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Neal Fedora

2012 SPIRENT FEDERAL GPS TRAINING CONFERENCE Scenario Generation 4: Capturing Truth and Receiver Data for Post-Processing. Neal Fedora. Agenda. SimGEN Truth Data Quick-Look Bulk Logging GPS Nav Data NMEA Data Streaming Capturing Receiver Data NMEA SimDATA Analyzing Data

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Neal Fedora

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  1. 2012 SPIRENT FEDERALGPS TRAINING CONFERENCE Scenario Generation 4: Capturing Truth and Receiver Data for Post-Processing Neal Fedora

  2. Agenda • SimGEN Truth Data • Quick-Look • Bulk Logging • GPS Nav Data • NMEA • Data Streaming • Capturing Receiver Data • NMEA • SimDATA • Analyzing Data • Post-Processing • SimPROCESS

  3. Agenda • SimGEN Truth Data • Quick-Look • Bulk Logging • GPS Nav Data • NMEA • Data Streaming • Capturing Receiver Data • NMEA • SimDATA • Analyzing Data • Post-Processing • SimPROCESS

  4. Quick-Look Data • SimGEN’s “Quick Look” provides the user the capability of logging, displaying and plotting customized data during the test • Available prior or during a simulation by pressing the buttons on the Scenario Toolbar • Each quick-look option displays a window that permits the user to Add the desired data as shown below Note: Must enable Logging On if data is to be logged DATA LOGGING DATA PLOT DATA DISPLAY

  5. Quick-Look Data (cont.) • The parametric data available for plotting, displaying and logging is summarized below • Time: Time into run, GPS time, TOW, Z-count week, etc • Vehicle: Vehicle motion data, e.g. ECEF or geodetic position, velocity, etc • Antenna: Antenna motion data, dependent upon the lever arm • Transmitter: SV (e.g. GPS, SBAS) other signal source (e.g. LAAS, Interference) position and velocity data • Signal: Data relevant to the selected transmitter type, e.g. GPS Tx allows pseudorange, atmospheric delay, signal level, etc. Interference only has signal level selections • UUT: External device position, velocity data, etc. Such as receiver NMEA input into SimGEN

  6. Quick-Look Data (cont.) • All three options make available the same parametric data • DataPlotswill show in real-time the changing simulation values vs. time into run as a graph on the screen as shown below • DataDisplaywill show the ‘current’ real-time simulation values as it changes during scenario as shown below • DataLoggingwill create a csv file of the specified simulation values vs. time into run as shown below • Selected data can be saved to a file for reuse

  7. Modifying Quick-Look Data Logging • The saved quick-look source files can be automatically loaded with the scenario if defined in the “Data display and logging file” in the SimGEN Scenario Contents Window • This file permits additional user specifications for quick-look data logging as well • Logging rate of data in milliseconds. Logging rate must be equal to or less than the simulation iteration rate • Specify a filename and location (default is called “post_proc.csv” and saved to scenario folder)

  8. Bulk Logging • SimGEN’s Bulk Logging provides the user with the ability to efficiently log either all of the vehicle motion, satellite signal or aiding truth data • The messages types available under Bulk Logging are: • Motion: Is the vehicle and antenna (at the offset) pos, vel, accel, jerk, attitude, angular rates and accelerations and respective antenna DOP • Satellite: Provides each satellite ID, PRN, multipath echo, pos, vel, azimuth, elevation, range, pseudorange (PR), PR error, atmosphere errors, azimuth and elevation relative to the antenna, and signal powers • Aiding: Is the aiding pos, vel, accel, jerk in ECEF and geodetic reference frames, attitude, angular rates, accelerations and jerks in body and inertial reference frames • Used by SimINERTIAL

  9. Bulk Logging (cont.) • Enabled either under Options or SimGEN options • Users specify: • The desired logged data messages • Logging rate (up to Simulation iteration rate) • Output format (ASCII or Binary) • Saved file location (default is in the same scenario)

  10. Navigation Data • Logging of the navigation data is enabled either under Options or SimGEN options • Saves broadcast navigation data for all satellites to a binary file within the scenario folder Saved to binary file in the scenario folder after simulation ends

  11. GPS Nav Data Extract Utility • Converts the logged binary navigation data to an ASCII text file • Can also use SimGEN and SimREPLAY scenario files to generate an ASCII text file of the navigation data • Nav data can be extracted or converted to a YUMA almanac • The user can define the desired information to extract (subframe, number of satellites, time) The output is a text file that shows the selected subframe hex and decoded nav data

  12. Developed by National Marine Electronics Association (NMEA) Standard specifies the electrical signal requirements, data transmission protocol, and message formats NMEA 0183 standard GPS data is output in the ASCII format Supports numerous sentence types for providing various GPS and vehicle information Relevant Messages GNS – Geographic position information, HDOP, num of satellites GGA – Geographic position information, GPS quality, HDOP, number of satellites GLL – Geographic position information, Latitude and Longitude GSV – GNSS satellites in view information GSA – Various SVID and DOP information HDT – Heading information ZDA – Various time information VTG – Velocity information NMEA Background NMEA Output

  13. NMEA Truth Data • SimGEN NMEA Truth data can be: • Output via RS-232 • Logged to a file • Generated for each vehicle and antenna in the scenario • Logged/output in either v2.20 or v3.01 (for GPS and GLONASS) NMEA data formats • Specified in the SimGEN source file NMEA output file

  14. Data Streaming • Depending upon the application or test requirements, sometimes various real-time information or data is required during the test • For instance, monitoring the current simulation status for the armed status or receiving the vehicle and satellite truth for logging and real-time processing of data as described below • SimGEN’s (PosApp) data streaming capability supports these unique test requirements by controlling where the data is sent, how fast the data is sent and what data is sent Truth Real-Time Processing Signal Generator SimGEN Status and Truth Receiver data UDP/IP Network Monitoring / Logging

  15. Time sync message datagram sent every 1sec while a scenario is running. This helps the remote system synchronize to SimGEN’s time. The update rate of the data streaming datagrams. Cannot be faster then the simulation iteration rate Status datagram sent when SimGEN’s status changes. This also contains the time step SimGEN is using. IP address to which SimGEN should send the UDP/IP datagrams Copy data streaming datagrams to a binary file Copy to SCRAMnet (if available) to send UDP datagrams over SCRAMnet Data Streaming (cont.) • The data streaming settings are available in the SimGEN Scenario Contents Window Options > Data streaming definition file source file .dsd

  16. Enable vehicle motion truth data Enable antenna motion truth data for each antenna Enable satellite signal data for each signal type selected for an antenna Data Streaming (cont.) • After the General settings are configured, the desired datagrams can be selected for streaming vehicle, antenna and satellite signal truth data as described below • There is one datagram stream for each selection • There are additional datagrams for other applications such as inertial aiding for SimINERTIAL

  17. Data Streaming (cont.) • The SimGEN Dynamic Link Library (DLL) “simgendatastreaming.dll” takes care of the connection and delivery of the datagrams to the remote clients • This file occasionally gets updated as new datagrams are added depending upon the PosApp version • The data streaming packets use the User Datagram Protocol (UDP) for transmission of the desired datagrams • The UDP structure is little endian packed on an 8 byte boundary • Header file “EthernetShare.h” defines the UDP data packets • The datagrams are sent early so that remote clients can act on the data in real-time as necessary • The users remote client just listens for the data from SimGEN for monitoring or logging of the various datagrams • Uses Port 15660 to bind to SimGEN for receiving its streamed datagrams

  18. Data Streaming Client • Since the customer is required to create their own data streaming client, Spirent provide test software and source code for using data streaming at the following location: • C:\Program Files\Spirent Communications\PositioningApplication\DataStreaming • Full Documentation is provided in the SimREMOTE User Manual Example data streaming application provided with SimGEN Example C++ source code available

  19. Data Streaming Message Logger • Permits logging of data streaming messages in real-time that SimGEN produces while running a scenario • It can also extract the messages from the logged binary data streaming datagram file specified in the scenario data streaming definition file • Available under Tools > General Utilities > Data Streaming Message Logger SimGEN Messages Output Format

  20. Agenda • SimGEN Truth Data • Quick-Look • Bulk Logging • GPS Nav Data • NMEA • Data Streaming • Capturing Receiver Data • NMEA • SimDATA • Analyzing Data • Post-Processing • SimPROCESS

  21. NMEA Logging Data • Besides generating NMEA truth messages, SimGEN can display and log NMEA messages transmitted from a receiver • SimGEN uses the COM port (RS-232 or USB) for receiving UUT NMEA data • Select the NMEA messages to log from the receiver in the NMEA logging file Log Text (All) or CSV (Individual) files RF NMEA

  22. Receiver NMEA Quick-Look • Enables plotting, displaying and logging of both truth and UUT data • UUT data can be input and estimated real-time errors calculated by SimGEN • Differences between truth and UUT data supported

  23. What is SimDATA? • A flexible, configurable unit under test (UUT) data capture subsystem, extensible for data output • Source of data and message type defined in a DLL • MIL-STD-1553 Bus Monitor • MIL-STD-1553 Bus Controller • RS-422 + SDLC • RS-232 GPS-153 messages (e.g. PLGR) • UUT data definitions are defined separately in an XML file • SimDATA logs UUT data received in XML, CSV or RAW formats • SimDATA supports transmission of UUT data to SimGEN for use in quick-look • Could alternatively transmit UUT data to other systems

  24. Decoding Receiver Data • Supports real-time viewing and logging of transmitted UUT messages specified in the corresponding UUT XML file Decoded messages available from drop-down for real-time viewing (SimGEN Data Streaming Shown) Data displayed is the decoded UUT output Data

  25. Logging Receiver Data • The UUT messages can be logged to files for post-processing and playback • Raw UUT binary data can be logged for playback or message extraction • Decoded data can be logged as an XML or CSV file Raw Data Playback Raw Data

  26. Transmitting Receiver Data • Supports transmission of UUT data to SimGEN to display/log/plot the UUT position, velocity and attitude data in Quick-Look • <tx> lat </tx> tag sends GPS latitude to SimGEN for instance • Supports separate GPS, Inertial and Blended GPS/INS position, velocity and attitude inputs

  27. Controlling the UUT • Older versions used hard coded commands within SimDATAfor moding the UUT • Recent improvement permits the user to send any number of commands at any time into the run • Scripted as an ASCII text file for custom message sequencing for moding or initializing the UUT • Browse for desired file and Play Script to execute the file • Commands support displaying informational messages

  28. Agenda • SimGEN Truth Data • Quick-Look • Bulk Logging • GPS Nav Data • NMEA • Data Streaming • Capturing Receiver Data • NMEA • SimDATA • Analyzing Data • Post-Processing • SimPROCESS

  29. Post-Processing • Customers tend to have their own post-processing tools • Benefits include: • Post-processing 6-DOF data (position, velocity, acceleration, attitude) • Plotting other receiver data, such as Figure of Merits (FOM), tracked SVs, etc. • Methodology: • Truth vs UUT: Truth – UUT = Error • Truth Data: From SimGEN • Quick-look data (csv), Bulk Logged (csv or binary) • Data-streamed (UDP) • SimINERTIAL interpolated truth • Supports truth data rates up to 4msec • Data validity at the simulation time into run • UUT Data : Logged by the user and can be of any message format • UUT data validity at some asynchronous time into run

  30. Post-Processing (cont.) • Essential that: • Data is compared in the same reference frame • Height (MSL? Ellipsoid?), ECEF?, NED?, Lat, Long? Feet/meters? • Data is compared at the same time of validity • Interpolation required to account for asynchronous Truth and UUT data • Linear? Non-Linear? • Spirent’s motion propagation is non-linear, reference: • DGP01062AAA VEHICLE REFERENCE FRAMES AND VEHICLE MOTION HANDLING IN SimGEN (PC) SOFTWARE • Interpolated non-linear position and velocity example • p2 = p1 + v1*dt + (1/2)*a1*dt^2 + (1/6)*j1*dt^3 • v2 = v1 + a1*dt + (1/2)*j1*dt^2 • If processing attitude data, ensuring that the attitude rollovers (+/- deg) are accounted for

  31. SimPROCESS • SimPROCESS itself should be seen as a software toolbox • It provides a standardized user interface for accessing any number of existing SimPROCESS tools • Takes advantage of tight integration with SimGEN scenarios • SimPROCESS is a compiled MATLAB standalone application • It is a full encrypted installation of MATLAB known at the MATLAB component runtime (MCR) integrated into SimGEN • MATLAB itself is not available on the SimGEN PC however, but the MCR makes available virtually all of the functionality of MATLAB as called by the SimPROCESS tools • This makes available a very powerful set of data analysis and visualization functions free of charge to SimGEN users. • SimPROCESS takes advantage of the data already generated by SimGEN such as bulk logged ‘truth’ and receiver NMEA data

  32. SimPROCESS (cont.) • SimPROCESS is accessed under SimGEN’s Toolbar Tools > General Utilities as shown below • Shortcuts to common SimPROCESS tools are also provided Shortcuts to common SimPROCESS tools SimPROCESS (compact view)

  33. SimPROCESS (cont.) • Starting SimPROCESS opens the main display shown below • The Session is saved in the scenario or can be loaded from the default library file in C:\Program Files\Spirent Communications\Positioning Application\SimPROCESS\library • To expand the display and select the desired tasks contained in the the current Session, click on the ‘<‘ at the bottom Tasks Workspace Selected Session Open/Close Workspace

  34. SimPROCESS (cont.) • Various Tasks are included with the general.lib library file • If additional Tasks are desired, please contact Spirent • The majority of the Tasks utilize the receiver’s NMEA data and either SimGEN’s bulk logged or truth NMEA data • This can be checked by right-clicking on the desired task and going to properties

  35. Supports post-processing of receiver 3-D position errors Available from Rx NMEA Errors and Rx Errors from Generic Output File tasks Also supports processing receiver 2-D plane errors and statistics From the Plan Error task Truth and Receiver Log files Statistics 2-D Plane Error Time Series Data 3-D Errors Single Axis Errors SimPROCESS – Example Tasks

  36. Summary • SimGEN makes truth data available in a variety of formats • Quick-look, Bulk logging, Navigation Data, NMEA, Data streaming • Spirent supports logging receiver data through SimGEN and SimDATA • SimGEN permits direct injection of NMEA data from the UUT • SimDATAis a flexible test tool that supports various interfaces and customizable message structures for UUT data logging and display • Because of the multitude of truth data available, users may implement their own post-processing scripts to analyze their receivers data • SimPROCESS permits some post-processing of receiver data

  37. Any Questions? Thank you for your attention and time

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