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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
Carles Fernandez f2b05e686b
Simpler API for the Rinex_Printer
2020-11-15 14:17:58 +01:00

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/*!
* \file rinex_printer_test.cc
* \brief Implements Unit Tests for the Rinex_Printer class.
* \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "rinex_printer.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solver.h"
#include <fstream>
#include <string>
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
class RinexPrinterTest : public ::testing::Test
{
protected:
RinexPrinterTest()
{
this->conf();
}
~RinexPrinterTest() = default;
void conf();
rtk_t rtk;
};
void RinexPrinterTest::conf()
{
snrmask_t snrmask = {{}, {{}, {}}};
int positioning_mode = 0; // Single
int number_of_frequencies = 1;
double elevation_mask = 5;
int navigation_system = 1; // GPS
int integer_ambiguity_resolution_gps = 0;
int integer_ambiguity_resolution_glo = 0;
int integer_ambiguity_resolution_bds = 0;
int outage_reset_ambiguity = 5;
int min_lock_to_fix_ambiguity = 0;
int iono_model = 0;
int trop_model = 0;
int dynamics_model = 0;
int earth_tide = 0;
int number_filter_iter = 1;
double code_phase_error_ratio_l1 = 100.0;
double code_phase_error_ratio_l2 = 100.0;
double code_phase_error_ratio_l5 = 100.0;
double carrier_phase_error_factor_a = 0.003;
double carrier_phase_error_factor_b = 0.003;
double bias_0 = 30.0;
double iono_0 = 0.03;
double trop_0 = 0.3;
double sigma_bias = 1e-4;
double sigma_iono = 1e-3;
double sigma_trop = 1e-4;
double sigma_acch = 1e-1;
double sigma_accv = 1e-2;
double sigma_pos = 0.0;
double min_ratio_to_fix_ambiguity = 3.0;
double min_elevation_to_fix_ambiguity = 0.0;
double slip_threshold = 0.05;
double threshold_reject_innovation = 30.0;
double threshold_reject_gdop = 30.0;
int sat_PCV = 0;
int rec_PCV = 0;
int phwindup = 0;
int reject_GPS_IIA = 0;
int raim_fde = 0;
prcopt_t rtklib_configuration_options = {
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */
elevation_mask * D2R, /* elevation mask angle (degrees) */
snrmask, /* snrmask_t snrmask SNR mask */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
outage_reset_ambiguity, /* obs outage count to reset bias */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
10, /* min fix count to hold ambiguity */
1, /* max iteration to resolve ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */
trop_model, /* troposphere option (TROPOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
number_filter_iter, /* number of filter iteration */
0, /* code smoothing window size (0:none) */
0, /* interpolate reference obs (for post mission) */
0, /* sbssat_t sbssat SBAS correction options */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* rover position for fixed mode */
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
30.0, /* max difference of time (sec) */
threshold_reject_innovation, /* reject threshold of innovation (m) */
threshold_reject_gdop, /* reject threshold of gdop */
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */
0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
rtkinit(&rtk, &rtklib_configuration_options);
}
TEST_F(RinexPrinterTest, GalileoObsHeader)
{
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
auto eph = Galileo_Ephemeris();
eph.i_satellite_PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
Gnss_Synchro gs{};
gs.PRN = 1;
gnss_observables_map[1] = gs;
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(),
gnss_observables_map,
0.0,
4,
true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
fstr.seekg(0);
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("E 4 C1B L1B D1B S1B SYS / # / OBS TYPES ");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(obsfile);
fs::remove(navfile);
auto rp2 = std::make_shared<Rinex_Printer>();
rp2->print_rinex_annotation(pvt_solution.get(),
gnss_observables_map,
0.0,
15,
true);
obsfile = rp2->get_obsfilename();
navfile = rp2->get_navfilename()[0];
rp2 = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr2(obsfile.c_str(), std::fstream::in);
fstr2.seekg(0);
no_more_finds = false;
while (!fstr2.eof())
{
std::getline(fstr2, line_str);
if (!no_more_finds)
{
if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str2("E 8 C1B L1B D1B S1B C7X L7X D7X S7X SYS / # / OBS TYPES ");
EXPECT_EQ(0, expected_str2.compare(line_aux));
fstr2.close();
fs::remove(obsfile);
fs::remove(navfile);
}
TEST_F(RinexPrinterTest, GlonassObsHeader)
{
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
auto eph = Glonass_Gnav_Ephemeris();
eph.i_satellite_PRN = 1;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
Gnss_Synchro gs{};
gs.PRN = 1;
gnss_observables_map[1] = gs;
auto rp = std::make_shared<Rinex_Printer>(3);
rp->print_rinex_annotation(pvt_solution.get(),
gnss_observables_map,
0.0,
23,
true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
fstr.seekg(0);
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("R 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(obsfile);
fs::remove(navfile);
}
TEST_F(RinexPrinterTest, MixedObsHeader)
{
std::string line_aux;
std::string line_aux2;
std::string line_str;
bool no_more_finds = false;
auto eph_gal = Galileo_Ephemeris();
auto eph_gps = Gps_Ephemeris();
eph_gal.i_satellite_PRN = 1;
eph_gps.i_satellite_PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
pvt_solution->galileo_ephemeris_map[1] = eph_gal;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
std::map<int, Gnss_Synchro> gnss_observables_map;
Gnss_Synchro gs{};
gs.PRN = 1;
gnss_observables_map[1] = gs;
gnss_observables_map[2] = gs;
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(),
gnss_observables_map,
0.0,
33,
true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
fstr.seekg(0);
int systems_found = 0;
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
{
systems_found++;
if (systems_found == 1)
{
line_aux = std::string(line_str);
}
if (systems_found == 2)
{
line_aux2 = std::string(line_str);
no_more_finds = true;
}
}
}
}
std::string expected_str("G 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
std::string expected_str2("E 8 C1B L1B D1B S1B C5X L5X D5X S5X SYS / # / OBS TYPES ");
EXPECT_EQ(0, expected_str.compare(line_aux));
EXPECT_EQ(0, expected_str2.compare(line_aux2));
fstr.close();
fs::remove(obsfile);
fs::remove(navfile);
}
TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
{
std::string line_aux;
std::string line_aux2;
std::string line_str;
bool no_more_finds = false;
auto eph_glo = Glonass_Gnav_Ephemeris();
auto eph_gps = Gps_Ephemeris();
eph_glo.i_satellite_PRN = 1;
eph_gps.i_satellite_PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
std::map<int, Gnss_Synchro> gnss_observables_map;
Gnss_Synchro gs{};
gs.PRN = 1;
gnss_observables_map[1] = gs;
gnss_observables_map[2] = gs;
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(),
gnss_observables_map,
0.0,
26,
true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
fstr.seekg(0);
int systems_found = 0;
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
{
systems_found++;
if (systems_found == 1)
{
line_aux = std::string(line_str);
}
if (systems_found == 2)
{
line_aux2 = std::string(line_str);
no_more_finds = true;
}
}
}
}
std::string expected_str("G 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
std::string expected_str2("R 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
EXPECT_EQ(0, expected_str.compare(line_aux));
EXPECT_EQ(0, expected_str2.compare(line_aux2));
fstr.close();
fs::remove(obsfile);
fs::remove(navfile);
}
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