[hamradio-commits] [gnss-sdr] 192/303: read and compare measurements
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:00 UTC 2017
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit c2c96e53914a7e64dbedd3a7afbfe2410e83c8b2
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Sat Dec 24 15:58:04 2016 +0100
read and compare measurements
---
src/tests/system-tests/trk_system_test.cc | 266 +++++++++++++++++++-----------
1 file changed, 173 insertions(+), 93 deletions(-)
diff --git a/src/tests/system-tests/trk_system_test.cc b/src/tests/system-tests/trk_system_test.cc
index d223229..6af4a87 100644
--- a/src/tests/system-tests/trk_system_test.cc
+++ b/src/tests/system-tests/trk_system_test.cc
@@ -321,7 +321,6 @@ int Trk_System_Test::run_receiver()
{
std::cout << "STD exception: " << ex.what();
}
-
// Get the name of the RINEX obs file generated by the receiver
FILE *fp;
std::string argum2 = std::string("/bin/ls *O | tail -1");
@@ -339,62 +338,58 @@ int Trk_System_Test::run_receiver()
}
generated_rinex_obs = std::string(without_trailing);
pclose(fp);
+
return 0;
}
void Trk_System_Test::check_results()
{
- std::vector<std::vector<std::map<double, double>> > pseudorange_ref(33);
- std::vector<std::vector<std::map<double, double>> > carrierphase_ref(33);
+ std::vector<std::vector<std::pair<double, double>> > pseudorange_ref(33);
+ std::vector<std::vector<std::pair<double, double>> > carrierphase_ref(33);
- std::vector<std::vector<std::map<double, double>> > pseudorange_meas(33);
- std::vector<std::vector<std::map<double, double>> > carrierphase_meas(33);
+ std::vector<std::vector<std::pair<double, double>> > pseudorange_meas(33);
+ std::vector<std::vector<std::pair<double, double>> > carrierphase_meas(33);
- // Open reference RINEX observables file
+ // 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::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;
+ gpstk::RinexDatum dataobj;
- r_ref >> r_ref_header;
+ r_ref >> r_ref_header;
- while (r_ref >> r_ref_data)
- {
- for (int myprn = 1; myprn < 33; myprn++)
- {
- gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
- //std::cout << " PRN " << myprn << std::endl;
- gpstk::CommonTime time = r_ref_data.time;
- //std::cout << time << " " << std::endl;
- double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
- //std::cout << "Time: " << sow << std::endl;
-
- gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
- if( pointer == r_ref_data.obs.end() )
+ while (r_ref >> r_ref_data)
{
- // PRN not present; do nothing
- }
- else
- {
- dataobj = r_ref_data.getObs(prn, "P1", r_ref_header);
- double P1 = dataobj.data;
- std::map<double, double> pseudo;
- pseudo[sow] = P1;
- pseudorange_ref.at(myprn).push_back(pseudo);
-
- dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
- double L1 = dataobj.data;
- std::map<double, double> carrier;
- carrier[sow]= L1;
- carrierphase_ref.at(myprn).push_back(carrier);
- } // End of 'if( pointer == roe.obs.end() )'
- } // end for
- } // end while
+ for (int myprn = 1; myprn < 33; myprn++)
+ {
+ gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
+ gpstk::CommonTime time = r_ref_data.time;
+ double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
+
+ gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
+ if( pointer == r_ref_data.obs.end() )
+ {
+ // PRN not present; do nothing
+ }
+ else
+ {
+ dataobj = r_ref_data.getObs(prn, "P1", r_ref_header);
+ double P1 = dataobj.data;
+ std::pair<double, double> pseudo(sow,P1);
+ pseudorange_ref.at(myprn).push_back(pseudo);
+
+ dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
+ double L1 = dataobj.data;
+ std::pair<double, double> carrier(sow, L1);
+ carrierphase_ref.at(myprn).push_back(carrier);
+ } // End of 'if( pointer == roe.obs.end() )'
+ } // end for
+ } // end while
} // End of 'try' block
catch(gpstk::FFStreamError& e)
{
@@ -413,58 +408,54 @@ void Trk_System_Test::check_results()
}
// Example: count observations per sat:
- std::vector<std::vector<std::map<double, double>> >::iterator iter;
+ /* std::vector<std::vector<std::pair<double, double>> >::iterator iter;
int prn_id=0;
for(iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
- {
- double size_v = iter->size();
- std::cout << "Size for sat " << prn_id << ": " << size_v << std::endl;
- prn_id++;
- }
+ {
+ double size_v = iter->size();
+ std::cout << "Size for sat " << prn_id << ": " << size_v << std::endl;
+ prn_id++;
+ }*/
- // Open GNSS-SDR-generated RINEX observables file
+ // Open and read GNSS-SDR-generated RINEX observables file
try
{
- std::string arg2_gen = std::string("./") + generated_rinex_obs;
- gpstk::Rinex3ObsStream r_meas(arg2_gen);
- gpstk::Rinex3ObsData r_meas_data;
- gpstk::Rinex3ObsHeader r_meas_header;
- gpstk::RinexDatum dataobj;
+ std::string arg2_gen = std::string("./") + generated_rinex_obs;
+ gpstk::Rinex3ObsStream r_meas(arg2_gen);
+ r_meas.exceptions(std::ios::failbit);
+ gpstk::Rinex3ObsData r_meas_data;
+ gpstk::Rinex3ObsHeader r_meas_header;
+ gpstk::RinexDatum dataobj;
- r_meas >> r_meas_header;
+ r_meas >> r_meas_header;
- while (r_meas >> r_meas_data)
- {
- for (int myprn = 1; myprn < 33; myprn++)
- {
- gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
- //std::cout << " PRN " << myprn << std::endl;
- gpstk::CommonTime time = r_meas_data.time;
- //std::cout << time << " " << std::endl;
- double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
- //std::cout << "Time: " << sow << std::endl;
-
- gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
- if( pointer == r_meas_data.obs.end() )
- {
- // PRN not present; do nothing
- }
- else
+ while (r_meas >> r_meas_data)
{
- dataobj = r_meas_data.getObs(prn, "C1", r_meas_header);
- double P1 = dataobj.data;
- std::map<double, double> pseudo;
- pseudo[sow] = P1;
- pseudorange_meas.at(myprn).push_back(pseudo);
-
- dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
- double L1 = dataobj.data;
- std::map<double, double> carrier;
- carrier[sow]= L1;
- carrierphase_meas.at(myprn).push_back(carrier);
- } // End of 'if( pointer == roe.obs.end() )'
- } // end for
- } // end while
+ for (int myprn = 1; myprn < 33; myprn++)
+ {
+ gpstk::SatID prn( myprn, gpstk::SatID::systemGPS );
+ gpstk::CommonTime time = r_meas_data.time;
+ double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
+
+ gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
+ if( pointer == r_meas_data.obs.end() )
+ {
+ // PRN not present; do nothing
+ }
+ else
+ {
+ dataobj = r_meas_data.getObs(prn, "C1", r_meas_header);
+ double P1 = dataobj.data;
+ std::pair<double, double> pseudo(sow, P1);
+ pseudorange_meas.at(myprn).push_back(pseudo);
+
+ dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
+ double L1 = dataobj.data;
+ std::pair<double, double> carrier(sow,L1);
+ carrierphase_meas.at(myprn).push_back(carrier);
+ } // End of 'if( pointer == roe.obs.end() )'
+ } // end for
+ } // end while
} // End of 'try' block
catch(gpstk::FFStreamError& e)
{
@@ -482,19 +473,108 @@ void Trk_System_Test::check_results()
exit(1);
}
- // Time alignment!
+ // Time alignment
+ std::vector<std::vector<std::pair<double, double>> > pseudorange_ref_aligned(33);
+ std::vector<std::vector<std::pair<double, double>> > carrierphase_ref_aligned(33);
- // Read reference pseudoranges from a given satellite
+ std::vector<std::vector<std::pair<double, double>> >::iterator iter;
+ std::vector<std::pair<double, double>>::iterator it;
+ std::vector<std::pair<double, double>>::iterator it2;
- // Read obtained pseudoranges from a given satellite
+ std::vector<std::vector<double>> pr_diff(33);
+ std::vector<std::vector<double>> cp_diff(33);
- // Compute pseudorange error
+ std::vector<std::vector<double>>::iterator iter_diff;
+ std::vector<double>::iterator iter_v;
+
+ int prn_id = 0;
+ for(iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
+ {
+ for(it = iter->begin(); it != iter->end(); it++)
+ {
+ // If a measure exists for this sow, store it
+ for(it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
+ {
+ if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
+ {
+ pseudorange_ref_aligned.at(prn_id).push_back(*it);
+ pr_diff.at(prn_id).push_back(it->second - it2->second );
+ }
+ }
+ }
+ prn_id++;
+ }
+
+ prn_id = 0;
+ for(iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
+ {
+ for(it = iter->begin(); it != iter->end(); it++)
+ {
+ // If a measure exists for this sow, store it
+ for(it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
+ {
+ if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
+ {
+ carrierphase_ref_aligned.at(prn_id).push_back(*it);
+ cp_diff.at(prn_id).push_back(it->second - it2->second );
+ }
+ }
+ }
+ prn_id++;
+ }
- // Read reference carrier phase from a given satellite
+ // Compute pseudorange error
+ prn_id = 0;
+ for(iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
+ {
+ // For each satellite with reference and measurements aligned in time
+ int number_obs = 0;
+ double mean_diff = 0.0;
+ for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
+ {
+ //std::cout << *iter_v << std::endl;
+ mean_diff = mean_diff + *iter_v;
+ number_obs = number_obs + 1;
+ }
+ if(number_obs > 0)
+ {
+ mean_diff = mean_diff / number_obs;
+ std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff << std::endl;
+ }
+ else
+ {
+ mean_diff = 0.0;
+ }
- // Read obtained carrier phase from a given satellite
+ prn_id++;
+ }
// Compute carrier phase error
+ prn_id = 0;
+ for(iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
+ {
+ // For each satellite with reference and measurements aligned in time
+ int number_obs = 0;
+ double mean_diff = 0.0;
+ for(iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
+ {
+ //std::cout << *iter_v << std::endl;
+ mean_diff = mean_diff + *iter_v;
+ number_obs = number_obs + 1;
+ }
+ if(number_obs > 0)
+ {
+ mean_diff = mean_diff / number_obs;
+ std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff << std::endl;
+ }
+ else
+ {
+ mean_diff = 0.0;
+ }
+
+ prn_id++;
+ }
+
//return 0;
}
--
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