mirror of https://github.com/gnss-sdr/gnss-sdr
603 lines
22 KiB
C++
603 lines
22 KiB
C++
/*!
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* \file galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
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* \brief This class implements an acquisition test for
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* GalileoE1Pcps8msAmbiguousAcquisition class.
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* \author Marc Molina, 2013. marc.molina.pena(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include <ctime>
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#include <iostream>
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#include <boost/chrono.hpp>
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#include <boost/shared_ptr.hpp>
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#include <gnuradio/top_block.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/analog/sig_source_c.h>
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#include <gnuradio/msg_queue.h>
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#include <gnuradio/blocks/null_sink.h>
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#include "gnss_block_interface.h"
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#include "in_memory_configuration.h"
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#include "gnss_synchro.h"
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#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
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#include "signal_generator.h"
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#include "signal_generator_c.h"
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#include "fir_filter.h"
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#include "gen_signal_source.h"
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#include "gnss_sdr_valve.h"
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class GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test: public ::testing::Test
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{
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protected:
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GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test()
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{
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item_size = sizeof(gr_complex);
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stop = false;
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message = 0;
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factory = std::make_shared<GNSSBlockFactory>();
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gnss_synchro = Gnss_Synchro();
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init();
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}
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~GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test()
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{}
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void init();
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void config_1();
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void config_2();
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void start_queue();
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void wait_message();
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void process_message();
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void stop_queue();
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gr::msg_queue::sptr queue;
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gr::top_block_sptr top_block;
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std::shared_ptr<GalileoE1Pcps8msAmbiguousAcquisition> acquisition;
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std::shared_ptr<GNSSBlockFactory> factory;
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std::shared_ptr<InMemoryConfiguration> config;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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concurrent_queue<int> channel_internal_queue;
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bool stop;
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int message;
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boost::thread ch_thread;
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unsigned int integration_time_ms = 0;
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unsigned int fs_in = 0;
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double expected_delay_chips = 0.0;
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double expected_doppler_hz = 0.0;
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float max_doppler_error_hz = 0;
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float max_delay_error_chips = 0;
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unsigned int num_of_realizations = 0;
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unsigned int realization_counter;
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unsigned int detection_counter;
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unsigned int correct_estimation_counter;
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unsigned int acquired_samples;
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unsigned int mean_acq_time_us;
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double mse_doppler;
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double mse_delay;
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double Pd;
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double Pfa_p;
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double Pfa_a;
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};
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::init()
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{
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message = 0;
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realization_counter = 0;
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detection_counter = 0;
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correct_estimation_counter = 0;
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acquired_samples = 0;
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mse_doppler = 0;
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mse_delay = 0;
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mean_acq_time_us = 0;
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Pd = 0;
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Pfa_p = 0;
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Pfa_a = 0;
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::config_1()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'E';
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std::string signal = "1C";
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signal.copy(gnss_synchro.Signal, 2, 0);
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integration_time_ms = 8;
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fs_in = 4e6;
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expected_delay_chips = 600;
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expected_doppler_hz = 750;
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max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 1;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "1");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.noise_flag", "false");
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config->set_property("SignalSource.data_flag", "false");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", "11");
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config->set_property("InputFilter.number_of_bands", "2");
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config->set_property("InputFilter.band1_begin", "0.0");
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config->set_property("InputFilter.band1_end", "0.97");
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config->set_property("InputFilter.band2_begin", "0.98");
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config->set_property("InputFilter.band2_end", "1.0");
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config->set_property("InputFilter.ampl1_begin", "1.0");
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config->set_property("InputFilter.ampl1_end", "1.0");
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config->set_property("InputFilter.ampl2_begin", "0.0");
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config->set_property("InputFilter.ampl2_end", "0.0");
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config->set_property("InputFilter.band1_error", "1.0");
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("Acquisition.item_type", "gr_complex");
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config->set_property("Acquisition.if", "0");
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config->set_property("Acquisition.coherent_integration_time_ms", std::to_string(integration_time_ms));
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config->set_property("Acquisition.max_dwells", "1");
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config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition");
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config->set_property("Acquisition.threshold", "0.2");
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config->set_property("Acquisition.doppler_max", "10000");
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config->set_property("Acquisition.doppler_step", "250");
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config->set_property("Acquisition.dump", "false");
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::config_2()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'E';
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std::string signal = "1C";
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signal.copy(gnss_synchro.Signal, 2, 0);
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integration_time_ms = 8;
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fs_in = 4e6;
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expected_delay_chips = 600;
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expected_doppler_hz = 750;
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max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 100;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "4");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.system_1", "E");
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config->set_property("SignalSource.PRN_1", "15");
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config->set_property("SignalSource.CN0_dB_1", "44");
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config->set_property("SignalSource.doppler_Hz_1", "1000");
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config->set_property("SignalSource.delay_chips_1", "100");
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config->set_property("SignalSource.system_2", "E");
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config->set_property("SignalSource.PRN_2", "21");
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config->set_property("SignalSource.CN0_dB_2", "44");
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config->set_property("SignalSource.doppler_Hz_2", "2000");
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config->set_property("SignalSource.delay_chips_2", "200");
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config->set_property("SignalSource.system_3", "E");
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config->set_property("SignalSource.PRN_3", "22");
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config->set_property("SignalSource.CN0_dB_3", "44");
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config->set_property("SignalSource.doppler_Hz_3", "3000");
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config->set_property("SignalSource.delay_chips_3", "300");
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config->set_property("SignalSource.noise_flag", "true");
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config->set_property("SignalSource.data_flag", "true");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", "11");
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config->set_property("InputFilter.number_of_bands", "2");
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config->set_property("InputFilter.band1_begin", "0.0");
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config->set_property("InputFilter.band1_end", "0.97");
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config->set_property("InputFilter.band2_begin", "0.98");
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config->set_property("InputFilter.band2_end", "1.0");
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config->set_property("InputFilter.ampl1_begin", "1.0");
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config->set_property("InputFilter.ampl1_end", "1.0");
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config->set_property("InputFilter.ampl2_begin", "0.0");
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config->set_property("InputFilter.ampl2_end", "0.0");
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config->set_property("InputFilter.band1_error", "1.0");
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("Acquisition.item_type", "gr_complex");
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config->set_property("Acquisition.if", "0");
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config->set_property("Acquisition.coherent_integration_time_ms", std::to_string(integration_time_ms));
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config->set_property("Acquisition.max_dwells", "1");
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config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition");
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config->set_property("Acquisition.pfa", "0.1");
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config->set_property("Acquisition.doppler_max", "10000");
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config->set_property("Acquisition.doppler_step", "250");
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config->set_property("Acquisition.dump", "false");
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::start_queue()
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{
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stop = false;
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ch_thread = boost::thread(&GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::wait_message, this);
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::wait_message()
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{
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struct timeval tv;
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long long int begin = 0;
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long long int end = 0;
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while (!stop)
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{
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acquisition->reset();
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gettimeofday(&tv, NULL);
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begin = tv.tv_sec *1e6 + tv.tv_usec;
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try
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{
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channel_internal_queue.wait_and_pop(message);
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}
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catch( boost::exception & e )
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{
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DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
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}
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gettimeofday(&tv, NULL);
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end = tv.tv_sec*1e6 + tv.tv_usec;
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mean_acq_time_us += (end - begin);
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process_message();
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}
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::process_message()
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{
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if (message == 1)
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{
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detection_counter++;
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// The term -5 is here to correct the additional delay introduced by the FIR filter
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double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
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double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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mse_delay += std::pow(delay_error_chips, 2);
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mse_doppler += std::pow(doppler_error_hz, 2);
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if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
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{
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correct_estimation_counter++;
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}
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}
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realization_counter++;
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std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
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if (realization_counter == num_of_realizations)
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{
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mse_delay /= num_of_realizations;
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mse_doppler /= num_of_realizations;
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Pd = (double)correct_estimation_counter / (double)num_of_realizations;
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Pfa_a = (double)detection_counter / (double)num_of_realizations;
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Pfa_p = (double)(detection_counter-correct_estimation_counter) / (double)num_of_realizations;
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mean_acq_time_us /= num_of_realizations;
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stop_queue();
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top_block->stop();
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}
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}
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void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::stop_queue()
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{
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stop = true;
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}
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TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, Instantiate)
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{
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config_1();
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std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 1, queue);
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}
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TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ConnectAndRun)
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{
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int nsamples = floor(fs_in*integration_time_ms*1e-3);
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struct timeval tv;
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long long int begin = 0;
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long long int end = 0;
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config_1();
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queue = gr::msg_queue::make(0);
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top_block = gr::make_top_block("Acquisition test");
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std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 1, queue);
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acquisition = std::dynamic_pointer_cast<GalileoE1Pcps8msAmbiguousAcquisition>(acq_);
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ASSERT_NO_THROW( {
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acquisition->set_channel(1);
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}) << "Failure setting channel." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->set_channel_queue(&channel_internal_queue);
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}) << "Failure setting channel_internal_queue." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
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}) << "Failure setting doppler_max." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
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}) << "Failure setting doppler_step." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
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}) << "Failure setting threshold." << std::endl;
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ASSERT_NO_THROW( {
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acquisition->connect(top_block);
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boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
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boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
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top_block->connect(source, 0, valve, 0);
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top_block->connect(valve, 0, acquisition->get_left_block(), 0);
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}) << "Failure connecting the blocks of acquisition test." << std::endl;
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EXPECT_NO_THROW( {
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gettimeofday(&tv, NULL);
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begin = tv.tv_sec *1e6 + tv.tv_usec;
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top_block->run(); // Start threads and wait
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gettimeofday(&tv, NULL);
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end = tv.tv_sec *1e6 + tv.tv_usec;
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}) << "Failure running he top_block." << std::endl;
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std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
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}
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TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
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{
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config_1();
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queue = gr::msg_queue::make(0);
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top_block = gr::make_top_block("Acquisition test");
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std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 1, queue);
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acquisition = std::dynamic_pointer_cast<GalileoE1Pcps8msAmbiguousAcquisition>(acq_);
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ASSERT_NO_THROW( {
|
|
acquisition->set_channel(1);
|
|
}) << "Failure setting channel." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_gnss_synchro(&gnss_synchro);
|
|
}) << "Failure setting gnss_synchro." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_channel_queue(&channel_internal_queue);
|
|
}) << "Failure setting channel_internal_queue." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
|
}) << "Failure setting doppler_max." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
|
}) << "Failure setting doppler_step." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
|
}) << "Failure setting threshold." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->connect(top_block);
|
|
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
|
|
|
acquisition->init();
|
|
|
|
ASSERT_NO_THROW( {
|
|
boost::shared_ptr<GenSignalSource> signal_source;
|
|
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
|
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
|
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
|
signal_source->connect(top_block);
|
|
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
|
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
|
|
|
// i = 0 --> satellite in acquisition is visible
|
|
// i = 1 --> satellite in acquisition is not visible
|
|
for (unsigned int i = 0; i < 2; i++)
|
|
{
|
|
init();
|
|
|
|
if (i == 0)
|
|
{
|
|
gnss_synchro.PRN = 10; // This satellite is visible
|
|
}
|
|
else if (i == 1)
|
|
{
|
|
gnss_synchro.PRN = 20; // This satellite is not visible
|
|
}
|
|
|
|
acquisition->set_local_code();
|
|
//acquisition->set_state(1);
|
|
start_queue();
|
|
|
|
EXPECT_NO_THROW( {
|
|
top_block->run(); // Start threads and wait
|
|
}) << "Failure running the top_block." << std::endl;
|
|
|
|
stop_queue();
|
|
|
|
if (i == 0)
|
|
{
|
|
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
|
if (message == 1)
|
|
{
|
|
EXPECT_EQ((unsigned int)1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
|
}
|
|
|
|
}
|
|
else if (i == 1)
|
|
{
|
|
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
|
}
|
|
|
|
ch_thread.join();
|
|
}
|
|
}
|
|
|
|
TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
|
|
{
|
|
config_2();
|
|
queue = gr::msg_queue::make(0);
|
|
top_block = gr::make_top_block("Acquisition test");
|
|
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 1, queue);
|
|
acquisition = std::dynamic_pointer_cast<GalileoE1Pcps8msAmbiguousAcquisition>(acq_);
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_channel(1);
|
|
}) << "Failure setting channel." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_gnss_synchro(&gnss_synchro);
|
|
}) << "Failure setting gnss_synchro." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_channel_queue(&channel_internal_queue);
|
|
}) << "Failure setting channel_internal_queue." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
|
}) << "Failure setting doppler_max." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
|
}) << "Failure setting doppler_step." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
|
}) << "Failure setting threshold." << std::endl;
|
|
|
|
ASSERT_NO_THROW( {
|
|
acquisition->connect(top_block);
|
|
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
|
|
|
acquisition->init();
|
|
|
|
ASSERT_NO_THROW( {
|
|
boost::shared_ptr<GenSignalSource> signal_source;
|
|
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
|
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
|
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
|
signal_source->connect(top_block);
|
|
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
|
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
|
|
|
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
|
|
|
|
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
|
|
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
|
|
for (unsigned int i = 0; i < 2; i++)
|
|
{
|
|
init();
|
|
|
|
if (i == 0)
|
|
{
|
|
gnss_synchro.PRN = 10; // This satellite is visible
|
|
}
|
|
else if (i == 1)
|
|
{
|
|
gnss_synchro.PRN = 20; // This satellite is not visible
|
|
}
|
|
|
|
acquisition->set_local_code();
|
|
//acquisition->set_state(1);
|
|
start_queue();
|
|
|
|
EXPECT_NO_THROW( {
|
|
top_block->run(); // Start threads and wait
|
|
}) << "Failure running the top_block." << std::endl;
|
|
stop_queue();
|
|
if (i == 0)
|
|
{
|
|
std::cout << "Estimated probability of detection = " << Pd << std::endl;
|
|
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
|
|
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
|
}
|
|
else if (i == 1)
|
|
{
|
|
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
|
|
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
|
}
|
|
|
|
ch_thread.join();
|
|
}
|
|
}
|