mirror of https://github.com/gnss-sdr/gnss-sdr
1980 lines
83 KiB
C++
1980 lines
83 KiB
C++
/*!
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* \file hybrid_observables_test.cc
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* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
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* implementation based on some input parameters.
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* \author Javier Arribas, 2015. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2012-2019 (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 <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "GPS_L1_CA.h"
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#include "gnss_block_factory.h"
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#include "gnss_block_interface.h"
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#include "gnss_satellite.h"
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#include "gnss_sdr_fpga_sample_counter.h"
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#include "gnss_synchro.h"
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#include "gnuplot_i.h"
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#include "gps_l1_ca_dll_pll_tracking.h"
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#include "gps_l1_ca_dll_pll_tracking_fpga.h"
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#include "gps_l1_ca_telemetry_decoder.h"
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#include "hybrid_observables.h"
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#include "in_memory_configuration.h"
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#include "observable_tests_flags.h"
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#include "observables_dump_reader.h"
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#include "signal_generator_flags.h"
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#include "telemetry_decoder_interface.h"
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#include "test_flags.h"
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#include "tlm_dump_reader.h"
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#include "tracking_dump_reader.h"
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#include "tracking_interface.h"
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#include "tracking_tests_flags.h"
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#include "tracking_true_obs_reader.h"
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#include "true_observables_reader.h"
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#include <armadillo>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/blocks/interleaved_char_to_complex.h>
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/top_block.h>
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#include <gpstk/Rinex3ObsBase.hpp>
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#include <gpstk/Rinex3ObsData.hpp>
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#include <gpstk/Rinex3ObsHeader.hpp>
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#include <gpstk/Rinex3ObsStream.hpp>
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#include <gpstk/RinexUtilities.hpp>
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#include <gtest/gtest.h>
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#include <matio.h>
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#include <chrono>
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#include <exception>
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#include <unistd.h>
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// threads
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#include <fcntl.h> // for open, O_RDWR, O_SYNC
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#include <iostream> // for cout, endl
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#include <pthread.h> // for pthread stuff
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#include <sys/mman.h> // for mmap
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#define TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples
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#define TEST_OBS_COMPLEX_SAMPLE_SIZE 2 // sample size in bytes
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#define TEST_OBS_NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
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#define TEST_OBS_DOWNAMPLING_FILTER_INIT_SAMPLES 100 // some samples to initialize the state of the downsampling filter
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#define TEST_OBS_DOWNSAMPLING_FILTER_DELAY 48
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// HW related options
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bool test_observables_show_results_table = 0; // 1 => show matrix of (doppler, (max value, power sum)) results (only if test_observables_doppler_control_in_sw = 1), 0=> do not show it
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bool test_observables_skip_samples_already_used = 1; // if test_observables_doppler_control_in_sw = 1 and test_observables_skip_samples_already_used = 1 => for each PRN loop skip the samples used in the previous PRN loops
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// (exactly in the same way as the SW)
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class HybridObservablesTest_msg_rx_Fpga;
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typedef boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> HybridObservablesTest_msg_rx_Fpga_sptr;
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HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make();
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class HybridObservablesTest_msg_rx_Fpga : public gr::block
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{
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private:
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friend HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make();
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void msg_handler_events(pmt::pmt_t msg);
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HybridObservablesTest_msg_rx_Fpga();
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public:
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int rx_message;
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~HybridObservablesTest_msg_rx_Fpga(); //!< Default destructor
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};
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HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make()
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{
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return HybridObservablesTest_msg_rx_Fpga_sptr(new HybridObservablesTest_msg_rx_Fpga());
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}
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void HybridObservablesTest_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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int64_t message = pmt::to_long(msg);
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rx_message = message;
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}
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catch (boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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HybridObservablesTest_msg_rx_Fpga::HybridObservablesTest_msg_rx_Fpga() : gr::block("HybridObservablesTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_msg_rx_Fpga::msg_handler_events, this, _1));
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rx_message = 0;
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}
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HybridObservablesTest_msg_rx_Fpga::~HybridObservablesTest_msg_rx_Fpga()
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{
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}
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class HybridObservablesTest_tlm_msg_rx_Fpga;
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typedef boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> HybridObservablesTest_tlm_msg_rx_Fpga_sptr;
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HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make();
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class HybridObservablesTest_tlm_msg_rx_Fpga : public gr::block
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{
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private:
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friend HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make();
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void msg_handler_events(pmt::pmt_t msg);
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HybridObservablesTest_tlm_msg_rx_Fpga();
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public:
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int rx_message;
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~HybridObservablesTest_tlm_msg_rx_Fpga(); //!< Default destructor
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};
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HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make()
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{
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return HybridObservablesTest_tlm_msg_rx_Fpga_sptr(new HybridObservablesTest_tlm_msg_rx_Fpga());
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}
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void HybridObservablesTest_tlm_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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int64_t message = pmt::to_long(msg);
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rx_message = message;
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}
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catch (boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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HybridObservablesTest_tlm_msg_rx_Fpga::HybridObservablesTest_tlm_msg_rx_Fpga() : gr::block("HybridObservablesTest_tlm_msg_rx_Fpga", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_tlm_msg_rx_Fpga::msg_handler_events, this, _1));
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rx_message = 0;
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}
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HybridObservablesTest_tlm_msg_rx_Fpga::~HybridObservablesTest_tlm_msg_rx_Fpga()
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{
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}
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class HybridObservablesTestFpga : public ::testing::Test
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{
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public:
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std::string generator_binary;
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std::string p1;
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std::string p2;
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std::string p3;
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std::string p4;
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std::string p5;
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std::string implementation = FLAGS_trk_test_implementation;
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const int baseband_sampling_freq = FLAGS_fs_gen_sps;
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std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
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std::string filename_raw_data = FLAGS_filename_raw_data;
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int configure_generator();
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int generate_signal();
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bool save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename);
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void check_results_carrier_phase(
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arma::mat& true_ch0,
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arma::vec& true_tow_s,
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arma::mat& measured_ch0,
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std::string data_title);
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void check_results_carrier_phase_double_diff(
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arma::mat& true_ch0,
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arma::mat& true_ch1,
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arma::vec& true_tow_ch0_s,
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arma::vec& true_tow_ch1_s,
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arma::mat& measured_ch0,
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arma::mat& measured_ch1,
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std::string data_title);
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void check_results_carrier_doppler(arma::mat& true_ch0,
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arma::vec& true_tow_s,
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arma::mat& measured_ch0,
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std::string data_title);
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void check_results_carrier_doppler_double_diff(
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arma::mat& true_ch0,
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arma::mat& true_ch1,
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arma::vec& true_tow_ch0_s,
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arma::vec& true_tow_ch1_s,
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arma::mat& measured_ch0,
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arma::mat& measured_ch1,
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std::string data_title);
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void check_results_code_pseudorange(
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arma::mat& true_ch0,
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arma::mat& true_ch1,
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arma::vec& true_tow_ch0_s,
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arma::vec& true_tow_ch1_s,
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arma::mat& measured_ch0,
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arma::mat& measured_ch1,
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std::string data_title);
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HybridObservablesTestFpga()
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{
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factory = std::make_shared<GNSSBlockFactory>();
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config = std::make_shared<InMemoryConfiguration>();
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item_size = sizeof(gr_complex);
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}
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~HybridObservablesTestFpga()
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{
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}
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bool ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss);
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bool acquire_signal();
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void configure_receiver(
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double PLL_wide_bw_hz,
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double DLL_wide_bw_hz,
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double PLL_narrow_bw_hz,
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double DLL_narrow_bw_hz,
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int extend_correlation_symbols);
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gr::top_block_sptr top_block;
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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_master;
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std::vector<Gnss_Synchro> gnss_synchro_vec;
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size_t item_size;
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};
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int HybridObservablesTestFpga::configure_generator()
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
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if (FLAGS_dynamic_position.empty())
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{
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p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
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}
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else
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{
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p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
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}
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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return 0;
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}
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int HybridObservablesTestFpga::generate_signal()
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{
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int child_status;
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char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
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int pid;
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if ((pid = fork()) == -1)
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perror("fork err");
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else if (pid == 0)
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{
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execv(&generator_binary[0], parmList);
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std::cout << "Return not expected. Must be an execv err." << std::endl;
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std::terminate();
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}
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waitpid(pid, &child_status, 0);
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std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
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return 0;
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}
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const size_t TEST_OBS_PAGE_SIZE = 0x10000;
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const unsigned int TEST_OBS_TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
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void setup_fpga_switch_obs_test(void)
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{
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int switch_device_descriptor; // driver descriptor
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volatile unsigned* switch_map_base; // driver memory map
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if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1)
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{
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LOG(WARNING) << "Cannot open deviceio"
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<< "/dev/uio1";
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}
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switch_map_base = reinterpret_cast<volatile unsigned*>(mmap(nullptr, TEST_OBS_PAGE_SIZE,
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PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0));
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if (switch_map_base == reinterpret_cast<void*>(-1))
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{
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LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
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std::cout << "Could not map switch memory." << std::endl;
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}
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// sanity check : check test register
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unsigned writeval = TEST_OBS_TEST_REGISTER_TRACK_WRITEVAL;
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unsigned readval;
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// write value to test register
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switch_map_base[3] = writeval;
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// read value from test register
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readval = switch_map_base[3];
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if (writeval != readval)
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{
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LOG(WARNING) << "Test register sanity check failed";
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}
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else
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{
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LOG(INFO) << "Test register sanity check success !";
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}
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switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues
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}
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static pthread_mutex_t mutex_obs_test = PTHREAD_MUTEX_INITIALIZER;
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volatile unsigned int send_samples_start_obs_test = 0;
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int8_t input_samples_obs_test[TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL * TEST_OBS_COMPLEX_SAMPLE_SIZE]; // re - im
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int8_t input_samples_dma_obs_test[TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL * TEST_OBS_COMPLEX_SAMPLE_SIZE * TEST_OBS_NUM_QUEUES];
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struct DMA_handler_args_obs_test
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{
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std::string file;
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unsigned int nsamples_tx;
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unsigned int skip_used_samples;
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unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5
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};
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void* handler_DMA_obs_test(void* arguments)
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{
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// DMA process that configures the DMA to send the samples to the acquisition engine
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int tx_fd; // DMA descriptor
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FILE* rx_signal_file_id; // Input file descriptor
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bool file_completed = false; // flag to indicate if the file is completed
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unsigned int nsamples_block; // number of samples to send in the next DMA block of samples
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unsigned int nread_elements; // number of elements effectively read from the input file
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unsigned int nsamples = 0; // number of complex samples effectively transferred
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unsigned int index0, dma_index = 0; // counters used for putting the samples in the order expected by the DMA
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unsigned int nsamples_transmitted;
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struct DMA_handler_args* args = (struct DMA_handler_args*)arguments;
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unsigned int nsamples_tx = args->nsamples_tx;
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std::string file = args->file; // input filename
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unsigned int skip_used_samples = args->skip_used_samples;
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// open DMA device
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tx_fd = open("/dev/loop_tx", O_WRONLY);
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if (tx_fd < 0)
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{
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std::cout << "DMA can't open loop device" << std::endl;
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exit(1);
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}
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else
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// open input file
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rx_signal_file_id = fopen(file.c_str(), "rb");
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if (rx_signal_file_id == NULL)
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{
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std::cout << "DMA can't open input file" << std::endl;
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exit(1);
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}
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while (send_samples_start_obs_test == 0)
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; // wait until acquisition starts
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// skip initial samples
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int skip_samples = (int)FLAGS_skip_samples;
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fseek(rx_signal_file_id, (skip_samples + skip_used_samples) * 2, SEEK_SET);
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usleep(50000); // wait some time to give time to the main thread to start the acquisition module
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while (file_completed == false)
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{
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if (nsamples_tx - nsamples > TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
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{
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nsamples_block = TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
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}
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else
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{
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nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
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file_completed = true;
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}
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nread_elements = fread(input_samples_obs_test, sizeof(int8_t), nsamples_block * TEST_OBS_COMPLEX_SAMPLE_SIZE, rx_signal_file_id);
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if (nread_elements != nsamples_block * TEST_OBS_COMPLEX_SAMPLE_SIZE)
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{
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std::cout << "file completed" << std::endl;
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file_completed = true;
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}
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nsamples += (nread_elements / TEST_OBS_COMPLEX_SAMPLE_SIZE);
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if (nread_elements > 0)
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{
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// for the 32-BIT DMA
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dma_index = 0;
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for (index0 = 0; index0 < (nread_elements); index0 += TEST_OBS_COMPLEX_SAMPLE_SIZE)
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{
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if (args->freq_band == 0)
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{
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// channel 1 (queue 1) -> E5/L5
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input_samples_dma_obs_test[dma_index] = 0;
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input_samples_dma_obs_test[dma_index + 1] = 0;
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|
// channel 0 (queue 0) -> E1/L1
|
|
input_samples_dma_obs_test[dma_index + 2] = input_samples_obs_test[index0];
|
|
input_samples_dma_obs_test[dma_index + 3] = input_samples_obs_test[index0 + 1];
|
|
}
|
|
else
|
|
{
|
|
// channel 1 (queue 1) -> E5/L5
|
|
input_samples_dma_obs_test[dma_index] = input_samples_obs_test[index0];
|
|
input_samples_dma_obs_test[dma_index + 1] = input_samples_obs_test[index0 + 1];
|
|
// channel 0 (queue 0) -> E1/L1
|
|
input_samples_dma_obs_test[dma_index + 2] = 0;
|
|
input_samples_dma_obs_test[dma_index + 3] = 0;
|
|
}
|
|
dma_index += 4;
|
|
}
|
|
nsamples_transmitted = write(tx_fd, &input_samples_dma_obs_test[0], nread_elements * TEST_OBS_NUM_QUEUES);
|
|
if (nsamples_transmitted != nread_elements * TEST_OBS_NUM_QUEUES)
|
|
{
|
|
std::cout << "Error : DMA could not send all the requested samples" << std::endl;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
close(tx_fd);
|
|
fclose(rx_signal_file_id);
|
|
return NULL;
|
|
}
|
|
|
|
|
|
bool HybridObservablesTestFpga::acquire_signal()
|
|
{
|
|
pthread_t thread_DMA;
|
|
|
|
// 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
|
|
gr::top_block_sptr top_block;
|
|
top_block = gr::make_top_block("Acquisition test");
|
|
int SV_ID = 1; //initial sv id
|
|
|
|
// Satellite signal definition
|
|
Gnss_Synchro tmp_gnss_synchro;
|
|
tmp_gnss_synchro.Channel_ID = 0;
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
|
|
|
std::shared_ptr<AcquisitionInterface> acquisition;
|
|
|
|
std::string System_and_Signal;
|
|
|
|
struct DMA_handler_args_obs_test args;
|
|
|
|
//create the correspondign acquisition block according to the desired tracking signal
|
|
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
tmp_gnss_synchro.System = 'G';
|
|
std::string signal = "1C";
|
|
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "GPS L1 CA";
|
|
|
|
args.freq_band = 0;
|
|
|
|
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
}
|
|
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
|
|
{
|
|
tmp_gnss_synchro.System = 'E';
|
|
std::string signal = "1B";
|
|
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "Galileo E1B";
|
|
|
|
args.freq_band = 0;
|
|
|
|
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
}
|
|
|
|
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
tmp_gnss_synchro.System = 'E';
|
|
std::string signal = "5X";
|
|
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "Galileo E5a";
|
|
|
|
args.freq_band = 1;
|
|
|
|
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
}
|
|
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
tmp_gnss_synchro.System = 'G';
|
|
std::string signal = "L5";
|
|
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "GPS L5I";
|
|
|
|
args.freq_band = 1;
|
|
|
|
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
acquisition->set_channel(0);
|
|
acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
|
|
acquisition->connect(top_block);
|
|
|
|
std::string file = FLAGS_signal_file;
|
|
|
|
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
|
|
try
|
|
{
|
|
msg_rx = Acquisition_msg_rx_make();
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
std::cout << "Failure connecting the message port system: " << e.what() << std::endl;
|
|
exit(0);
|
|
}
|
|
|
|
msg_rx->top_block = top_block;
|
|
|
|
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
|
|
|
|
|
// 5. Run the flowgraph
|
|
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
|
|
// record startup time
|
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
|
std::chrono::duration<double> elapsed_seconds;
|
|
start = std::chrono::system_clock::now();
|
|
|
|
bool start_msg = true;
|
|
|
|
unsigned int MAX_PRN_IDX = 0;
|
|
|
|
switch (tmp_gnss_synchro.System)
|
|
{
|
|
case 'G':
|
|
MAX_PRN_IDX = 33;
|
|
break;
|
|
case 'E':
|
|
MAX_PRN_IDX = 37;
|
|
break;
|
|
default:
|
|
MAX_PRN_IDX = 33;
|
|
}
|
|
|
|
setup_fpga_switch_obs_test();
|
|
|
|
unsigned int nsamples_to_transfer;
|
|
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0))
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
|
|
}
|
|
|
|
int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
|
|
int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
|
|
|
|
|
|
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
|
|
{
|
|
tmp_gnss_synchro.PRN = PRN;
|
|
|
|
acquisition->stop_acquisition(); // reset the whole system including the sample counters
|
|
acquisition->set_doppler_max(acq_doppler_max);
|
|
acquisition->set_doppler_step(acq_doppler_step);
|
|
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
|
|
acquisition->init();
|
|
acquisition->set_local_code();
|
|
|
|
args.file = file;
|
|
|
|
|
|
send_samples_start_obs_test = 0;
|
|
|
|
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
|
|
{
|
|
args.skip_used_samples = -TEST_OBS_DOWNAMPLING_FILTER_INIT_SAMPLES;
|
|
|
|
args.nsamples_tx = TEST_OBS_DOWNAMPLING_FILTER_INIT_SAMPLES + TEST_OBS_DOWNSAMPLING_FILTER_DELAY;
|
|
|
|
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void*)&args) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process" << std::endl;
|
|
}
|
|
pthread_mutex_lock(&mutex);
|
|
send_samples_start_obs_test = 1;
|
|
pthread_mutex_unlock(&mutex);
|
|
pthread_join(thread_DMA, NULL);
|
|
send_samples_start_obs_test = 0;
|
|
|
|
args.nsamples_tx = nsamples_to_transfer;
|
|
|
|
args.skip_used_samples = TEST_OBS_DOWNSAMPLING_FILTER_DELAY;
|
|
}
|
|
else
|
|
{
|
|
args.nsamples_tx = nsamples_to_transfer;
|
|
|
|
args.skip_used_samples = 0;
|
|
}
|
|
|
|
|
|
// create DMA child process
|
|
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void*)&args) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process" << std::endl;
|
|
}
|
|
|
|
msg_rx->rx_message = 0;
|
|
top_block->start();
|
|
|
|
pthread_mutex_lock(&mutex);
|
|
send_samples_start_obs_test = 1;
|
|
pthread_mutex_unlock(&mutex);
|
|
|
|
acquisition->reset(); // set active
|
|
|
|
if (start_msg == true)
|
|
{
|
|
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
|
|
std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
|
|
std::cout << "[";
|
|
start_msg = false;
|
|
}
|
|
|
|
// wait for the child DMA process to finish
|
|
pthread_join(thread_DMA, NULL);
|
|
|
|
pthread_mutex_lock(&mutex);
|
|
send_samples_start_obs_test = 0;
|
|
pthread_mutex_unlock(&mutex);
|
|
|
|
// the DMA sends the exact number of samples needed for the acquisition.
|
|
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
|
|
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
|
|
// sample the DMA might have sent.
|
|
do
|
|
{
|
|
usleep(100000);
|
|
}
|
|
while (msg_rx->rx_message == 0);
|
|
|
|
if (msg_rx->rx_message == 1)
|
|
{
|
|
std::cout << " " << PRN << " ";
|
|
|
|
tmp_gnss_synchro.Acq_doppler_hz = tmp_gnss_synchro.Acq_doppler_hz;
|
|
tmp_gnss_synchro.Acq_delay_samples = tmp_gnss_synchro.Acq_delay_samples;
|
|
tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
|
|
tmp_gnss_synchro.Acq_samplestamp_samples = tmp_gnss_synchro.Acq_samplestamp_samples; // delay due to the downsampling filter in the acquisition
|
|
|
|
|
|
gnss_synchro_vec.push_back(tmp_gnss_synchro);
|
|
}
|
|
else
|
|
{
|
|
std::cout << " . ";
|
|
}
|
|
|
|
|
|
top_block->stop();
|
|
|
|
|
|
std::cout.flush();
|
|
}
|
|
std::cout << "]" << std::endl;
|
|
std::cout << "-------------------------------------------\n";
|
|
|
|
for (auto& x : gnss_synchro_vec)
|
|
{
|
|
std::cout << "DETECTED SATELLITE " << System_and_Signal
|
|
<< " PRN: " << x.PRN
|
|
<< " with Doppler: " << x.Acq_doppler_hz
|
|
<< " [Hz], code phase: " << x.Acq_delay_samples
|
|
<< " [samples] at signal SampleStamp " << x.Acq_samplestamp_samples << "\n";
|
|
}
|
|
|
|
// report the elapsed time
|
|
end = std::chrono::system_clock::now();
|
|
elapsed_seconds = end - start;
|
|
std::cout << "Total signal acquisition run time "
|
|
<< elapsed_seconds.count()
|
|
<< " [seconds]" << std::endl;
|
|
if (gnss_synchro_vec.size() > 0)
|
|
{
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
return false;
|
|
}
|
|
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
void HybridObservablesTestFpga::configure_receiver(
|
|
double PLL_wide_bw_hz,
|
|
double DLL_wide_bw_hz,
|
|
double PLL_narrow_bw_hz,
|
|
double DLL_narrow_bw_hz,
|
|
int extend_correlation_symbols)
|
|
{
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
config->set_property("Tracking.dump", "true");
|
|
config->set_property("Tracking.dump_filename", "./tracking_ch_");
|
|
config->set_property("Tracking.implementation", implementation);
|
|
config->set_property("Tracking.item_type", "gr_complex");
|
|
config->set_property("Tracking.pll_bw_hz", std::to_string(PLL_wide_bw_hz));
|
|
config->set_property("Tracking.dll_bw_hz", std::to_string(DLL_wide_bw_hz));
|
|
config->set_property("Tracking.extend_correlation_symbols", std::to_string(extend_correlation_symbols));
|
|
config->set_property("Tracking.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz));
|
|
config->set_property("Tracking.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz));
|
|
config->set_property("Observables.implementation", "Hybrid_Observables");
|
|
config->set_property("Observables.dump", "true");
|
|
config->set_property("TelemetryDecoder.dump", "true");
|
|
|
|
gnss_synchro_master.Channel_ID = 0;
|
|
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
|
|
|
std::string System_and_Signal;
|
|
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
gnss_synchro_master.System = 'G';
|
|
std::string signal = "1C";
|
|
System_and_Signal = "GPS L1 CA";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.early_late_space_narrow_chips", "0.5");
|
|
|
|
config->set_property("TelemetryDecoder.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
|
}
|
|
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
|
|
{
|
|
gnss_synchro_master.System = 'E';
|
|
std::string signal = "1B";
|
|
System_and_Signal = "Galileo E1B";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
|
|
config->set_property("Tracking.early_late_space_chips", "0.15");
|
|
config->set_property("Tracking.very_early_late_space_chips", "0.6");
|
|
config->set_property("Tracking.early_late_space_narrow_chips", "0.15");
|
|
config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
|
|
config->set_property("TelemetryDecoder.implementation", "Galileo_E1B_Telemetry_Decoder");
|
|
}
|
|
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
|
|
{
|
|
gnss_synchro_master.System = 'E';
|
|
std::string signal = "5X";
|
|
System_and_Signal = "Galileo E5a";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
config->set_property("Tracking.order", "2");
|
|
|
|
config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
|
|
}
|
|
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
gnss_synchro_master.System = 'G';
|
|
std::string signal = "L5";
|
|
System_and_Signal = "GPS L5I";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
config->set_property("Tracking.order", "2");
|
|
|
|
config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "*** Tracking configuration parameters ***\n";
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "Signal: " << System_and_Signal << "\n";
|
|
std::cout << "implementation: " << config->property("Tracking.implementation", std::string("undefined")) << " \n";
|
|
std::cout << "pll_bw_hz: " << config->property("Tracking.pll_bw_hz", 0.0) << " Hz\n";
|
|
std::cout << "dll_bw_hz: " << config->property("Tracking.dll_bw_hz", 0.0) << " Hz\n";
|
|
std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
|
|
std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
|
|
std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "*****************************************\n";
|
|
}
|
|
|
|
void HybridObservablesTestFpga::check_results_carrier_phase(
|
|
arma::mat& true_ch0,
|
|
arma::vec& true_tow_s,
|
|
arma::mat& measured_ch0,
|
|
std::string data_title)
|
|
{
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
double t0 = measured_ch0(0, 0);
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
double t1 = measured_ch0(size1 - 1, 0);
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
//conversion between arma::vec and std:vector
|
|
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
|
|
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
|
|
|
|
arma::vec true_ch0_phase_interp;
|
|
arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);
|
|
|
|
arma::vec meas_ch0_phase_interp;
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);
|
|
|
|
//2. RMSE
|
|
arma::vec err_ch0_cycles;
|
|
|
|
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
|
|
err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);
|
|
|
|
arma::vec err2_ch0 = arma::square(err_ch0_cycles);
|
|
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
|
|
|
|
//3. Mean err and variance
|
|
double error_mean_ch0 = arma::mean(err_ch0_cycles);
|
|
double error_var_ch0 = arma::var(err_ch0_cycles);
|
|
|
|
// 4. Peaks
|
|
double max_error_ch0 = arma::max(err_ch0_cycles);
|
|
double min_error_ch0 = arma::min(err_ch0_cycles);
|
|
|
|
//5. report
|
|
std::streamsize ss = std::cout.precision();
|
|
std::cout << std::setprecision(10) << data_title << " Accumulated Carrier phase RMSE = "
|
|
<< rmse_ch0 << ", mean = " << error_mean_ch0
|
|
<< ", stdev = " << sqrt(error_var_ch0)
|
|
<< " (max,min) = " << max_error_ch0
|
|
<< "," << min_error_ch0
|
|
<< " [cycles]" << std::endl;
|
|
std::cout.precision(ss);
|
|
|
|
//plots
|
|
if (FLAGS_show_plots)
|
|
{
|
|
Gnuplot g3("linespoints");
|
|
g3.set_title(data_title + "Accumulated Carrier phase error [cycles]");
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Carrier Phase error [cycles]");
|
|
//conversion between arma::vec and std:vector
|
|
std::vector<double> error_vec(err_ch0_cycles.colptr(0), err_ch0_cycles.colptr(0) + err_ch0_cycles.n_rows);
|
|
g3.cmd("set key box opaque");
|
|
g3.plot_xy(time_vector, error_vec,
|
|
"Carrier Phase error");
|
|
g3.set_legend();
|
|
g3.savetops(data_title + "Carrier_phase_error");
|
|
|
|
g3.showonscreen(); // window output
|
|
}
|
|
|
|
//check results against the test tolerance
|
|
ASSERT_LT(rmse_ch0, 0.25);
|
|
ASSERT_LT(error_mean_ch0, 0.2);
|
|
ASSERT_GT(error_mean_ch0, -0.2);
|
|
ASSERT_LT(error_var_ch0, 0.5);
|
|
ASSERT_LT(max_error_ch0, 0.5);
|
|
ASSERT_GT(min_error_ch0, -0.5);
|
|
}
|
|
|
|
|
|
void HybridObservablesTestFpga::check_results_carrier_phase_double_diff(
|
|
arma::mat& true_ch0,
|
|
arma::mat& true_ch1,
|
|
arma::vec& true_tow_ch0_s,
|
|
arma::vec& true_tow_ch1_s,
|
|
arma::mat& measured_ch0,
|
|
arma::mat& measured_ch1,
|
|
std::string data_title)
|
|
{
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
int size2 = measured_ch1.col(0).n_rows;
|
|
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
|
|
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
//conversion between arma::vec and std:vector
|
|
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
|
|
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
|
|
|
|
|
|
arma::vec true_ch0_carrier_phase_interp;
|
|
arma::vec true_ch1_carrier_phase_interp;
|
|
arma::interp1(true_tow_ch0_s, true_ch0.col(3), t, true_ch0_carrier_phase_interp);
|
|
arma::interp1(true_tow_ch1_s, true_ch1.col(3), t, true_ch1_carrier_phase_interp);
|
|
|
|
arma::vec meas_ch0_carrier_phase_interp;
|
|
arma::vec meas_ch1_carrier_phase_interp;
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_carrier_phase_interp);
|
|
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_carrier_phase_interp);
|
|
|
|
// generate double difference accumulated carrier phases
|
|
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
|
|
arma::vec delta_true_carrier_phase_cycles = (true_ch0_carrier_phase_interp - true_ch0_carrier_phase_interp(0)) - (true_ch1_carrier_phase_interp - true_ch1_carrier_phase_interp(0));
|
|
arma::vec delta_measured_carrier_phase_cycles = (meas_ch0_carrier_phase_interp - meas_ch0_carrier_phase_interp(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));
|
|
|
|
//2. RMSE
|
|
arma::vec err;
|
|
|
|
err = delta_measured_carrier_phase_cycles - delta_true_carrier_phase_cycles;
|
|
arma::vec err2 = arma::square(err);
|
|
double rmse = sqrt(arma::mean(err2));
|
|
|
|
//3. Mean err and variance
|
|
double error_mean = arma::mean(err);
|
|
double error_var = arma::var(err);
|
|
|
|
// 4. Peaks
|
|
double max_error = arma::max(err);
|
|
double min_error = arma::min(err);
|
|
|
|
//5. report
|
|
std::streamsize ss = std::cout.precision();
|
|
std::cout << std::setprecision(10) << data_title << "Double diff Carrier Phase RMSE = "
|
|
<< rmse << ", mean = " << error_mean
|
|
<< ", stdev = " << sqrt(error_var)
|
|
<< " (max,min) = " << max_error
|
|
<< "," << min_error
|
|
<< " [Cycles]" << std::endl;
|
|
std::cout.precision(ss);
|
|
|
|
//plots
|
|
if (FLAGS_show_plots)
|
|
{
|
|
Gnuplot g3("linespoints");
|
|
g3.set_title(data_title + "Double diff Carrier Phase error [Cycles]");
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Double diff Carrier Phase error [Cycles]");
|
|
//conversion between arma::vec and std:vector
|
|
std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
|
|
g3.cmd("set key box opaque");
|
|
g3.plot_xy(time_vector, range_error_m,
|
|
"Double diff Carrier Phase error");
|
|
g3.set_legend();
|
|
g3.savetops(data_title + "double_diff_carrier_phase_error");
|
|
|
|
g3.showonscreen(); // window output
|
|
}
|
|
|
|
//check results against the test tolerance
|
|
ASSERT_LT(rmse, 0.25);
|
|
ASSERT_LT(error_mean, 0.2);
|
|
ASSERT_GT(error_mean, -0.2);
|
|
ASSERT_LT(error_var, 0.5);
|
|
ASSERT_LT(max_error, 0.5);
|
|
ASSERT_GT(min_error, -0.5);
|
|
}
|
|
|
|
|
|
void HybridObservablesTestFpga::check_results_carrier_doppler_double_diff(
|
|
arma::mat& true_ch0,
|
|
arma::mat& true_ch1,
|
|
arma::vec& true_tow_ch0_s,
|
|
arma::vec& true_tow_ch1_s,
|
|
arma::mat& measured_ch0,
|
|
arma::mat& measured_ch1,
|
|
std::string data_title)
|
|
{
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
int size2 = measured_ch1.col(0).n_rows;
|
|
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
|
|
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
//conversion between arma::vec and std:vector
|
|
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
|
|
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
|
|
|
|
|
|
arma::vec true_ch0_carrier_doppler_interp;
|
|
arma::vec true_ch1_carrier_doppler_interp;
|
|
arma::interp1(true_tow_ch0_s, true_ch0.col(2), t, true_ch0_carrier_doppler_interp);
|
|
arma::interp1(true_tow_ch1_s, true_ch1.col(2), t, true_ch1_carrier_doppler_interp);
|
|
|
|
arma::vec meas_ch0_carrier_doppler_interp;
|
|
arma::vec meas_ch1_carrier_doppler_interp;
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_carrier_doppler_interp);
|
|
arma::interp1(measured_ch1.col(0), measured_ch1.col(2), t, meas_ch1_carrier_doppler_interp);
|
|
|
|
// generate double difference carrier Doppler
|
|
arma::vec delta_true_carrier_doppler_cycles = true_ch0_carrier_doppler_interp - true_ch1_carrier_doppler_interp;
|
|
arma::vec delta_measured_carrier_doppler_cycles = meas_ch0_carrier_doppler_interp - meas_ch1_carrier_doppler_interp;
|
|
|
|
//2. RMSE
|
|
arma::vec err;
|
|
|
|
err = delta_measured_carrier_doppler_cycles - delta_true_carrier_doppler_cycles;
|
|
arma::vec err2 = arma::square(err);
|
|
double rmse = sqrt(arma::mean(err2));
|
|
|
|
//3. Mean err and variance
|
|
double error_mean = arma::mean(err);
|
|
double error_var = arma::var(err);
|
|
|
|
// 4. Peaks
|
|
double max_error = arma::max(err);
|
|
double min_error = arma::min(err);
|
|
|
|
//5. report
|
|
std::streamsize ss = std::cout.precision();
|
|
std::cout << std::setprecision(10) << data_title << "Double diff Carrier Doppler RMSE = "
|
|
<< rmse << ", mean = " << error_mean
|
|
<< ", stdev = " << sqrt(error_var)
|
|
<< " (max,min) = " << max_error
|
|
<< "," << min_error
|
|
<< " [Hz]" << std::endl;
|
|
std::cout.precision(ss);
|
|
|
|
//plots
|
|
if (FLAGS_show_plots)
|
|
{
|
|
Gnuplot g3("linespoints");
|
|
g3.set_title(data_title + "Double diff Carrier Doppler error [Hz]");
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Double diff Carrier Doppler error [Hz]");
|
|
//conversion between arma::vec and std:vector
|
|
std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
|
|
g3.cmd("set key box opaque");
|
|
g3.plot_xy(time_vector, range_error_m,
|
|
"Double diff Carrier Doppler error");
|
|
g3.set_legend();
|
|
g3.savetops(data_title + "double_diff_carrier_doppler_error");
|
|
|
|
g3.showonscreen(); // window output
|
|
}
|
|
|
|
//check results against the test tolerance
|
|
ASSERT_LT(error_mean, 5);
|
|
ASSERT_GT(error_mean, -5);
|
|
//assuming PLL BW=35
|
|
ASSERT_LT(error_var, 200);
|
|
ASSERT_LT(max_error, 70);
|
|
ASSERT_GT(min_error, -70);
|
|
ASSERT_LT(rmse, 30);
|
|
}
|
|
|
|
|
|
void HybridObservablesTestFpga::check_results_carrier_doppler(
|
|
arma::mat& true_ch0,
|
|
arma::vec& true_tow_s,
|
|
arma::mat& measured_ch0,
|
|
std::string data_title)
|
|
{
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
double t0 = measured_ch0(0, 0);
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
double t1 = measured_ch0(size1 - 1, 0);
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
//conversion between arma::vec and std:vector
|
|
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
|
|
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
|
|
|
|
arma::vec true_ch0_doppler_interp;
|
|
arma::interp1(true_tow_s, true_ch0.col(2), t, true_ch0_doppler_interp);
|
|
|
|
arma::vec meas_ch0_doppler_interp;
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_doppler_interp);
|
|
|
|
//2. RMSE
|
|
arma::vec err_ch0_hz;
|
|
|
|
//compute error
|
|
err_ch0_hz = meas_ch0_doppler_interp - true_ch0_doppler_interp;
|
|
|
|
arma::vec err2_ch0 = arma::square(err_ch0_hz);
|
|
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
|
|
|
|
//3. Mean err and variance
|
|
double error_mean_ch0 = arma::mean(err_ch0_hz);
|
|
double error_var_ch0 = arma::var(err_ch0_hz);
|
|
|
|
// 4. Peaks
|
|
double max_error_ch0 = arma::max(err_ch0_hz);
|
|
double min_error_ch0 = arma::min(err_ch0_hz);
|
|
|
|
//5. report
|
|
std::streamsize ss = std::cout.precision();
|
|
std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
|
|
<< rmse_ch0 << ", mean = " << error_mean_ch0
|
|
<< ", stdev = " << sqrt(error_var_ch0)
|
|
<< " (max,min) = " << max_error_ch0
|
|
<< "," << min_error_ch0
|
|
<< " [Hz]" << std::endl;
|
|
std::cout.precision(ss);
|
|
|
|
//plots
|
|
if (FLAGS_show_plots)
|
|
{
|
|
Gnuplot g3("linespoints");
|
|
g3.set_title(data_title + "Carrier Doppler error [Hz]");
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Carrier Doppler error [Hz]");
|
|
//conversion between arma::vec and std:vector
|
|
std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
|
|
g3.cmd("set key box opaque");
|
|
g3.plot_xy(time_vector, error_vec,
|
|
"Carrier Doppler error");
|
|
g3.set_legend();
|
|
g3.savetops(data_title + "Carrier_doppler_error");
|
|
|
|
g3.showonscreen(); // window output
|
|
}
|
|
|
|
//check results against the test tolerance
|
|
ASSERT_LT(error_mean_ch0, 5);
|
|
ASSERT_GT(error_mean_ch0, -5);
|
|
//assuming PLL BW=35
|
|
ASSERT_LT(error_var_ch0, 200);
|
|
ASSERT_LT(max_error_ch0, 70);
|
|
ASSERT_GT(min_error_ch0, -70);
|
|
ASSERT_LT(rmse_ch0, 30);
|
|
}
|
|
|
|
bool HybridObservablesTestFpga::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
|
|
{
|
|
try
|
|
{
|
|
// WRITE MAT FILE
|
|
mat_t* matfp;
|
|
matvar_t* matvar;
|
|
filename.append(".mat");
|
|
std::cout << "save_mat_xy write " << filename << std::endl;
|
|
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT5);
|
|
if (reinterpret_cast<int64_t*>(matfp) != NULL)
|
|
{
|
|
size_t dims[2] = {1, x.size()};
|
|
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
}
|
|
else
|
|
{
|
|
std::cout << "save_mat_xy: error creating file" << std::endl;
|
|
}
|
|
Mat_Close(matfp);
|
|
return true;
|
|
}
|
|
catch (const std::exception& ex)
|
|
{
|
|
std::cout << "save_mat_xy: " << ex.what() << std::endl;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void HybridObservablesTestFpga::check_results_code_pseudorange(
|
|
arma::mat& true_ch0,
|
|
arma::mat& true_ch1,
|
|
arma::vec& true_tow_ch0_s,
|
|
arma::vec& true_tow_ch1_s,
|
|
arma::mat& measured_ch0,
|
|
arma::mat& measured_ch1,
|
|
std::string data_title)
|
|
{
|
|
//1. True value interpolation to match the measurement times
|
|
|
|
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
|
|
int size1 = measured_ch0.col(0).n_rows;
|
|
int size2 = measured_ch1.col(0).n_rows;
|
|
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
|
|
|
|
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
|
|
//conversion between arma::vec and std:vector
|
|
arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
|
|
std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
|
|
|
|
|
|
arma::vec true_ch0_dist_interp;
|
|
arma::vec true_ch1_dist_interp;
|
|
arma::interp1(true_tow_ch0_s, true_ch0.col(1), t, true_ch0_dist_interp);
|
|
arma::interp1(true_tow_ch1_s, true_ch1.col(1), t, true_ch1_dist_interp);
|
|
|
|
arma::vec meas_ch0_dist_interp;
|
|
arma::vec meas_ch1_dist_interp;
|
|
arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
|
|
arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
|
|
|
|
// generate delta pseudoranges
|
|
arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
|
|
arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
|
|
|
|
//2. RMSE
|
|
arma::vec err;
|
|
|
|
err = delta_measured_dist_m - delta_true_dist_m;
|
|
arma::vec err2 = arma::square(err);
|
|
double rmse = sqrt(arma::mean(err2));
|
|
|
|
//3. Mean err and variance
|
|
double error_mean = arma::mean(err);
|
|
double error_var = arma::var(err);
|
|
|
|
// 4. Peaks
|
|
double max_error = arma::max(err);
|
|
double min_error = arma::min(err);
|
|
|
|
//5. report
|
|
std::streamsize ss = std::cout.precision();
|
|
std::cout << std::setprecision(10) << data_title << "Double diff Pseudorange RMSE = "
|
|
<< rmse << ", mean = " << error_mean
|
|
<< ", stdev = " << sqrt(error_var)
|
|
<< " (max,min) = " << max_error
|
|
<< "," << min_error
|
|
<< " [meters]" << std::endl;
|
|
std::cout.precision(ss);
|
|
|
|
//plots
|
|
if (FLAGS_show_plots)
|
|
{
|
|
Gnuplot g3("linespoints");
|
|
g3.set_title(data_title + "Double diff Pseudorange error [m]");
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Double diff Pseudorange error [m]");
|
|
//conversion between arma::vec and std:vector
|
|
std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
|
|
g3.cmd("set key box opaque");
|
|
g3.plot_xy(time_vector, range_error_m,
|
|
"Double diff Pseudorrange error");
|
|
g3.set_legend();
|
|
g3.savetops(data_title + "double_diff_pseudorrange_error");
|
|
|
|
g3.showonscreen(); // window output
|
|
}
|
|
|
|
//check results against the test tolerance
|
|
ASSERT_LT(rmse, 3.0);
|
|
ASSERT_LT(error_mean, 1.0);
|
|
ASSERT_GT(error_mean, -1.0);
|
|
ASSERT_LT(error_var, 10.0);
|
|
ASSERT_LT(max_error, 10.0);
|
|
ASSERT_GT(min_error, -10.0);
|
|
}
|
|
|
|
bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss)
|
|
{
|
|
// 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;
|
|
|
|
std::vector<bool> first_row;
|
|
gpstk::SatID prn;
|
|
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
|
{
|
|
first_row.push_back(true);
|
|
obs_vec->push_back(arma::zeros<arma::mat>(1, 4));
|
|
}
|
|
while (r_ref >> r_ref_data)
|
|
{
|
|
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
|
{
|
|
int myprn = gnss_synchro_vec.at(n).PRN;
|
|
|
|
switch (gnss.System)
|
|
{
|
|
case 'G':
|
|
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
|
|
break;
|
|
case 'E':
|
|
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
|
|
break;
|
|
default:
|
|
prn = gpstk::SatID(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
|
|
{
|
|
if (first_row.at(n) == false)
|
|
{
|
|
//insert next column
|
|
obs_vec->at(n).insert_rows(obs_vec->at(n).n_rows, 1);
|
|
}
|
|
else
|
|
{
|
|
first_row.at(n) = false;
|
|
}
|
|
if (strcmp("1C\0", gnss.Signal) == 0)
|
|
{
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
|
|
dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data; //C1C P1 (psudorange L1)
|
|
dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data; //D1C Carrier Doppler
|
|
dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data; //L1C Carrier Phase
|
|
}
|
|
else if (strcmp("1B\0", gnss.Signal) == 0)
|
|
{
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
|
|
dataobj = r_ref_data.getObs(prn, "C1B", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "D1B", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "L1B", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
|
|
}
|
|
else if (strcmp("2S\0", gnss.Signal) == 0) //L2M
|
|
{
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
|
|
dataobj = r_ref_data.getObs(prn, "C2S", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "D2S", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "L2S", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
|
|
}
|
|
else if (strcmp("L5\0", gnss.Signal) == 0)
|
|
{
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
|
|
dataobj = r_ref_data.getObs(prn, "C5I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "D5I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "L5I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
|
|
}
|
|
else if (strcmp("5X\0", gnss.Signal) == 0) //Simulator gives RINEX with E5a+E5b
|
|
{
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
|
|
dataobj = r_ref_data.getObs(prn, "C8I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "D8I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
|
|
dataobj = r_ref_data.getObs(prn, "L8I", r_ref_header);
|
|
obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "ReadRinexObs unknown signal requested: " << gnss.Signal << std::endl;
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
} // end while
|
|
} // End of 'try' block
|
|
catch (const gpstk::FFStreamError& e)
|
|
{
|
|
std::cout << e;
|
|
return false;
|
|
}
|
|
catch (const gpstk::Exception& e)
|
|
{
|
|
std::cout << e;
|
|
return false;
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
std::cout << "Exception: " << e.what();
|
|
std::cout << "unknown error. I don't feel so well..." << std::endl;
|
|
return false;
|
|
}
|
|
std::cout << "ReadRinexObs info:" << std::endl;
|
|
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
|
{
|
|
std::cout << "SAT PRN " << gnss_synchro_vec.at(n).PRN << " RINEX epoch readed: " << obs_vec->at(n).n_rows << std::endl;
|
|
}
|
|
return true;
|
|
}
|
|
TEST_F(HybridObservablesTestFpga, ValidationOfResults)
|
|
{
|
|
// pointer to the DMA thread that sends the samples to the acquisition engine
|
|
pthread_t thread_DMA;
|
|
|
|
struct DMA_handler_args_obs_test args;
|
|
|
|
// Configure the signal generator
|
|
configure_generator();
|
|
|
|
// Generate signal raw signal samples and observations RINEX file
|
|
if (FLAGS_disable_generator == false)
|
|
{
|
|
generate_signal();
|
|
}
|
|
|
|
|
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
|
std::chrono::duration<double> elapsed_seconds(0);
|
|
|
|
// use generator or use an external capture file
|
|
if (FLAGS_enable_external_signal_file)
|
|
{
|
|
//create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
|
|
ASSERT_EQ(acquire_signal(), true);
|
|
}
|
|
else
|
|
{
|
|
Gnss_Synchro tmp_gnss_synchro;
|
|
tmp_gnss_synchro.System = 'G';
|
|
std::string signal = "1C";
|
|
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
|
|
|
|
std::istringstream ss(FLAGS_test_satellite_PRN_list);
|
|
std::string token;
|
|
|
|
while (std::getline(ss, token, ','))
|
|
{
|
|
tmp_gnss_synchro.PRN = boost::lexical_cast<int>(token);
|
|
gnss_synchro_vec.push_back(tmp_gnss_synchro);
|
|
}
|
|
}
|
|
|
|
configure_receiver(FLAGS_PLL_bw_hz_start,
|
|
FLAGS_DLL_bw_hz_start,
|
|
FLAGS_PLL_narrow_bw_hz,
|
|
FLAGS_DLL_narrow_bw_hz,
|
|
FLAGS_extend_correlation_symbols);
|
|
|
|
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
|
{
|
|
//setup the signal synchronization, simulating an acquisition
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
//based on true observables metadata (for custom sdr generator)
|
|
//open true observables log file written by the simulator or based on provided RINEX obs
|
|
//std::vector<std::shared_ptr<tracking_true_obs_reader>> true_reader_vec;
|
|
std::vector<std::shared_ptr<Tracking_True_Obs_Reader>> true_reader_vec;
|
|
//read true data from the generator logs
|
|
true_reader_vec.push_back(std::make_shared<Tracking_True_Obs_Reader>());
|
|
std::cout << "Loading true observable data for PRN " << gnss_synchro_vec.at(n).PRN << std::endl;
|
|
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
|
true_obs_file.append(std::to_string(gnss_synchro_vec.at(n).PRN));
|
|
true_obs_file.append(".dat");
|
|
ASSERT_NO_THROW({
|
|
if (true_reader_vec.back()->open_obs_file(true_obs_file) == false)
|
|
{
|
|
throw std::exception();
|
|
};
|
|
}) << "Failure opening true observables file";
|
|
|
|
// load acquisition data based on the first epoch of the true observations
|
|
ASSERT_NO_THROW({
|
|
if (true_reader_vec.back()->read_binary_obs() == false)
|
|
{
|
|
throw std::exception();
|
|
};
|
|
}) << "Failure reading true observables file";
|
|
|
|
//restart the epoch counter
|
|
true_reader_vec.back()->restart();
|
|
|
|
std::cout << "Initial Doppler [Hz]=" << true_reader_vec.back()->doppler_l1_hz << " Initial code delay [Chips]="
|
|
<< true_reader_vec.back()->prn_delay_chips << std::endl;
|
|
gnss_synchro_vec.at(n).Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_reader_vec.back()->prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
|
gnss_synchro_vec.at(n).Acq_doppler_hz = true_reader_vec.back()->doppler_l1_hz;
|
|
gnss_synchro_vec.at(n).Acq_samplestamp_samples = 0;
|
|
}
|
|
else
|
|
{
|
|
//based on the signal acquisition process
|
|
std::cout << "Estimated Initial Doppler " << gnss_synchro_vec.at(n).Acq_doppler_hz
|
|
<< " [Hz], estimated Initial code delay " << gnss_synchro_vec.at(n).Acq_delay_samples << " [Samples]"
|
|
<< " Acquisition SampleStamp is " << gnss_synchro_vec.at(n).Acq_samplestamp_samples << std::endl;
|
|
}
|
|
}
|
|
|
|
|
|
// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
|
|
// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
|
|
// GPS L1 / Galileo E1 filter has been cleared.
|
|
// During this test all the samples coming from the DMA are consumed so in principle there would be
|
|
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
|
|
// to reset the HW at the beginning of each test.
|
|
|
|
// instantiate the acquisition modules in order to use them to reset the HW.
|
|
// (note that the constructor of the acquisition modules resets the HW too)
|
|
|
|
|
|
std::shared_ptr<AcquisitionInterface> acquisition;
|
|
|
|
// reset the HW to clear the sample counters: the acquisition constructor generates a reset
|
|
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 0;
|
|
}
|
|
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
|
|
{
|
|
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 0;
|
|
}
|
|
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 1;
|
|
}
|
|
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
|
|
{
|
|
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 1;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
|
|
std::vector<std::shared_ptr<TrackingInterface>> tracking_ch_vec;
|
|
std::vector<std::shared_ptr<TelemetryDecoderInterface>> tlm_ch_vec;
|
|
|
|
std::vector<gr::blocks::null_sink::sptr> null_sink_vec;
|
|
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
|
{
|
|
//set channels ids
|
|
gnss_synchro_vec.at(n).Channel_ID = n;
|
|
|
|
//create the tracking channels and create the telemetry decoders
|
|
|
|
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", config->property("Tracking.implementation", std::string("undefined")), 1, 1);
|
|
tracking_ch_vec.push_back(std::dynamic_pointer_cast<TrackingInterface>(trk_));
|
|
std::shared_ptr<GNSSBlockInterface> tlm_ = factory->GetBlock(config, "TelemetryDecoder", config->property("TelemetryDecoder.implementation", std::string("undefined")), 1, 1);
|
|
tlm_ch_vec.push_back(std::dynamic_pointer_cast<TelemetryDecoderInterface>(tlm_));
|
|
|
|
//create null sinks for observables output
|
|
null_sink_vec.push_back(gr::blocks::null_sink::make(sizeof(Gnss_Synchro)));
|
|
|
|
ASSERT_NO_THROW({
|
|
tlm_ch_vec.back()->set_channel(gnss_synchro_vec.at(n).Channel_ID);
|
|
|
|
switch (gnss_synchro_master.System)
|
|
{
|
|
case 'G':
|
|
tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_vec.at(n).PRN));
|
|
break;
|
|
case 'E':
|
|
tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("Galileo"), gnss_synchro_vec.at(n).PRN));
|
|
break;
|
|
default:
|
|
tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_vec.at(n).PRN));
|
|
}
|
|
}) << "Failure setting gnss_synchro.";
|
|
|
|
ASSERT_NO_THROW({
|
|
tracking_ch_vec.back()->set_channel(gnss_synchro_vec.at(n).Channel_ID);
|
|
}) << "Failure setting channel.";
|
|
|
|
ASSERT_NO_THROW({
|
|
tracking_ch_vec.back()->set_gnss_synchro(&gnss_synchro_vec.at(n));
|
|
}) << "Failure setting gnss_synchro.";
|
|
}
|
|
|
|
top_block = gr::make_top_block("Telemetry_Decoder test");
|
|
boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> dummy_msg_rx_trk = HybridObservablesTest_msg_rx_Fpga_make();
|
|
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> dummy_tlm_msg_rx = HybridObservablesTest_tlm_msg_rx_Fpga_make();
|
|
//Observables
|
|
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", tracking_ch_vec.size() + 1, tracking_ch_vec.size()));
|
|
|
|
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
|
|
{
|
|
ASSERT_NO_THROW({
|
|
tracking_ch_vec.at(n)->connect(top_block);
|
|
}) << "Failure connecting tracking to the top_block.";
|
|
}
|
|
|
|
std::string file;
|
|
|
|
ASSERT_NO_THROW({
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
file = "./" + filename_raw_data;
|
|
}
|
|
else
|
|
{
|
|
file = FLAGS_signal_file;
|
|
}
|
|
int observable_interval_ms = 20;
|
|
|
|
double fs = static_cast<double>(config->property("GNSS-SDR.internal_fs_sps", 0));
|
|
|
|
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
|
|
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
|
|
|
|
|
|
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
|
|
{
|
|
//top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch_vec.at(n)->get_left_block(), 0);
|
|
top_block->connect(tracking_ch_vec.at(n)->get_right_block(), 0, tlm_ch_vec.at(n)->get_left_block(), 0);
|
|
top_block->connect(tlm_ch_vec.at(n)->get_right_block(), 0, observables->get_left_block(), n);
|
|
top_block->msg_connect(tracking_ch_vec.at(n)->get_right_block(), pmt::mp("events"), dummy_msg_rx_trk, pmt::mp("events"));
|
|
top_block->connect(observables->get_right_block(), n, null_sink_vec.at(n), 0);
|
|
}
|
|
//connect sample counter and timmer to the last channel in observables block (extra channel)
|
|
//top_block->connect(samp_counter, 0, observables->get_left_block(), tracking_ch_vec.size());
|
|
top_block->connect(ch_out_fpga_sample_counter, 0, observables->get_left_block(), tracking_ch_vec.size()); //extra port for the sample counter pulse
|
|
}) << "Failure connecting the blocks.";
|
|
|
|
|
|
args.file = file;
|
|
args.nsamples_tx = baseband_sampling_freq * FLAGS_duration;
|
|
;
|
|
|
|
args.skip_used_samples = 0;
|
|
|
|
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void*)&args) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process" << std::endl;
|
|
}
|
|
|
|
|
|
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
|
|
{
|
|
tracking_ch_vec.at(n)->start_tracking();
|
|
}
|
|
|
|
pthread_mutex_lock(&mutex_obs_test);
|
|
send_samples_start_obs_test = 1;
|
|
pthread_mutex_unlock(&mutex_obs_test);
|
|
|
|
|
|
top_block->start();
|
|
|
|
|
|
EXPECT_NO_THROW({
|
|
start = std::chrono::system_clock::now();
|
|
//top_block->run(); // Start threads and wait
|
|
end = std::chrono::system_clock::now();
|
|
elapsed_seconds = end - start;
|
|
}) << "Failure running the top_block.";
|
|
|
|
|
|
// wait for the child DMA process to finish
|
|
pthread_join(thread_DMA, NULL);
|
|
|
|
|
|
top_block->stop();
|
|
|
|
|
|
// reset the HW AGAIN
|
|
acquisition->stop_acquisition();
|
|
|
|
|
|
// pthread_mutex_lock(&mutex_obs_test);
|
|
// send_samples_start_obs_test = 0;
|
|
// pthread_mutex_unlock(&mutex_obs_test);
|
|
|
|
|
|
//check results
|
|
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
|
|
std::vector<arma::mat> true_obs_vec;
|
|
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
//load the true values
|
|
True_Observables_Reader true_observables;
|
|
ASSERT_NO_THROW({
|
|
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
|
|
{
|
|
throw std::exception();
|
|
}
|
|
}) << "Failure opening true observables file";
|
|
|
|
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
|
|
|
|
std::cout << "True observation epochs = " << nepoch << std::endl;
|
|
|
|
true_observables.restart();
|
|
int64_t epoch_counter = 0;
|
|
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
|
|
{
|
|
true_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 4));
|
|
}
|
|
|
|
ASSERT_NO_THROW({
|
|
while (true_observables.read_binary_obs())
|
|
{
|
|
for (unsigned int n = 0; n < true_obs_vec.size(); n++)
|
|
{
|
|
if (round(true_observables.prn[n]) != gnss_synchro_vec.at(n).PRN)
|
|
{
|
|
std::cout << "True observables SV PRN does not match measured ones: "
|
|
<< round(true_observables.prn[n]) << " vs. " << gnss_synchro_vec.at(n).PRN << std::endl;
|
|
throw std::exception();
|
|
}
|
|
true_obs_vec.at(n)(epoch_counter, 0) = true_observables.gps_time_sec[n];
|
|
true_obs_vec.at(n)(epoch_counter, 1) = true_observables.dist_m[n];
|
|
true_obs_vec.at(n)(epoch_counter, 2) = true_observables.doppler_l1_hz[n];
|
|
true_obs_vec.at(n)(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[n];
|
|
}
|
|
epoch_counter++;
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
ASSERT_EQ(ReadRinexObs(&true_obs_vec, gnss_synchro_master), true)
|
|
<< "Failure reading RINEX file";
|
|
}
|
|
|
|
|
|
//read measured values
|
|
Observables_Dump_Reader estimated_observables(tracking_ch_vec.size());
|
|
ASSERT_NO_THROW({
|
|
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
|
|
{
|
|
throw std::exception();
|
|
}
|
|
}) << "Failure opening dump observables file";
|
|
|
|
unsigned int nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
|
|
std::cout << "Measured observations epochs = " << nepoch << std::endl;
|
|
|
|
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
|
|
std::vector<arma::mat> measured_obs_vec;
|
|
std::vector<int64_t> epoch_counters_vec;
|
|
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
|
|
{
|
|
measured_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 5));
|
|
epoch_counters_vec.push_back(0);
|
|
}
|
|
|
|
estimated_observables.restart();
|
|
while (estimated_observables.read_binary_obs())
|
|
{
|
|
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
|
{
|
|
if (static_cast<bool>(estimated_observables.valid[n]))
|
|
{
|
|
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 0) = estimated_observables.RX_time[n];
|
|
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 1) = estimated_observables.TOW_at_current_symbol_s[n];
|
|
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 2) = estimated_observables.Carrier_Doppler_hz[n];
|
|
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 3) = estimated_observables.Acc_carrier_phase_hz[n];
|
|
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 4) = estimated_observables.Pseudorange_m[n];
|
|
epoch_counters_vec.at(n)++;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//Cut measurement tail zeros
|
|
arma::uvec index;
|
|
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
|
{
|
|
index = arma::find(measured_obs_vec.at(n).col(0) > 0.0, 1, "last");
|
|
if ((index.size() > 0) and index(0) < (nepoch - 1))
|
|
{
|
|
measured_obs_vec.at(n).shed_rows(index(0) + 1, nepoch - 1);
|
|
}
|
|
}
|
|
|
|
//Cut measurement initial transitory of the measurements
|
|
|
|
double initial_transitory_s = FLAGS_skip_obs_transitory_s;
|
|
|
|
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
|
{
|
|
index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
|
|
if ((index.size() > 0) and (index(0) > 0))
|
|
{
|
|
measured_obs_vec.at(n).shed_rows(0, index(0));
|
|
}
|
|
|
|
index = arma::find(measured_obs_vec.at(n).col(0) >= true_obs_vec.at(n)(0, 0), 1, "first");
|
|
if ((index.size() > 0) and (index(0) > 0))
|
|
{
|
|
measured_obs_vec.at(n).shed_rows(0, index(0));
|
|
}
|
|
}
|
|
|
|
|
|
//Correct the clock error using true values (it is not possible for a receiver to correct
|
|
//the receiver clock offset error at the observables level because it is required the
|
|
//decoding of the ephemeris data and solve the PVT equations)
|
|
|
|
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
|
|
double min_pr = std::numeric_limits<double>::max();
|
|
unsigned int min_pr_ch_id = 0;
|
|
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
|
{
|
|
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
|
|
{
|
|
{
|
|
if (measured_obs_vec.at(n)(0, 4) < min_pr)
|
|
{
|
|
min_pr = measured_obs_vec.at(n)(0, 4);
|
|
min_pr_ch_id = n;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
|
|
}
|
|
}
|
|
|
|
arma::vec receiver_time_offset_ref_channel_s;
|
|
//receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
|
|
receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_M_S;
|
|
std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
|
|
|
|
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
|
|
{
|
|
//debug save to .mat
|
|
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
|
|
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
|
|
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
|
|
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
|
|
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
|
|
|
|
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
|
|
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
|
|
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
|
|
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
|
|
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
|
|
|
|
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
|
|
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
|
|
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
|
|
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
|
|
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
|
|
|
|
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
|
|
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
|
|
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
|
|
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
|
|
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
|
|
|
|
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
|
|
{
|
|
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
|
|
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
|
|
//Compare measured observables
|
|
if (min_pr_ch_id != n)
|
|
{
|
|
check_results_code_pseudorange(true_obs_vec.at(n),
|
|
true_obs_vec.at(min_pr_ch_id),
|
|
true_TOW_ch_s,
|
|
true_TOW_ref_ch_s,
|
|
measured_obs_vec.at(n),
|
|
measured_obs_vec.at(min_pr_ch_id),
|
|
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
|
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
|
|
true_obs_vec.at(min_pr_ch_id),
|
|
true_TOW_ch_s,
|
|
true_TOW_ref_ch_s,
|
|
measured_obs_vec.at(n),
|
|
measured_obs_vec.at(min_pr_ch_id),
|
|
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
|
|
|
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
|
|
true_obs_vec.at(min_pr_ch_id),
|
|
true_TOW_ch_s,
|
|
true_TOW_ref_ch_s,
|
|
measured_obs_vec.at(n),
|
|
measured_obs_vec.at(min_pr_ch_id),
|
|
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
|
}
|
|
else
|
|
{
|
|
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
|
|
}
|
|
if (FLAGS_compute_single_diffs)
|
|
{
|
|
check_results_carrier_phase(true_obs_vec.at(n),
|
|
true_TOW_ch_s,
|
|
measured_obs_vec.at(n),
|
|
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
|
check_results_carrier_doppler(true_obs_vec.at(n),
|
|
true_TOW_ch_s,
|
|
measured_obs_vec.at(n),
|
|
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
|
|
}
|
|
}
|
|
|
|
|
|
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
|
|
}
|