From 417a0a2ad6f43a6cc9dd9e584eecfaa58be91477 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Mon, 30 Mar 2020 15:45:43 +0200
Subject: [PATCH] [test] Added test for observation.loadrinex
---
src/examples/gnss_utils_test.cpp | 15 +-
src/examples/sample_data.nav | 406 +++++++++++++++++++++++++++++++
src/examples/sample_data.obs | 58 +++++
src/gnss_utils.cpp | 2 +-
src/navigation.cpp | 2 +-
src/observations.cpp | 2 +-
test/gtest_observations.cpp | 9 +-
7 files changed, 488 insertions(+), 6 deletions(-)
create mode 100644 src/examples/sample_data.nav
create mode 100644 src/examples/sample_data.obs
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 6b66334..bcbd7dc 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -32,12 +32,21 @@ int main(int argc, char* argv[])
double dt = 0.0; // no limit
const char* opt = "-SYS=G"; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
+ // RTKLIB trace
+ // char str_file[80];
+ // snprintf(str_file, sizeof str_file, "../src/examples/trace");
+ // traceopen(str_file);
+ // tracelevel(4);
+
// load observations from RINEX file
- observations.loadFromRinex("../src/examples/raw_201805171357.obs", t_start, t_end, dt, opt);
+ observations.loadFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
observations.print();
+ // Trace close
+ // traceclose();
+
// load navigation from RINEX file
- navigation.loadFromRinex("../src/examples/raw_201805171357.nav", t_start, t_end, dt, opt);
+ navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
navigation.print();
/* Set processing options */
@@ -89,4 +98,6 @@ int main(int argc, char* argv[])
std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1], solb.rr[2])).transpose()
<< std::endl;
std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
+
+ traceclose();
}
diff --git a/src/examples/sample_data.nav b/src/examples/sample_data.nav
new file mode 100644
index 0000000..5c4c418
--- /dev/null
+++ b/src/examples/sample_data.nav
@@ -0,0 +1,406 @@
+ 3.04 N: GNSS NAV DATA M: MIXED RINEX VERSION / TYPE
+sbf2rin-13.4.3 20200205 113410 UTC PGM / RUN BY / DATE
+GPSA 9.3132E-09 -1.4901E-08 -5.9605E-08 1.1921E-07 IONOSPHERIC CORR
+GPSB 9.6256E+04 -1.4746E+05 -1.3107E+05 9.1750E+05 IONOSPHERIC CORR
+GAL 2.9250E+01 3.8281E-01 3.2959E-03 0.0000E+00 IONOSPHERIC CORR
+GPUT -9.3132257462E-10 8.881784197E-16 503808 2083 TIME SYSTEM CORR
+GAUT 9.3132257462E-10 0.000000000E+00 345600 2083 TIME SYSTEM CORR
+GAGP 1.2514647096E-09-5.329070518E-15 345600 2083 TIME SYSTEM CORR
+ 18 LEAP SECONDS
+ END OF HEADER
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diff --git a/src/examples/sample_data.obs b/src/examples/sample_data.obs
new file mode 100644
index 0000000..d773d3b
--- /dev/null
+++ b/src/examples/sample_data.obs
@@ -0,0 +1,58 @@
+ 3.04 OBSERVATION DATA M RINEX VERSION / TYPE
+sbf2rin-13.4.3 20200205 113408 UTC PGM / RUN BY / DATE
+SEPT MARKER NAME
+Unknown MARKER NUMBER
+Unknown Unknown OBSERVER / AGENCY
+3021420 SEPT ASTERX-M2 4.4.0 REC # / TYPE / VERS
+Unknown Unknown ANT # / TYPE
+ 4789398.3686 176958.8129 4194502.0999 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+G 7 X1 C1C L1C C2W L2W C2L L2L SYS / # / OBS TYPES
+E 7 X1 C1C L1C C5Q L5Q C7Q L7Q SYS / # / OBS TYPES
+S 3 X1 C1C L1C SYS / # / OBS TYPES
+R 5 X1 C1C L1C C2C L2C SYS / # / OBS TYPES
+C 5 X1 C2I L2I C7I L7I SYS / # / OBS TYPES
+SEPTENTRIO RECEIVERS OUTPUT ALIGNED CARRIER PHASES. COMMENT
+NO FURTHER PHASE SHIFT APPLIED IN THE RINEX ENCODER. COMMENT
+G L1C SYS / PHASE SHIFT
+G L2W SYS / PHASE SHIFT
+G L2L 0.00000 SYS / PHASE SHIFT
+E L1C 0.00000 SYS / PHASE SHIFT
+E L5Q 0.00000 SYS / PHASE SHIFT
+E L7Q 0.00000 SYS / PHASE SHIFT
+S L1C SYS / PHASE SHIFT
+R L1C SYS / PHASE SHIFT
+R L2C SYS / PHASE SHIFT
+C L2I SYS / PHASE SHIFT
+C L7I SYS / PHASE SHIFT
+ 0.050 INTERVAL
+ 2019 12 12 11 37 42.0000000 GPS TIME OF FIRST OBS
+ 2019 12 12 11 45 12.9000000 GPS TIME OF LAST OBS
+ 36 # OF SATELLITES
+ C1C 0.000 C2C 0.000 GLONASS COD/PHS/BIS
+ 8 R03 5 R05 1 R13 -2 R14 -7 R15 0 R19 3 R20 2 R21 4 GLONASS SLOT / FRQ #
+ END OF HEADER
+> 2019 12 12 11 37 42.0000000 0 23
+C05 16.000 40138840.659 6 209013478.40606 40138832.256 6 161622441.87406
+C10 17.000 39633104.355 5 206379985.90205 39633100.852 6 159586077.69206
+C23 18.000 22865676.301 8 119067585.90908
+C32 19.000 22153454.599 8 115358921.19508
+C37 20.000 23690566.611 7 123363010.77907
+E01 11.000 26311074.676 7 138265636.53007 26311074.470 5 103250320.19005 26311070.977 7 105943790.57907
+E09 12.000 25723493.482 5
+E12 13.000 24803095.627 5 130341141.55605 24803092.768 4 97332661.71504 24803092.407 6 99871767.93506
+E19 14.000 24540665.652 6 128962068.93606 24540664.837 5 96302837.53105 24540661.694 6 98815075.63606
+E21 15.000 25609802.251 7 134580416.73507 25609802.381 7 100498367.38007 25609799.519 7 103120055.01507
+G02 1.000 22032430.127 5
+G06 2.000 22147435.410 6 116385570.45206 22147437.095 4 90690045.24704 22147437.422 7 90690046.16907
+G07 3.000 20902411.481 8 109842911.60108 20902406.002 6 85591857.15006 20902406.930 7 85591857.16507
+G09 4.000 21908403.525 6 115129430.37406 21908399.544 1 89711233.32401 21908399.320 5
+G23 5.000 24104714.314 6 126671129.49306 24104706.816 2 98704739.67602
+G30 6.000 21404145.095 8 112479542.93308 21404142.953 6 87646388.26706 21404143.916 7 87646383.27307
+R03 7.000 21945110.617 7 117474090.63807 21945109.720 6 91368580.68606
+R14 8.000 20214975.526 8 107757316.39008 20214976.579 7 83811176.41707
+R15 9.000 22699008.378 5 121296675.96005 22699009.712 5 94341922.34705
+R19 10.000 22853592.745 4 22853590.888 4
+S23 21.000 38309228.895 7 201316353.13407
+S25 22.000 37834172.957 6 198818604.39206
+S36 23.000 37630702.258 7 197750698.01307
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index 49f9ec4..5e9ee98 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -461,7 +461,7 @@ bool equalObservations(const obsd_t& obs1, const obsd_t& obs2)
return false;
if (obs1.sat != obs2.sat)
return false;
- if (obs1.rcv != obs2.sat)
+ if (obs1.rcv != obs2.rcv)
return false;
if (memcmp(obs1.SNR, obs2.SNR, sizeof(obs1.SNR)) != 0)
return false;
diff --git a/src/navigation.cpp b/src/navigation.cpp
index a1ccfd7..da5c6d6 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -130,7 +130,7 @@ void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gti
uniqueNavigation();
}
else
- std::cout << "Couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << std::endl;
+ std::cout << "Navigation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << std::endl;
}
void Navigation::copyAllArrays(const nav_t& nav)
diff --git a/src/observations.cpp b/src/observations.cpp
index 98b72a6..ea2dc15 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -91,7 +91,7 @@ void Observations::loadFromRinex(const std::string& rnx_file,
sortobs(&obs);
else
{
- std::cout << "Couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << std::endl;
+ std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << stat << std::endl;
return;
}
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index 66a25f0..3675a22 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -11,20 +11,25 @@ TEST(ObservationsTest, LoadFromRinex)
double dt = 0.0; // no limit
const char* opt = "-SYS=G"; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
- const std::string& rnx_file = "../src/examples/raw_201805171357.obs";
+ const std::string& rnx_file = "/home/pepms/robotics/libraries/gnss_utils/src/examples/sample_data.obs";
// GNSSUtils utilities
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations.print();
// RTKLIB utilities
obs_t obs;
obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
obs.n = 0;
obs.nmax = MAXSAT;
+
int stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
ASSERT_EQ(stat, 1);
+ sortobs(&obs);
+
+ ASSERT_EQ(obs.n, 6);
// Comparison
ASSERT_TRUE(obs.n == observations.getObservations().size());
@@ -33,6 +38,8 @@ TEST(ObservationsTest, LoadFromRinex)
{
ASSERT_TRUE(equalObservations(obs.data[ii], observations.getObservations()[ii]));
}
+
+ free(obs.data);
}
int main(int argc, char** argv)
--
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