ += (d - mean__) * (d - mean__);
});
double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
return stdev__;
}
bool ObsGpsL1SystemTest::check_valid_rinex_obs(std::string filename)
{
bool res = false;
res = gpstk::isRinexObsFile(filename);
return res;
}
int ObsGpsL1SystemTest::configure_generator()
{
// Configure signal generator
generator_binary = FLAGS_generator_binary;
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if (FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(FLAGS_duration * 10, 3000));
if (FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
}
else
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
return 0;
}
int ObsGpsL1SystemTest::generate_signal()
{
pid_t wait_result;
int child_status;
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
int pid;
if ((pid = fork()) == -1)
perror("fork error");
else if (pid == 0)
{
execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv error." << std::endl;
std::terminate();
}
wait_result = waitpid(pid, &child_status, 0);
if (wait_result == -1) perror("waitpid error");
EXPECT_EQ(true, check_valid_rinex_obs(filename_rinex_obs));
std::cout << "Signal and Observables RINEX files created." << std::endl;
return 0;
}
int ObsGpsL1SystemTest::configure_receiver()
{
config = std::make_shared<InMemoryConfiguration>();
const int sampling_rate_internal = baseband_sampling_freq;
const int number_of_taps = 11;
const int number_of_bands = 2;
const float band1_begin = 0.0;
const float band1_end = 0.48;
const float band2_begin = 0.52;
const float band2_end = 1.0;
const float ampl1_begin = 1.0;
const float ampl1_end = 1.0;
const float ampl2_begin = 0.0;
const float ampl2_end = 0.0;
const float band1_error = 1.0;
const float band2_error = 1.0;
const int grid_density = 16;
const float zero = 0.0;
const int number_of_channels = 8;
const int in_acquisition = 1;
const float threshold = 0.01;
const float doppler_max = 8000.0;
const float doppler_step = 500.0;
const int max_dwells = 1;
const int tong_init_val = 2;
const int tong_max_val = 10;
const int tong_max_dwells = 30;
const int coherent_integration_time_ms = 1;
const float pll_bw_hz = 30.0;
const float dll_bw_hz = 4.0;
const float early_late_space_chips = 0.5;
const float pll_bw_narrow_hz = 20.0;
const float dll_bw_narrow_hz = 2.0;
const int extend_correlation_ms = 1;
const int display_rate_ms = 500;
const int output_rate_ms = 10;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
// Set the assistance system parameters
config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
// Set the Signal Source
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.filename", "./" + filename_raw_data);
config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
config->set_property("SignalSource.item_type", "ibyte");
config->set_property("SignalSource.samples", std::to_string(zero));
// Set the Signal Conditioner
config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.dump", "false");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
config->set_property("InputFilter.band1_end", std::to_string(band1_end));
config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
config->set_property("InputFilter.band2_end", std::to_string(band2_end));
config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
config->set_property("InputFilter.band1_error", std::to_string(band1_error));
config->set_property("InputFilter.band2_error", std::to_string(band2_error));
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", std::to_string(grid_density));
config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
config->set_property("InputFilter.IF", std::to_string(zero));
config->set_property("Resampler.implementation", "Pass_Through");
config->set_property("Resampler.dump", "false");
config->set_property("Resampler.item_type", "gr_complex");
config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
// Set the number of Channels
config->set_property("Channels_1C.count", std::to_string(number_of_channels));
config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
config->set_property("Channel.signal", "1C");
// Set Acquisition
config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
config->set_property("Acquisition_1C.item_type", "gr_complex");
config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1C.bit_transition_flag", "false");
config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
// Set Tracking
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
//config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.dump", "false");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
// Set Telemetry
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_1C.dump", "false");
// Set Observables
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("Observables.dump", "false");
config->set_property("Observables.dump_filename", "./observables.dat");
config->set_property("Observables.averaging_depth", std::to_string(100));
// Set PVT
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.positioning_mode", "Single");
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
config->set_property("PVT.dump_filename", "./PVT");
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
config->set_property("PVT.flag_nmea_tty_port", "false");
config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
config->set_property("PVT.flag_rtcm_server", "false");
config->set_property("PVT.flag_rtcm_tty_port", "false");
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false");
config->set_property("PVT.rinex_version", std::to_string(2));
return 0;
}
int ObsGpsL1SystemTest::run_receiver()
{
std::shared_ptr<ControlThread> control_thread;
control_thread = std::make_shared<ControlThread>(config);
// start receiver
try
{
control_thread->run();
}
catch (const boost::exception& e)
{
std::cout << "Boost exception: " << boost::diagnostic_information(e);
}
catch (const std::exception& ex)
{
std::cout << "STD exception: " << ex.what();
}
// Get the name of the RINEX obs file generated by the receiver
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
FILE* fp;
std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
char buffer[1035];
fp = popen(&argum2[0], "r");
if (fp == NULL)
{
std::cout << "Failed to run command: " << argum2 << std::endl;
return -1;
}
while (fgets(buffer, sizeof(buffer), fp) != NULL)
{
std::string aux = std::string(buffer);
ObsGpsL1SystemTest::generated_rinex_obs = aux.erase(aux.length() - 1, 1);
}
pclose(fp);
return 0;
}
void ObsGpsL1SystemTest::check_results()
{
std::vector<std::vector<std::pair<double, double>>> pseudorange_ref(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_ref(33);
std::vector<std::vector<std::pair<double, double>>> doppler_ref(33);
std::vector<std::vector<std::pair<double, double>>> pseudorange_meas(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_meas(33);
std::vector<std::vector<std::pair<double, double>>> doppler_meas(33);
// Open and read reference RINEX observables file
try
{
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
r_ref >> r_ref_header;
while (r_ref >> r_ref_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end())
{
// PRN not present; do nothing
}
else
{
dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow, P1);
pseudorange_ref.at(myprn).push_back(pseudo);
dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_ref.at(myprn).push_back(carrier);
dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_ref.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch (const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
try
{
std::string arg2_gen = std::string("./") + ObsGpsL1SystemTest::generated_rinex_obs;
gpstk::Rinex3ObsStream r_meas(arg2_gen);
r_meas.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_meas_data;
gpstk::Rinex3ObsHeader r_meas_header;
gpstk::RinexDatum dataobj;
r_meas >> r_meas_header;
while (r_meas >> r_meas_data)
{
for (int myprn = 1; myprn < 33; myprn++)
{
gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
gpstk::CommonTime time = r_meas_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
if (pointer == r_meas_data.obs.end())
{
// PRN not present; do nothing
}
else
{
dataobj = r_meas_data.getObs(prn, "C1C", r_meas_header);
double P1 = dataobj.data;
std::pair<double, double> pseudo(sow, P1);
pseudorange_meas.at(myprn).push_back(pseudo);
dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
double L1 = dataobj.data;
std::pair<double, double> carrier(sow, L1);
carrierphase_meas.at(myprn).push_back(carrier);
dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
double D1 = dataobj.data;
std::pair<double, double> doppler(sow, D1);
doppler_meas.at(myprn).push_back(doppler);
} // End of 'if( pointer == roe.obs.end() )'
} // end for
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
{
std::cout << e;
exit(1);
}
catch (const gpstk::Exception& e)
{
std::cout << e;
exit(1);
}
catch (...)
{
std::cout << "unknown error. I don't feel so well..." << std::endl;
exit(1);
}
// Time alignment
std::vector<std::vector<std::pair<double, double>>> pseudorange_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>> carrierphase_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>> doppler_ref_aligned(33);
std::vector<std::vector<std::pair<double, double>>>::iterator iter;
std::vector<std::pair<double, double>>::iterator it;
std::vector<std::pair<double, double>>::iterator it2;
std::vector<std::vector<double>> pr_diff(33);
std::vector<std::vector<double>> cp_diff(33);
std::vector<std::vector<double>> doppler_diff(33);
std::vector<std::vector<double>>::iterator iter_diff;
std::vector<double>::iterator iter_v;
int prn_id = 0;
for (iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
{
pseudorange_ref_aligned.at(prn_id).push_back(*it);
pr_diff.at(prn_id).push_back(it->second - it2->second);
//std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << " PR_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for (iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.1) // store measures closer than 10 ms.
{
carrierphase_ref_aligned.at(prn_id).push_back(*it);
cp_diff.at(prn_id).push_back(it->second - it2->second);
// std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << " Carrier_meas=" << it2->second << " Diff:" << it->second - it2->second << std::endl;
}
}
}
prn_id++;
}
prn_id = 0;
for (iter = doppler_ref.begin(); iter != doppler_ref.end(); iter++)
{
for (it = iter->begin(); it != iter->end(); it++)
{
// If a measure exists for this sow, store it
for (it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
{
if (std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
{
doppler_ref_aligned.at(prn_id).push_back(*it);
doppler_diff.at(prn_id).push_back(it->second - it2->second);
}
}
}
prn_id++;
}
// Compute pseudorange error
prn_id = 0;
std::vector<double> mean_pr_diff_v;
for (iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_pr_diff_v.push_back(mean_diff);
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
double stdev_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_;
std::cout << " [m]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_pr = compute_stdev(mean_pr_diff_v);
std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
ASSERT_LT(stdev_pr, 10.0);
// Compute carrier phase error
prn_id = 0;
std::vector<double> mean_cp_diff_v;
for (iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
{
mean_diff = mean_diff + *iter_v;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_cp_diff_v.push_back(mean_diff);
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff;
double stdev_pr_ = compute_stdev(*iter_diff);
std::cout << " +/- " << stdev_pr_ << " whole cycles (19 cm)" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
// Compute Doppler error
prn_id = 0;
std::vector<double> mean_doppler_v;
for (iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
{
// For each satellite with reference and measurements aligned in time
int number_obs = 0;
double mean_diff = 0.0;
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;
number_obs = number_obs + 1;
}
if (number_obs > 0)
{
mean_diff = mean_diff / number_obs;
mean_doppler_v.push_back(mean_diff);
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
}
else
{
mean_diff = 0.0;
}
prn_id++;
}
double stdev_dp = compute_stdev(mean_doppler_v);
std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
ASSERT_LT(stdev_dp, 10.0);
}
TEST_F(ObsGpsL1SystemTest, Observables_system_test)
{
std::cout << "Validating input RINEX nav file: " << FLAGS_rinex_nav_file << " ..." << std::endl;
bool is_rinex_nav_valid = check_valid_rinex_nav(FLAGS_rinex_nav_file);
EXPECT_EQ(true, is_rinex_nav_valid) << "The RINEX navigation file " << FLAGS_rinex_nav_file << " is not well formed.";
std::cout << "The file is valid." << std::endl;
// Configure the signal generator
configure_generator();
// Generate signal raw signal samples and observations RINEX file
if (!FLAGS_disable_generator)
{
generate_signal();
}
std::cout << "Validating generated reference RINEX obs file: " << FLAGS_filename_rinex_obs << " ..." << std::endl;
bool is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + FLAGS_filename_rinex_obs);
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << FLAGS_filename_rinex_obs << ", generated by gnss-sim, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Configure receiver
configure_receiver();
// Run the receiver
EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << ObsGpsL1SystemTest::generated_rinex_obs << " ..." << std::endl;
is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + ObsGpsL1SystemTest::generated_rinex_obs);
EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << ObsGpsL1SystemTest::generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl;
// Check results
check_results();
}
int main(int argc, char** argv)
{
std::cout << "Running Observables validation test..." << std::endl;
int res = 0;
try
{
testing::InitGoogleTest(&argc, argv);
}
catch (...)
{
} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
google::ParseCommandLineFlags(&argc, &argv, true);
google::InitGoogleLogging(argv[0]);
// Run the Tests
try
{
res = RUN_ALL_TESTS();
}
catch (...)
{
LOG(WARNING) << "Unexpected catch";
}
google::ShutDownCommandLineFlags();
return res;
}

1051
src/tests/system-tests/obs_system_test.cc
View File

File diff suppressed because it is too large Load Diff

366
src/tests/system-tests/position_test.cc
View File

@ -1,7 +1,10 @@
/*! /*!
* \file position_test.cc * \file position_test.cc
* \brief This class implements a test for the validation of computed position. * \brief This class implements a test for the validation of computed position.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es * \authors <ul>
* <li> Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
* <li> Javier Arribas, 2018. jarribas(at)cttc.es
* </ul>
* *
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
@ -29,6 +32,9 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "position_test_flags.h"
#include "rtklib_solver_dump_reader.h"
#include "spirent_motion_csv_dump_reader.h"
#include "concurrent_map.h" #include "concurrent_map.h"
#include "concurrent_queue.h" #include "concurrent_queue.h"
#include "control_thread.h" #include "control_thread.h"
@ -39,6 +45,7 @@
#include "test_flags.h" #include "test_flags.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <armadillo>
#include <glog/logging.h> #include <glog/logging.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <algorithm> #include <algorithm>
@ -48,15 +55,11 @@
#include <numeric> #include <numeric>
#include <thread> #include <thread>
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of FFTLengthTest with gnuplot");
// For GPS NAVIGATION (L1) // For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue; concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map; concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
class StaticPositionSystemTest : public ::testing::Test class PositionSystemTest : public ::testing::Test
{ {
public: public:
int configure_generator(); int configure_generator();
@ -64,6 +67,7 @@ public:
int configure_receiver(); int configure_receiver();
int run_receiver(); int run_receiver();
void check_results(); void check_results();
std::string config_filename_no_extension;
private: private:
std::string generator_binary; std::string generator_binary;
@ -97,7 +101,7 @@ private:
}; };
void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude, void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
double* x, double* y, double* z) double* x, double* y, double* z)
{ {
const double a = 6378137.0; // WGS84 const double a = 6378137.0; // WGS84
@ -122,7 +126,7 @@ void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double
} }
void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude, void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
double* east, double* north, double* up) double* east, double* north, double* up)
{ {
double x, y, z; double x, y, z;
@ -144,9 +148,9 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z); geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z);
double aux_x = x - ref_x; double aux_x = x; // - ref_x;
double aux_y = y - ref_y; double aux_y = y; // - ref_y;
double aux_z = z - ref_z; double aux_z = z; // - ref_z;
// ECEF to NED matrix // ECEF to NED matrix
double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0))); double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0)));
@ -165,7 +169,7 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
} }
double StaticPositionSystemTest::compute_stdev_precision(const std::vector<double>& vec) double PositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
{ {
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0); double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size(); double mean__ = sum__ / vec.size();
@ -178,7 +182,7 @@ double StaticPositionSystemTest::compute_stdev_precision(const std::vector<doubl
} }
double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref) double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
{ {
const double mean__ = ref; const double mean__ = ref;
double accum__ = 0.0; double accum__ = 0.0;
@ -190,7 +194,7 @@ double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double
} }
int StaticPositionSystemTest::configure_generator() int PositionSystemTest::configure_generator()
{ {
// Configure signal generator // Configure signal generator
generator_binary = FLAGS_generator_binary; generator_binary = FLAGS_generator_binary;
@ -212,7 +216,7 @@ int StaticPositionSystemTest::configure_generator()
} }
int StaticPositionSystemTest::generate_signal() int PositionSystemTest::generate_signal()
{ {
pid_t wait_result; pid_t wait_result;
int child_status; int child_status;
@ -235,7 +239,7 @@ int StaticPositionSystemTest::generate_signal()
} }
int StaticPositionSystemTest::configure_receiver() int PositionSystemTest::configure_receiver()
{ {
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
@ -386,7 +390,7 @@ int StaticPositionSystemTest::configure_receiver()
config->set_property("PVT.flag_rtcm_server", "false"); config->set_property("PVT.flag_rtcm_server", "false");
config->set_property("PVT.flag_rtcm_tty_port", "false"); config->set_property("PVT.flag_rtcm_tty_port", "false");
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1"); config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false"); config->set_property("PVT.dump", "true");
config->set_property("PVT.rinex_version", std::to_string(2)); config->set_property("PVT.rinex_version", std::to_string(2));
config->set_property("PVT.iono_model", "OFF"); config->set_property("PVT.iono_model", "OFF");
config->set_property("PVT.trop_model", "OFF"); config->set_property("PVT.trop_model", "OFF");
@ -404,7 +408,7 @@ int StaticPositionSystemTest::configure_receiver()
} }
int StaticPositionSystemTest::run_receiver() int PositionSystemTest::run_receiver()
{ {
std::shared_ptr<ControlThread> control_thread; std::shared_ptr<ControlThread> control_thread;
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
@ -445,24 +449,48 @@ int StaticPositionSystemTest::run_receiver()
{ {
std::string aux = std::string(buffer); std::string aux = std::string(buffer);
EXPECT_EQ(aux.empty(), false); EXPECT_EQ(aux.empty(), false);
StaticPositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1); PositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
} }
pclose(fp); pclose(fp);
EXPECT_EQ(StaticPositionSystemTest::generated_kml_file.empty(), false); EXPECT_EQ(PositionSystemTest::generated_kml_file.empty(), false);
return 0; return 0;
} }
void StaticPositionSystemTest::check_results() void PositionSystemTest::check_results()
{ {
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in);
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
std::string line;
std::vector<double> pos_e; std::vector<double> pos_e;
std::vector<double> pos_n; std::vector<double> pos_n;
std::vector<double> pos_u; 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, ',');
double ref_lat = std::stod(str_aux);
std::getline(iss2, str_aux, ',');
double ref_long = std::stod(str_aux);
std::getline(iss2, str_aux, '\n');
double ref_h = std::stod(str_aux);
double ref_e, ref_n, ref_u;
geodetic2Enu(ref_lat, ref_long, ref_h,
&ref_e, &ref_n, &ref_u);
if (!FLAGS_use_pvt_solver_dump)
{
//fall back to read receiver KML output (position only)
std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in);
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
std::string line;
// Skip header // Skip header
std::getline(myfile, line); std::getline(myfile, line);
bool is_header = true; bool is_header = true;
@ -498,29 +526,79 @@ void StaticPositionSystemTest::check_results()
{ {
std::getline(iss, str2, ','); std::getline(iss, str2, ',');
value = std::stod(str2); value = std::stod(str2);
if (i == 0) lat = value; if (i == 0) longitude = value;
if (i == 1) longitude = value; if (i == 1) lat = value;
if (i == 2) h = value; if (i == 2) h = value;
} }
double north, east, up; double north, east, up;
geodetic2Enu(lat, longitude, h, &east, &north, &up); geodetic2Enu(lat, longitude, h, &east, &north, &up);
// std::cout << "lat = " << lat << ", longitude = " << longitude << " h = " << h << std::endl;
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl; // std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
pos_e.push_back(east); pos_e.push_back(east);
pos_n.push_back(north); pos_n.push_back(north);
pos_u.push_back(up); pos_u.push_back(up);
// getchar();
} }
} }
myfile.close(); myfile.close();
ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty"; ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
}
else
{
//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;
geodetic2Enu(pvt_reader.latitude, pvt_reader.longitude, pvt_reader.height, &east, &north, &up);
// std::cout << "lat = " << pvt_reader.latitude << ", longitude = " << pvt_reader.longitude << " h = " << pvt_reader.height << std::endl;
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
pos_e.push_back(east);
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
if (FLAGS_static_scenario)
{
double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0); double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0); double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0); double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, 0.0), 2.0); double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, ref_e), 2.0);
double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, 0.0), 2.0); double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, ref_n), 2.0);
double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, 0.0), 2.0); double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, ref_u), 2.0);
double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0); double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
double mean__e = sum__e / pos_e.size(); double mean__e = sum__e / pos_e.size();
@ -531,19 +609,22 @@ void StaticPositionSystemTest::check_results()
std::stringstream stm; std::stringstream stm;
std::ofstream position_test_file; std::ofstream position_test_file;
if (!FLAGS_config_file_ptest.empty())
{
stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
}
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
stm << "---- ACCURACY ----" << std::endl; stm << "---- ACCURACY ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl; stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, ref_n) + 0.56 * compute_stdev_accuracy(pos_e, ref_e) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl; stm << "Bias 2D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0)) << " [m]" << std::endl;
stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl; stm << "Bias 3D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0) + std::pow(abs(mean__u - ref_u), 2.0)) << " [m]" << std::endl;
stm << std::endl; stm << std::endl;
} }
@ -557,7 +638,7 @@ void StaticPositionSystemTest::check_results()
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl; stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
std::cout << stm.rdbuf(); std::cout << stm.rdbuf();
std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt"; std::string output_filename = "position_test_output_" + PositionSystemTest::generated_kml_file.erase(PositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
position_test_file.open(output_filename.c_str()); position_test_file.open(output_filename.c_str());
if (position_test_file.is_open()) if (position_test_file.is_open())
{ {
@ -574,9 +655,195 @@ void StaticPositionSystemTest::check_results()
print_results(pos_e, pos_n, pos_u); print_results(pos_e, pos_n, pos_u);
} }
} }
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;
if (!FLAGS_config_file_ptest.empty())
{
std::cout << "---- Configuration file: " << FLAGS_config_file_ptest << 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();
if (FLAGS_config_file_ptest.empty())
{
g1.savetops("ECEF_3d_error");
}
else
{
g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
}
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");
double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
g3.set_style("lines");
g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
g3.set_legend();
if (FLAGS_config_file_ptest.empty())
{
g3.savetops("Position_3d_error");
}
else
{
g3.savetops("Position_3d_error_" + config_filename_no_extension);
}
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");
double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
g4.set_style("lines");
g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
g4.set_legend();
if (FLAGS_config_file_ptest.empty())
{
g4.savetops("Velocity_3d_error");
}
else
{
g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
}
}
}
void StaticPositionSystemTest::print_results(const std::vector<double>& east, void PositionSystemTest::print_results(const std::vector<double>& east,
const std::vector<double>& north, const std::vector<double>& north,
const std::vector<double>& up) const std::vector<double>& up)
{ {
@ -641,9 +908,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
g1.cmd("set grid front"); g1.cmd("set grid front");
g1.cmd("replot"); g1.cmd("replot");
if (FLAGS_config_file_ptest.empty())
{
g1.savetops("Position_test_2D"); g1.savetops("Position_test_2D");
g1.savetopdf("Position_test_2D", 18); g1.savetopdf("Position_test_2D", 18);
}
else
{
g1.savetops("Position_test_2D_" + config_filename_no_extension);
g1.savetopdf("Position_test_2D_" + config_filename_no_extension, 18);
}
Gnuplot g2("points"); Gnuplot g2("points");
if (FLAGS_show_plots) if (FLAGS_show_plots)
@ -669,10 +943,17 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
std::to_string(ninty_sas) + std::to_string(ninty_sas) +
"\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n"); "\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n");
g2.plot_xyz(east, north, up, "3D Position Fixes"); g2.plot_xyz(east, north, up, "3D Position Fixes");
if (FLAGS_config_file_ptest.empty())
{
g2.savetops("Position_test_3D"); g2.savetops("Position_test_3D");
g2.savetopdf("Position_test_3D"); g2.savetopdf("Position_test_3D");
} }
else
{
g2.savetops("Position_test_3D_" + config_filename_no_extension);
g2.savetopdf("Position_test_3D_" + config_filename_no_extension);
}
}
catch (const GnuplotException& ge) catch (const GnuplotException& ge)
{ {
std::cout << ge.what() << std::endl; std::cout << ge.what() << std::endl;
@ -680,7 +961,7 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
} }
} }
TEST_F(StaticPositionSystemTest, Position_system_test) TEST_F(PositionSystemTest, Position_system_test)
{ {
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
@ -693,12 +974,17 @@ TEST_F(StaticPositionSystemTest, Position_system_test)
generate_signal(); generate_signal();
} }
} }
else
{
config_filename_no_extension = FLAGS_config_file_ptest.substr(FLAGS_config_file_ptest.find_last_of("/\\") + 1);
config_filename_no_extension = config_filename_no_extension.erase(config_filename_no_extension.length() - 5);
}
// Configure receiver // Configure receiver
configure_receiver(); configure_receiver();
// Run the receiver // Run the receiver
EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator"; EXPECT_EQ(run_receiver(), 0) << "Problem executing GNSS-SDR";
// Check results // Check results
check_results(); check_results();

24
src/tests/test_main.cc
View File

@ -69,6 +69,21 @@ using google::LogMessage;
DECLARE_string(log_dir); DECLARE_string(log_dir);
#if UNIT_TESTING_MINIMAL
#include "unit-tests/arithmetic/matio_test.cc"
#if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
#if ENABLE_FPGA
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
#endif
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
#endif
#else
#include "unit-tests/arithmetic/complex_carrier_test.cc" #include "unit-tests/arithmetic/complex_carrier_test.cc"
#include "unit-tests/arithmetic/conjugate_test.cc" #include "unit-tests/arithmetic/conjugate_test.cc"
#include "unit-tests/arithmetic/magnitude_squared_test.cc" #include "unit-tests/arithmetic/magnitude_squared_test.cc"
@ -138,11 +153,16 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc"
#endif #endif
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
#if EXTRA_TESTS #if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
@ -158,9 +178,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc" #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
#endif #endif
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc" #endif // UNIT_TESTING_MINIMAL
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
// For GPS NAVIGATION (L1) // For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue; concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

6
src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
View File

@ -37,6 +37,10 @@
#include "glonass_l2_ca_pcps_acquisition.h" #include "glonass_l2_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h" #include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h" #include "gps_l5i_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "file_configuration.h"
#include "gnss_sdr_valve.h"
#include "acquisition_dump_reader.h"
#include "display.h" #include "display.h"
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
@ -45,6 +49,8 @@
#include "true_observables_reader.h" #include "true_observables_reader.h"
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
View File

@ -45,7 +45,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
View File

@ -37,7 +37,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
View File

@ -39,7 +39,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
View File

@ -33,7 +33,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
View File

@ -37,7 +37,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc
View File

@ -34,7 +34,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
View File

@ -38,7 +38,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
View File

@ -36,7 +36,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/throttle.h> #include <gnuradio/blocks/throttle.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
View File

@ -37,7 +37,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
View File

@ -37,7 +37,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_short_to_complex.h> #include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/blocks/char_to_short.h> #include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
View File

@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

5
src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
View File

@ -19,6 +19,7 @@
set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
acquisition_dump_reader.cc acquisition_dump_reader.cc
acquisition_msg_rx.cc
tracking_dump_reader.cc tracking_dump_reader.cc
tlm_dump_reader.cc tlm_dump_reader.cc
observables_dump_reader.cc observables_dump_reader.cc
@ -40,5 +41,7 @@ add_library(signal_processing_testing_lib ${SIGNAL_PROCESSING_TESTING_LIB_SOURCE
source_group(Headers FILES ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS}) source_group(Headers FILES ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
if(NOT MATIO_FOUND) if(NOT MATIO_FOUND)
add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION}) add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION} glog-${glog_RELEASE})
else(NOT MATIO_FOUND)
add_dependencies(signal_processing_testing_lib glog-${glog_RELEASE})
endif(NOT MATIO_FOUND) endif(NOT MATIO_FOUND)

70
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.cc Normal file
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@ -0,0 +1,70 @@
/*!
* \file acquisition_msg_rx.cc
* \brief This is a helper class to catch the asynchronous messages
* emitted by an acquisition block.
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "acquisition_msg_rx.h"
#include <cstdint>
#include <boost/bind.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); // stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}

62
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.h Normal file
View File

@ -0,0 +1,62 @@
/*!
* \file acquisition_msg_rx.h
* \brief This is a helper class to catch the asynchronous messages
* emitted by an acquisition block.
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_ACQUISITION_MSG_RX_H
#define GNSS_SDR_ACQUISITION_MSG_RX_H
#include <gnuradio/top_block.h>
#include <gnuradio/block.h>
#include <pmt/pmt.h>
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
class Acquisition_msg_rx : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
};
#endif

10
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -49,6 +49,15 @@
#include "gnss_satellite.h" #include "gnss_satellite.h"
#include "gnss_block_factory.h" #include "gnss_block_factory.h"
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "acquisition_msg_rx.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "glonass_l2_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h"
#include "tracking_interface.h" #include "tracking_interface.h"
#include "telemetry_decoder_interface.h" #include "telemetry_decoder_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"
@ -1632,7 +1641,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies //Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6; //E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
std::cout << "s:" << gnss_synchro_vec.at(n).Signal << std::endl;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X) if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
{ {
check_results_carrier_phase_double_diff(true_obs_vec.at(n), check_results_carrier_phase_double_diff(true_obs_vec.at(n),

4
src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc
View File

@ -34,7 +34,11 @@
#include <chrono> #include <chrono>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

4
src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc
View File

@ -32,7 +32,11 @@
#include <chrono> #include <chrono>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

4
src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc
View File

@ -33,7 +33,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_f.h> #include <gnuradio/analog/sig_source_f.h>
#endif
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

5
src/tests/unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc
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@ -33,9 +33,14 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#ifdef GR_GREATER_38
#include <gnuradio/blocks/vector_source.h>
#include <gnuradio/blocks/vector_sink.h>
#else
#include <gnuradio/blocks/vector_source_b.h> #include <gnuradio/blocks/vector_source_b.h>
#include <gnuradio/blocks/vector_source_s.h> #include <gnuradio/blocks/vector_source_s.h>
#include <gnuradio/blocks/vector_sink_b.h> #include <gnuradio/blocks/vector_sink_b.h>
#endif
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include "unpack_2bit_samples.h" #include "unpack_2bit_samples.h"

4
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
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@ -38,7 +38,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
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@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
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@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -39,7 +39,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
View File

@ -41,7 +41,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

18
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc
View File

@ -38,7 +38,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>
@ -546,7 +550,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
g1.plot_xy(timevec, late, "Late", decimate); g1.plot_xy(timevec, late, "Late", decimate);
g1.savetops("Correlators_outputs"); g1.savetops("Correlators_outputs");
g1.savetopdf("Correlators_outputs", 18); g1.savetopdf("Correlators_outputs", 18);
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
Gnuplot g2("points"); Gnuplot g2("points");
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
@ -557,8 +568,15 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
g2.plot_xy(promptI, promptQ); g2.plot_xy(promptI, promptQ);
g2.savetops("Constellation"); g2.savetops("Constellation");
g2.savetopdf("Constellation", 18); g2.savetopdf("Constellation", 18);
if (FLAGS_show_plots)
{
g2.showonscreen(); // window output g2.showonscreen(); // window output
} }
else
{
g2.disablescreen();
}
}
catch (const GnuplotException& ge) catch (const GnuplotException& ge)
{ {
std::cout << ge.what() << std::endl; std::cout << ge.what() << std::endl;

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc
View File

@ -35,7 +35,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

80
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
View File

@ -30,24 +30,14 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include <chrono>
#include <unistd.h>
#include <vector>
#include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/blocks/head.h>
#include <gtest/gtest.h>
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "gnss_block_factory.h" #include "gnss_block_factory.h"
#include "tracking_interface.h" #include "tracking_interface.h"
#include "gps_l2_m_pcps_acquisition.h" #include "gps_l2_m_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition.h" #include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h" #include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h" #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h" #include "galileo_e5a_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h" #include "gps_l5i_pcps_acquisition.h"
@ -58,61 +48,21 @@
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "test_flags.h" #include "test_flags.h"
#include "tracking_tests_flags.h" #include "tracking_tests_flags.h"
#include "acquisition_msg_rx.h"
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/blocks/head.h>
#include <gtest/gtest.h>
#include <chrono>
#include <cstdint>
#include <vector>
#include <armadillo>
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
class Acquisition_msg_rx : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
};
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); //stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER ######### // ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
class TrackingPullInTest_msg_rx; class TrackingPullInTest_msg_rx;

2
src/utils/reproducibility/ieee-access18/L2-access18.conf
View File

@ -133,7 +133,7 @@ PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./data/PVT PVT.dump_filename=./data/access18
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea

34
src/utils/reproducibility/ieee-access18/plot_dump.m
View File

@ -62,26 +62,46 @@ ylabel('Navigation data bits','fontname','Times','fontsize', fontsize)
grid on grid on
fileID = fopen('data/PVT_ls_pvt.dat', 'r'); fileID = fopen('data/access18_pvt.dat', 'r');
dinfo = dir('data/PVT_ls_pvt.dat'); dinfo = dir('data/access18_pvt.dat');
filesize = dinfo.bytes; filesize = dinfo.bytes;
aux = 1; aux = 1;
while ne(ftell(fileID), filesize) while ne(ftell(fileID), filesize)
navsol.TOW_at_current_symbol_ms(aux) = fread(fileID, 1, 'uint32');
navsol.week(aux) = fread(fileID, 1, 'uint32');
navsol.RX_time(aux) = fread(fileID, 1, 'double'); navsol.RX_time(aux) = fread(fileID, 1, 'double');
navsol.user_clock_offset(aux) = fread(fileID, 1, 'double');
navsol.X(aux) = fread(fileID, 1, 'double'); navsol.X(aux) = fread(fileID, 1, 'double');
navsol.Y(aux) = fread(fileID, 1, 'double'); navsol.Y(aux) = fread(fileID, 1, 'double');
navsol.Z(aux) = fread(fileID, 1, 'double'); navsol.Z(aux) = fread(fileID, 1, 'double');
navsol.user_clock(aux) = fread(fileID, 1, 'double'); navsol.VX(aux) = fread(fileID, 1, 'double');
navsol.lat(aux) = fread(fileID, 1, 'double'); navsol.VY(aux) = fread(fileID, 1, 'double');
navsol.long(aux) = fread(fileID, 1, 'double'); navsol.VZ(aux) = fread(fileID, 1, 'double');
navsol.varXX(aux) = fread(fileID, 1, 'double');
navsol.varYY(aux) = fread(fileID, 1, 'double');
navsol.varZZ(aux) = fread(fileID, 1, 'double');
navsol.varXY(aux) = fread(fileID, 1, 'double');
navsol.varYZ(aux) = fread(fileID, 1, 'double');
navsol.varZX(aux) = fread(fileID, 1, 'double');
navsol.latitude(aux) = fread(fileID, 1, 'double');
navsol.longitude(aux) = fread(fileID, 1, 'double');
navsol.height(aux) = fread(fileID, 1, 'double'); navsol.height(aux) = fread(fileID, 1, 'double');
navsol.number_sats(aux) = fread(fileID, 1, 'uint8');
navsol.solution_status(aux) = fread(fileID, 1, 'uint8');
navsol.solution_type(aux) = fread(fileID, 1, 'uint8');
navsol.AR_ratio_factor(aux) = fread(fileID, 1, 'float');
navsol.AR_ratio_threshold(aux) = fread(fileID, 1, 'float');
navsol.GDOP(aux) = fread(fileID, 1, 'double');
navsol.PDOP(aux) = fread(fileID, 1, 'double');
navsol.HDOP(aux) = fread(fileID, 1, 'double');
navsol.VDOP(aux) = fread(fileID, 1, 'double');
aux = aux + 1; aux = aux + 1;
end end
fclose(fileID); fclose(fileID);
mean_Latitude = mean(navsol.lat); mean_Latitude = mean(navsol.latitude);
mean_Longitude = mean(navsol.long); mean_Longitude = mean(navsol.longitude);
mean_h = mean(navsol.height); mean_h = mean(navsol.height);
utmZone = findUtmZone(mean_Latitude, mean_Longitude); utmZone = findUtmZone(mean_Latitude, mean_Longitude);
[ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5); [ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);