1
0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-15 20:50:33 +00:00
gnss-sdr/docs/changelog.md

998 lines
48 KiB
Markdown
Raw Normal View History

<!-- prettier-ignore-start -->
[comment]: # (
SPDX-License-Identifier: GPL-3.0-or-later
)
[comment]: # (
SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
)
<!-- prettier-ignore-end -->
2020-04-02 09:13:49 +00:00
## Unreleased
### Improvements in Efficiency:
- Faster internal handling of `Gnss_Synchro` objects by reducing the amount of
copying via adding `noexcept` move constructor and move assignment operators,
so the move semantics are also used in STL containers.
### Improvements in Maintainability:
- The software can now be built against the GNU Radio 3.9 API that uses C++11
smart pointers instead of Boost smart pointers.
2020-04-08 08:51:46 +00:00
### Improvements in Portability:
2020-04-22 11:06:14 +00:00
- The software can now be cross-compiled on Petalinux environments.
2020-04-08 08:51:46 +00:00
### Improvements in Reliability:
- Fixed a bug in GLONASS GNAV CRC computation.
2020-04-02 09:13:49 +00:00
### Improvements in Reproducibility:
- Improved reproducibility of the volk_gnsssdr library: Drop compile-time CPU
detection.
### Improvements in Usability:
- Updated version of the Contributor Covenant to version 2.0.
- Added a Matlab script to quantize the input signal with a given number of bits
per sample.
&nbsp;
## [GNSS-SDR v0.0.12](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.12)
### Improvements in Accuracy:
2020-03-09 18:30:43 +00:00
- Improved accuracy of the C/N0 estimator.
### Improvements in Availability:
- Fixed computation of acquisition threshold when using the `Acquisition_XX.pfa`
configuration parameter, including non-coherent accumulation
(`Acquisition_XX.max_dwells` > 1).
### Improvements in Efficiency:
- Faster implementation of the Viterbi decoder for Galileo navigation messages.
- The `-O3` flag is now passed to GCC in `Release` and `RelWithDebInfo` build
types (instead of `-O2`), thus enabling tree vectorization. Disabled if
building for Fedora or Gentoo.
### Improvements in Flexibility:
- New Tracking parameters allow the configuration of the C/N0 and lock detector
smoothers, as well as the activation of the FLL in pull-in and steady state
stages.
- Added new Tracking parameter `Tracking_XX.carrier_aiding`, allowing
enabling/disabling of carrier aiding to the code tracking loop.
- New PVT parameter `PVT.enable_rx_clock_correction` allows to enable or disable
the continuous application of the Time solution correction (clock steering) to
the computation of Observables. By default is set to `false` (that is,
disabled).
- New PVT parameter `PVT.max_clock_offset_ms`: if
`PVT.enable_rx_clock_correction` is set to `false`, this parameter sets the
maximum allowed local clock offset with respect to the Time solution. If the
estimated offset exceeds this parameter, a clock correction is applied to the
computation of Observables.
- Fixed L5 and E5a receiver chains when tracking the data component.
- Added new PVT configuration parameter `PVT.rinex_name` to specify a custom
name of the generated RINEX files. A commandline flag `--RINEX_name` is also
available, and overrides the configuration.
### Improvements in Interoperability:
- Fixed PVT solution in receivers processing L1 plus L2C and/or L5 signals.
2020-03-09 18:30:43 +00:00
- Fixed the initialization of the carrier phase accumulator. Carrier phase
measurements are now usable to compute integer ambiguity resolution.
- Added carrier phase observable initialization to match the pseudorange length.
- Added RINEX files generation for triple-band configurations (L1 + L2C + L5 and
L1 + E1 + L2C + L5 + E5a).
- Fixed bugs in the decoding of BeiDou navigation messages.
- Fixed bugs in the generation of RTCM messages.
- Fixed a bug in feeding Galileo channels' observations to RTKLIB, which was
causing wrong date of PVT fixes in Galileo-only receivers and not considering
Galileo observations in multi-constellation receivers when using signals after
the GPS rollover on April 6, 2019.
- Improved management of devices with the AD9361 RF transceiver.
- Fixed bugs in FPGA off-loading.
### Improvements in Maintainability:
- Rewriting of acquisition and tracking adapters, thus avoiding a lot of code
duplication.
- New CMake option `-DENABLE_ARMA_NO_DEBUG` defines the macro `ARMA_NO_DEBUG`,
which disables all run-time checks, such as bounds checking, in the Armadillo
library. This will result in faster code. This option is disabled by default
during development, but automatically set to `ON` if the option
`ENABLE_PACKAGING` is set to `ON`.
- All shadowed variables detected by passing `-Wshadow` to the compiler have
been fixed (see https://rules.sonarsource.com/cpp/RSPEC-1117?search=shadow and
MISRA C++:2008, 2-10-2 - Identifiers declared in an inner scope shall not hide
an identifier declared in an outer scope).
- Apply more clang-tidy checks related to readability:
`readability-avoid-const-params-in-decls`,
`readability-braces-around-statements`, `readability-isolate-declaration`,
`readability-redundant-control-flow`, `readability-uppercase-literal-suffix`.
Fixed raised warnings.
- Fixed a number of defects detected by `cpplint.py`. Filters applied:
`+build/class`, `+build/c++14`, `+build/deprecated`,
`+build/explicit_make_pair`, `+build/include_what_you_use`,
`+build/printf_format`, `+build/storage_class`, `+readability/constructors`,
`+readability/namespace`, `+readability/newline`, `+readability/utf8`,
`+runtime/casting`, `+runtime/explicit`, `+runtime/indentation_namespace`,
`+runtime/init`, `+runtime/invalid_increment`,
`+runtime/member_string_references`, `+runtime/memset`, `+runtime/operator`,
`+runtime/printf`, `+runtime/printf_format`, `+whitespace/blank_line`.
- `clang-format` can now be applied to the whole code tree without breaking
compilation.
- Added more check options to `.clang-tidy` file.
- Default Python version is now >= 3.4. Python 2.7 still can be used in systems
where Python 3 is not available (e.g., CentOS 7, Debian 8, Ubuntu 10.04).
- CMake now passes the `-DCMAKE_BUILD_TYPE` (or configuration in
multi-configuration generators like Xcode) to modules built along gnss-sdr
(e.g, the volk_gnsssdr library and googletest). Build types available: `None`,
`Release` (by default), `Debug`, `RelWithDebInfo`, `MinSizeRel`, `Coverage`,
`NoOptWithASM`, `O2WithASM`, `O3WithASM`, `ASAN`.
- Fix runtime errors when compiling in `Debug` mode on macOS.
- Updated links in comments along the source code and in CMake scripts.
- Update GSL implementation to 0.36.0. See
https://github.com/gsl-lite/gsl-lite/releases/tag/v0.36.0
2020-03-01 12:18:59 +00:00
- Create a CI job on GitHub to ensure that `clang-tidy` has been applied in most
of the source code (some optional blocks and tests are left apart).
2020-03-01 12:18:59 +00:00
- Create a CI job on GitHub to ensure that `clang-format` has been applied.
- Create a CI job on GitHub to ensure that `cpplint` filters have been applied.
- Create a CI job on GitHub to ensure compliance with REUSE Specification (see
https://reuse.software)
2020-03-01 12:18:59 +00:00
- Create a CI job on GitHub using `prettier` (https://prettier.io/) to check
markdown files formatting.
2020-03-01 12:18:59 +00:00
- Create a CI job on GitHub to check the formatting of CMake scripts using
`cmakelint` (see https://github.com/richq/cmake-lint).
### Improvements in Openness:
- Make software compliant with REUSE Specification Version 3.0 (see
https://reuse.software/spec/).
### Improvements in Portability:
- The CMake scripts now find dependencies in Debian's riscv64 architecture.
- Enable AVX2 kernels of the volk_gnsssdr library when using the Clang compiler.
- Fixed building in some ARM-based devices. Now Clang and ARMClang can be used
for native building.
- Added toolchain files for building gnss-sdr and the volk_gnsssdr library in
several ARM processor architectures, including those in Raspberry Pi 3 and 4.
- The software can now be built using Xcode (passing `-GXcode` to CMake) without
previous manual installation of volk_gnsssdr.
- The software can now be built using Xcode (passing `-GXcode` to CMake) without
gflags, glog, matio, PugiXML, Protocol Buffers or googletest previously
installed.
- Now the volk_gnsssdr library can be built on Microsoft Windows.
- Now the volk_gnsssdr library makes use of C11 `aligned_alloc` where available.
- Improved CMake script for cross-compilation and for the detection of AVX, AVX2
and NEON (v7 and v8) instructions.
- Fixed warnings raised by CMake 3.17.
- Fixed warnings raised by `cmake --warn-uninitialized ..`
2020-03-10 19:28:52 +00:00
- Fixed the receiver's availability in systems in which the Sys V message queue
mechanism is not available.
### Improvements in Reliability:
- Decoding of navigation messages no longer rely on implementation defined
behavior for shifting left a signed integer.
- Removed usage of functions with insecure API (e.g., `strcpy`, `sprintf`).
- New type alias `volk_gnsssdr::vector` allows both aligned memory allocation
and automatic deallocation.
- Fixed a memory leak in the generation of Galileo PRN codes.
- Added clang-tidy checks `clang-analyzer-security.*`,
`clang-analyzer-optin.portability.UnixAPI` clang-tidy checks. Fixed raised
warnings.
- Fixed `cpplint.py` `runtime/printf` and `runtime/explicit` errors.
- All constructors callable with one argument are marked with the keyword
explicit. See MISRA C++:2008, 12-1-3 - All constructors that are callable with
a single argument of fundamental type shall be declared explicit.
### Improvements in Repeatability:
- Added the option to apply carrier smoothing of code pseudoranges with new
Observables parameter `Observables.enable_carrier_smoothing`.
- Fixed normalization of DLL discriminator in BPSK modulations when the spacing
between correlators was not 0.5.
### Improvements in Testability:
- Add receiver runtime to `position_test` report.
- Improvements in FPGA unit tests.
- Add new utility tool `obsdiff` to perform single and double differences
computations from observation RINEX files. Requires GPSTk and Armadillo >=
9.800.
### Improvements in Usability:
- A new global parameter `GNSS-SDR.pre_2009_file` allows to process raw sample
files containing GPS L1 C/A signals dated before July 14, 2009.
- Improved DLL-PLL binary dump MATLAB/Octave plot script. Old versions removed.
- Simplified RTKLIB error log.
- Added a Python 3 plotting script to show relative performance of generic
volk_gnsssdr kernels wrt SIMD fastest versions.
- Added reporting of velocity in the terminal.
- Added reporting of user clock drift estimation, in ppm, in the Pvt_Monitor and
in internal logging (`Debug` mode).
- Updated documentation generated by Doxygen, now the `pdfmanual` target works
when using ninja.
- CMake now generates an improved summary of required/optional dependency
packages found and enabled/disabled features, including the building system
and GNSS-SDR, CMake and compiler versions. This info is also stored in a file
called `features.log` in the building directory.
- Markdown files have been wrapped to 80 characters line length to make it
easier to read them from the terminal.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.11](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.11)
This release has several improvements in different dimensions, addition of new
features and bug fixes:
### Improvements in Accuracy:
- Local clock correction based on PVT solution, allowing the delivery of
continuous observables.
- Fix a bug in broadcast ionospheric parameters usage.
### Improvements in Availability:
- Improved mechanism for false lock detection in the Tracking loops.
- Fixed bug in Galileo INAV/FNAV message decoding when PLL is locked at 180
degrees, which prevented from correct navigation message decoding in some
situations.
- Fixed bug that caused a random deadlock in the Observables block, preventing
the computation of PVT fixes.
- Fixed PVT computation continuity through the TOW rollover.
- Improved signal acquisition and tracking mechanisms in high dynamic scenarios.
### Improvements in Efficiency:
- Added mechanism for assisted acquisition of signals on a secondary band when
the primary has already been acquired. This allows a great reduction of the
computational load in multi-frequency configurations.
- Tracking loops now perform bit synchronization, simplifying the decoding
process in Telemetry blocks and FPGA-offloading.
- Improved preamble detection implementation in the decoding of navigation
messages (acceleration by x1.6 on average per channel).
- Shortened Acquisition to Tracking transition time.
- Applied clang-tidy checks and fixes related to performance:
performance-faster-string-find, performance-for-range-copy,
performance-implicit-conversion-in-loop, performance-inefficient-algorithm,
performance-inefficient-string-concatenation,
performance-inefficient-vector-operation, performance-move-const-arg,
performance-move-constructor-init, performance-noexcept-move-constructor,
performance-type-promotion-in-math-fn,
performance-unnecessary-copy-initialization,
performance-unnecessary-value-param, readability-string-compare.
### Improvements in Flexibility:
- Rewritten Control Thread and GNSS flow graph for increased control of
channels' status and smarter assignation of satellites in multi-band
configurations.
- New Tracking parameters allow the configuration of PLL and DLL filters order.
- Added parameter to enable FLL during pull-in time.
- Configurable pull-in time in the Tracking loops.
### Improvements in Interoperability:
- Added the BeiDou B1I and B3I receiver chains.
- Fix bug in GLONASS dual frequency receiver.
- Added a custom UDP/IP output for PVT data streaming.
- Improved Monitor block with UDP/IP output for internal receiver's data
streaming.
- Custom output formats described with .proto files, making easier to other
applications reading them in a forward and backward-compatible fashion upon
future format changes. New dependency: Protocol Buffers >= 3.0.0
- Fixes in RINEX generation: week rollover, annotations are not repeated anymore
in navigation files. Parameter rinexnav_rate_ms has been removed, annotations
are made as new ephemeris arrive.
- Fixes in RTCM messages generation: week rollover.
### Improvements in Maintainability:
- The internal communication mechanism based on gr::msg_queue has been replaced
by a thread-safe, built-in asynchronous message passing system based on GNU
Radio's Polymorphic Types. This change is backwards-compatible and prevents
from a failure in case of a possible future deprecation or removal of the
gr::msg_queue API.
- Deprecated boost::asio::io_service replaced by boost::asio::io_context if
Boost > 1.65
- CMake turns all policies to ON according to the running version up to version
3.15.
- Usage of clang-tidy integrated into CMake scripts. New option
-DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires
clang compiler.
- Applied clang-tidy checks and fixes related to readability:
readability-container-size-empty, readability-identifier-naming,
readability-inconsistent-declaration-parameter-name,
readability-named-parameter, readability-non-const-parameter,
readability-string-compare.
- Improved includes selection following suggestions by include-what-you-use (see
https://include-what-you-use.org/), allowing faster compiles, fewer recompiles
and making refactoring easier.
- Massive reduction of warnings triggered by clang-tidy checks.
- Throughout code cleaning and formatting performed with automated tools in
order to reduce future commit noise.
### Improvements in Portability:
- Added interfaces for FPGA off-loading in GPS L1 C/A, Galileo E1b/c, GPS L2C,
GPS L5 and Galileo E5a receiver chains.
- CMake scripts now follow a modern approach (targets and properties) but still
work with 2.8.12.
- Improvements for macOS users using Homebrew.
- The software builds against GNU Radio >= 3.7.3, including 3.8.0. Automatically
detected, no user intervention is required.
- The volk_gnsssdr library can now be built without requiring Boost if the
compiler supports C++17 or higher.
- The Boost Filesystem library is not anymore a required dependency in cases
where it can be replaced by std::filesystem. Automatically detected, no user
intervention is required.
- CMake scripts automatically select among C++11, C++14, C++17 or C++20
standards, the most recent as possible, depending on compiler and dependencies
versions.
- Drawback in portability: Protocol Buffers >= 3.0.0 is a new required
dependency.
### Improvements in Reliability:
- Included the Guidelines Support Library. General improvement of memory
management, replacement of raw pointers by containers or smart pointers.
- Applied clang-tidy checks and fixes related to High Integrity C++:
performance-move-const-arg, modernize-use-auto, modernize-use-equals-default,
modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr,
cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp,
cert-err60-cpp, hicpp-exception-baseclass, hicpp-explicit-conversions.
- Fixed a number of defects detected by Coverity Scan (version June 2019).
### Improvements in Usability:
- The receiver now admits FPGA off-loading, allowing for real time operation in
embedded systems at high sampling rates and high number of signals and
channels per signal in multiple bands.
- Fixed program termination (avoiding hangs and segfaults in some
platforms/configurations).
- The Labsat_Signal_Source now terminates the receiver's execution when the end
of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat
3 files.
- Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON
and NMEA outputs, set by default to 1 s.
- New parameter PVT.show_local_time_zone displays time in the local time zone.
Subject to the proper system configuration of the machine running the software
receiver. This feature is not available in old compilers.
- CMake now generates a summary of required/optional dependency packages found
and enabled/disabled features. This info is also stored in a file called
features.log in the building directory.
- Improved information provided to the user in case of building configuration
and runtime failures.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)
This release has several improvements in different dimensions, addition of new
features and bug fixes:
### Improvements in Accuracy:
- Part of the RTKLIB core library has been integrated into GNSS-SDR. There is
now a single PVT block implementation which makes use of RTKLIB to deliver PVT
solutions, including Single and PPP navigation modes.
- Fixed CN0 estimation for other correlation times than 1 ms.
- Improved computation of tracking parameters and GNSS observables.
- Other minor bug fixes.
### Improvements in Availability:
- Internal Finite State Machines rewritten for improved continuity in delivering
position fixes. This fixes a bug that was stalling the receiver after about
six hours of continuous operation.
- Redesign of the time counter for enhanced continuity.
- Improved flow graph in multi-system configurations: the receiver does not get
stalled anymore if no signal is found from the first system.
- Improved acquisition and tracking sensitivity.
- Added mechanisms for Assisted GNSS, thus shortening the Time-To-First-Fix.
Provision of data via XML files or via SUPL v1.0. Documented at
https://gnss-sdr.org/docs/sp-blocks/global-parameters/
- Other minor bug fixes.
### Improvements in Efficiency:
- Added the possibility of non-blocking acquisition, which works well when using
real-time data from an RF front-end.
- Improved flow graph in multi-band configurations: satellites acquired in one
band are immediately searched in others.
- Complex local codes have been replaced by real codes, alleviating the
computational burden.
- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h,
volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h,
volk_gnsssdr_32f_xn_resampler_32f_xn.h,
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 implementations added to the volk_gnsssdr library.
- Improvement in C++ usage: Use of const container calls when result is
immediately converted to a const iterator. Using these members removes an
implicit conversion from iterator to const_iterator.
- Output printers can be shut down, with some savings in memory and storage
requirements.
- A number of code optimizations here and there.
### Improvements in Flexibility:
- A number of new parameters have been exposed to the configuration system.
- Possibility to choose Pilot or Data component for tracking of GPS L5 and
Galileo E5a signals.
- Enabled extended coherent integration times for signal tracking.
- Configurable coherent and/or non-coherent signal acquisition.
- Some configuration parameters can now be overridden by commandline flags for
easier use in scripts.
### Improvements in Interoperability:
- Added the GPS L5 receiver chain.
- Added the GLONASS L1 SP receiver chain.
- Added the GLONASS L2 SP receiver chain.
- Improvements in the Galileo E5a and GPS L2C receiver chains.
- Updated list of available GNSS satellites.
- Added five more signal sources: "Fmcomms2_Signal_Source" (requires gr-iio),
"Plutosdr_Signal Source" (requires gr-iio), "Spir_GSS6450_File_Signal_Source",
"Labsat_Signal_Source" and "Custom_UDP_Signal_Source" (requires libpcap).
Documented in https://gnss-sdr.org/docs/sp-blocks/signal-source/
- Improved support for BladeRF, HackRF and RTL-SDR front-ends.
- Added tools for the interaction with front-ends based on the AD9361 chipset.
- Intermediate results are now saved in MAT-file format (.mat), readable from
Matlab/Octave and from Python via h5py.
- Added the GPX output format.
- Improvements in the generation of KML files.
- Improvements in the NMEA output. The receiver can produce GPGGA, GPRMC, GPGSA,
GPGSV, GAGSA and GAGSV sentences.
- Improvements in the RTCM server stability.
- Improvements in the correctness of generated RINEX files.
- The receiver can read and make use of Galileo almanac XML files published by
the European GNSS Service Centre at
https://www.gsc-europa.eu/system-status/almanac-data
- Own-defined XML schemas for navigation data published at
https://github.com/gnss-sdr/gnss-sdr/tree/next/docs/xml-schemas
- Added program rinex2assist to convert RINEX navigation files into XML files
usable for Assisted GNSS. Only available building from source. See
https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist
### Improvements in Maintainability:
- Setup of a Continuous Integration system that checks building and runs QA code
in a wide range of GNU/Linux distributions (Arch Linux, CentOS, Debian,
Fedora, OpenSUSE, Ubuntu) and releases. See
https://gitlab.com/gnss-sdr/gnss-sdr
- Creation of multi-system processing blocks, drastically reducing code
duplication and maintainability time.
- Automated code formatting with clang-format. This tool is widely available and
easy to integrate into many code editors, and it also can be used from the
command line. It cuts time spent on adhering to the project's code formatting
style.
- Improvement in C++ usage: C-style casts have been replaced by C++ casts.
C-style casts are difficult to search for. C++ casts provide compile time
checking ability and express programmers' intent better, so they are safer and
clearer.
- Improvement in C++ usage: The override special identifier is now used when
overriding a virtual function. This helps the compiler to check for type
changes in the base class, making the detection of errors easier.
- Improvement in C++ usage: A number of unused includes have been removed. Order
of includes set to: local (in-source) headers, then library headers, then
system headers. This helps to detect missing includes.
- Improvement in C++ usage: Enhanced const correctness. Misuses of those
variables are detected by the compiler.
- Improved code with clang-tidy and generation of a compile_commands.json file
containing the exact compiler calls for all translation units of the project
in machine-readable form if clang-tidy is detected.
- Applied some style rules to CMake scripts.
- Minimal versions of dependencies identified and detected.
### Improvements in Portability:
- Several CMake scripts improvements, more verbose outputs in case of errors.
Building configuration has been documented in
https://gnss-sdr.org/docs/tutorials/configuration-options-building-time/
- Improved SDK for cross-compilation in embedded devices. Documented in
https://gnss-sdr.org/docs/tutorials/cross-compiling/
- Improved control over minimum required versions for core dependencies.
- The software builds with C++11, C++14 and C++17 standards.
- The software can now be built using GCC >= 4.7.2 or LLVM/Clang >= 3.4.0
compilers on GNU/Linux, and with Clang/AppleClang on macOS.
- The Ninja build system can be used in replacement of make.
- The volk_gnsssdr library can be built using Python 2.7+ or Python 3.6+.
- The volk_gnsssdr library is now ready for AArch64 NEON instructions.
- Improved detection of required and optional dependencies in many GNU/Linux
distributions and processor architectures.
- Improvement in C++ usage: The <ctime> library has been replaced by the more
modern and portable <chrono> (except for the interaction with RTKLIB).
- Improvement in C++ usage: The <stdio.h> library has been replaced by the more
modern and portable <fstream> for file handling.
- Improvement in C++ usage: C++ libraries preferred over C libraries (e.g.,
<cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
- Fix compatibility with Boost 1.67 (closes Debian bug #911882
https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=911882)
- Fixes required by Debian packaging.
- Fixes required by Macports packaging.
- A downside in portability: BLAS and LAPACK libraries are now required even in
ARM devices.
- A downside in portability: the matio library >= 1.5.3 is a new required
dependency. If not found, it is downloaded and built automatically at building
time, but this requires libtool, automake and hdf5 already installed in the
system.
- A downside in portability: the PugiXML library is a new required dependency.
If not found, it is downloaded and built automatically at building time.
### Improvements in Reliability:
- Introduced 3 new Input Filter implementations for pulsed and narrowband
interference mitigation: `Pulse_Blanking_Filter`, `Notch_Filter` and
`Notch_Filter_Lite`. Documented in
https://gnss-sdr.org/docs/sp-blocks/input-filter/
- Improved flow graph stability.
- Introduction of high-integrity C++ practices into the source code and included
in the coding style guide. See https://gnss-sdr.org/coding-style/
- Fixed a number of defects detected by Coverity Scan.
- Improvement of QA code and addition of a number of new tests. Documented at
https://gnss-sdr.org/docs/tutorials/testing-software-receiver-2/
- Improvement in C++ usage: rand() function replaced by <random> library.
- Improvement in C++ usage: strlen and strncpy have been replaced by safer C++
counterparts.
- Improvement in C++ usage: Some destructors have been fixed, avoiding
segmentation faults when exiting the program.
- Website switched from http to https. Links in the source tree switched when
available.
### Improvements in Reproducibility:
- Setup of a Continuous Reproducibility system at GitLab for the automatic
reproduction of experiments. The concept was introduced in
https://ieeexplore.ieee.org/document/8331069/ Example added in the
src/utils/reproducibility/ieee-access18/ folder.
- Fixes of Lintian warnings related to build reproducibility.
### Improvements in Scalability:
- Improvements in multi-system, multi-band receiver configurations. The receiver
now accepts any number of channels and systems in the three available bands.
- All possible combinations of signals and integration times are now accepted by
the Observables block.
### Improvements in Testability:
- Several Unit Tests added. Documentation of testing concepts and available
tests at https://gnss-sdr.org/docs/tutorials/testing-software-receiver/
- New extra unit test AcquisitionPerformanceTest checks the performance of
Acquisition blocks.
- New extra unit test TrackingPullInTest checks acquisition to tracking
transition.
- New extra unit test HybridObservablesTest checks the generation of
observables.
- Improved system testing: position_test accepts a wide list of parameters and
can be used with external files.
- Receiver channels can now be fixed to a given satellite.
- Testing integrated in a Continuous Reproducibility system (see above).
- Improved CTest support in volk_gnsssdr.
### Improvements in Usability:
- All Observables block implementations have been merged into a single
implementation for all kinds of GNSS signals, making it easier to configure.
- All PVT block implementations have been merged into a single implementation
for all kinds of GNSS signals, making it easier to configure.
- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by
GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a
warning is provided to the user. The old name will be removed in future
releases.
- Updated and improved online documentation of processing blocks at
https://gnss-sdr.org/docs/sp-blocks/
- Improved documentation of required dependency packages in several GNU/Linux
distributions.
- Dump and output files can now be stored anywhere.
- Parameter names with the same role have been harmonized within different block
implementations.
- Added a changelog, a code of conduct, a contributing guide and a pull-request
template in the source tree.
- Added colors to the commandline user interface.
- Updated manfiles.
- Updated examples of configuration files under the conf/ folder.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.9](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.9)
DOI: https://doi.org/10.5281/zenodo.291371
This release has several improvements, addition of new features and bug fixes in
many dimensions:
### Improvements in Accuracy:
- Major rewriting in the generation of pseudoranges.
- Fixed bug in Galileo E5a/I codes.
- Fixed bug in Galileo E1 correlator spacing.
- Fixed bug that was causing errors in receivers above the troposphere.
- Fixed 16-bit complex resampler.
- Improved time tracking algorithm.
- Added Bancroft's algorithm implementation for PVT initialization.
### Improvements in Availability:
- Improved numerical stability of the PVT solution. The infamous bug that was
causing apparently random error peaks has finally been fixed.
### Improvements in Efficiency:
- VOLK_GNSSSDR: Added NEON,AVX and unaligned protokernels for
volk_gnsssdr_32f_index_max_32 kernel.
- VOLK_GNSSSDR: Added volk_gnsssdr-config-info to the list of generated
executables.
### Improvements in Flexibility:
- Added maximum number of dwells in the Tong algorithm.
### Improvements in Interoperability:
- Added six new Galileo satellites: FM7, FM10, FM11, FM12, FM13, FM14.
- The Hybrid_Observables and Hybrid_PVT implementations can now handle more
types of GNSS signals.
- The RINEX printer can now print L2C and E5a observables and navigation files,
including multiband configurations.
- Added RTCM 3.2 output to more receiver configurations.
### Improvements in Maintainability:
- The VOLK_GNSSSDR library can now be built with Python 3. Switched dependencies
for VOLK_GNSSDR: from (old, python2.7-only) python-cheetah templates to
Python3 friendly python-mako and python-six. So, Python-cheetah dependency has
been dropped, and python-mako and python-six have been added.
- If suitable versions of gflags, glog, armadillo or googletest are not found in
the system, they will be downloaded and built at compile time (versions 2.2.0,
0.3.4, 7.600.2 and 1.8.0, respectively).
- Fixed more than 30 defects detected by Coverity Scan.
- Added CMake Python finder and module checker.
- Deleted files related to CPack.
- Fixes, updates and improvements in the documentation.
- Improvements in CMake scripts: General code cleaning and addition of comments.
Improved user information in case of failure. Improved detection of
dependencies in more processor architectures (e.g. aarch64).
### Improvements in Marketability:
- Reduced time from a commit to deployment (see virtualization mechanisms in
Portability).
### Improvements in Portability:
- Now GNSS-SDR can be run in virtual environments through snap packages (see
https://github.com/carlesfernandez/snapcraft-sandbox) and docker images (see
https://github.com/carlesfernandez/docker-gnsssdr).
- Now GNSS-SDR is adapted to cross-compiling environments for embedded devices
(see https://github.com/carlesfernandez/oe-gnss-sdr-manifest).
- BLAS and LAPACK libraries are no longer mandatory on ARM devices.
### Improvements in Scalability:
- Fixed bug in acquisition with rata rates higher than 16 Msps in 4ms code
periods.
### Improvements in Testability:
- Major QA source code refactoring: they has been split into
src/tests/unit-tests and src/tests/system-tests folders. They are optionally
built with the ENABLE_UNIT_TESTING=ON (unit testing QA code),
ENABLE_UNIT_TESTING_EXTRA=ON (unit tests that require extra files downloaded
at configure time), ENABLE_SYSTEM_TESTING=ON (system tests, such as
measurement of Time-To-First-Fix) and ENABLE_SYSTEM_TESTING_EXTRA=ON (extra
system test requiring external tools, automatically downloaded and built at
building time) configuration flags. The EXTRA options also download and build
a custom software-defined signal generator and version 2.9 of GPSTk, if not
already found on the system. Download and local link of version 2.9 can be
forced by ENABLE_OWN_GPSTK=ON building configuration flag. Only
ENABLE_UNIT_TESTING is set to ON by default.
- Unit tests added: CPU_multicorrelator_test and GPU_multicorrelator_test
measure computer performance in multicorrelator setups.
- Unit tests added: GpsL1CADllPllTracking and GpsL1CATelemetryDecoderTest.
- System test added: ttff_gps_l1 performs a set of cold / assisted runs of the
software receiver and computes statistics about the obtained Time To First
Fix.
- System test added: obs_gps_l1_system_test uses an external software-defined
signal generator to produce raw digital GNSS signal from a RINEX navigation
file and a position (static or dynamic), processes it with GNSS-SDR, and then
compares the RINEX observation file produced by the software receiver to that
produced by the signal generator.
- Software Development Kit provided for embedded devices (see
https://gnss-sdr.org/docs/tutorials/cross-compiling/).
### Improvements in Usability:
- Now the block factory automatically detects Channel input data type, so it is
no longer required to specify Channel.input_type in the configuration. An
error raises if Acquisition and Tracking Blocks are not configured with the
same input data type.
- Block names changed from L2_M to L2C.
- Documentation available at https://gnss-sdr.org/docs/
- Improved tools for compilation, execution and testing in embedded devices.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.8](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.8)
DOI: https://doi.org/10.5281/zenodo.57022
This is a maintenance and bug fix release with no relevant new features with
respect to v0.0.7. The main changes are:
- Fixed a bug that broke building when using latest VOLK release
- Updated PYBOMBS instructions
- Added Tests for FFT length
- Added Tests for CUDA-based tracking
- Added Tests for SIMD-based tracking
- Improved CUDA-based correlation.
- Updated documentation
- Fixed building in mips and powerpc architectures.
- gr-gn3s and gr-dbfcttc moved to its own repository.
- Improved package reproducibility
- VOLK_GNSSSDR: Fixed a bug in AVX2 puppet
- VOLK_GNSSSDR: can now be built using the C98 standard
- VOLK_GNSSSDR: Fixed a bug that broke building when linking to Boost in some
configurations.
- VOLK_GNSSSDR: Added an option to trigger profiling at building time.
- VOLK_GNSSSDR: Fix the CMake-based check for posix_memalign.
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.7](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.7)
DOI: https://doi.org/10.5281/zenodo.51521
This release has several improvements, addition of new features and bug fixes:
- Improvements in receiver design: Internal block communication has been
redesigned to accommodate the addition of new signals, and now upstream and
downstream communication within blocks is implemented through the GNU Radio
blocks asynchronous message passing system, leading to a more scalable, more
robust and cleaner design.
- Improvements in receiver design: Correlators have been rewritten to take full
advantage of VOLK and VOLK_GNSSSDR, and they are of general use for any
tracking block. Their API now admit an arbitrary number of correlators, spaced
in an arbitrary manner, in 16ic and 32fc versions.
- Improvements in receiver design: Block adapters are now all managed by smart
pointers, ensuring better memory management.
- Improvements in processing speed: The VOLK_GNSSSDR library has been rewritten,
following current VOLK standards and adding a number of new kernels. This
approach addresses both efficiency and portability. Now the library provides
the key kernels for GNSS signal processing in 16ic and 32fc versions,
including SSE2, SSE3, SSE4.1, AVX, AV2 and NEON implementations. Please
execute volk_gnsssdr_profile and volk_profile to use the fastest
implementation for your host machine.
- New source block: Two_Bit_Packed_File_Signal_Source. This block takes 2 bit
samples that have been packed into bytes or shorts as input and generates a
byte for each sample.
- Fixes in SUPL assistance (supl.nokia.com removed).
- Improvements in acquisition: Added a non CFAR PCPS acquisition algorithm based
on the estimation of the post correlation noise floor. If enabled as an option
in the acquisition configuration, it allows setting more stable thresholds in
the presence of non-gaussian front-end noise (which is the usual behavior of
front-ends.)
- Fixes in acquisition: Fixed mismatch between the config files and the
acquisition code in the specification of the IF. Fixed a bug in the length of
the FFT of local codes.
- Improvements in tracking sensitivity: Added configuration option to customize
the extension of the GPS L1 CA correlation length after bit synchronization
(options are: [1,2,4,5,10,20] ms). Only available in the
GPS_L1_CA_DLL_PLL_C_Aid_Tracking implementation.
- New tracking block introduced: GPS_L1_CA_DLL_PLL_C_Aid_Tracking is a GPS L1
C/A carrier PLL and code DLL with optional carrier-aid feedback. It is
available in both 32 bits gr_complex input samples and in 16 bits short int
complex samples. The gr_complex version has also the capability to extend the
coherent correlation period from 1ms to 20ms using telemetry symbol
synchronization.
- Increased resolution in CN0 estimator internal variables.
- Fixed a bug in computation of GPS L1 C/A carrier phase observable.
- Fixed a bug in the internal state machine that was blocking the receiver after
a few hours of usage. Now the receiver can work continually (tested for more
than one week, no known limit).
- New tracking block introduced: GPS_L1_CA_DLL_PLL_Tracking_GPU is a GPS L1 C/A
carrier PLL and code DLL that uses the CUDA-compatible GPU to compute carrier
wipe off and correlation operations, alleviating the CPU load.
- Obsolete/buggy blocks removed: GPS_L1_CA_DLL_FLL_PLL_Tracking,
GPS_L1_CA_DLL_PLL_Optim_Tracking.
- Added a RTCM printer and TCP server in PVT blocks (still experimental). The
receiver is now able to stream data in real time, serving RTCM 3.2 messages to
multiple clients. For instance, it can act as a Ntrip Source feeding a Ntrip
Server, or to be used as data input in RTKLIB, obtaining Precise Point
Positioning fixes in real-time. The TCP port, Station ID, and rate of
MT1019/MT1045 and MSM can be configured. GPS_L1_CA_PVT serves MT1019 (GPS
Ephemeris) and MSM7 (MT1077, full GPS pseudoranges, phase ranges, phase range
rates and CNR - high resolution) messages, while GALILEO_E1_PVT serves MT1045
(Galileo ephemeris) and MSM7 (MT1097, full Galileo pseudoranges, phase ranges,
phase range rates and CNR - high resolution).
- Added a GeoJSON printer. Basic (least-squares) position fixes can be now also
stored in this format, in addition to KML.
- Obsolete block removed: output filter.
- QA code migrated to the new asynchronous message passing system.
- Improvements in documentation: update of README.md file, addition of
documentation for the VOLK_GNSSSDR library, updated links to new ICDs.
- Improvements in documentation: Satellite identification updated to current
constellation status.
- Updated and cleaner console output. Now Galileo satellites have the E
identifier in their PRN number.
- Several improvements in CMake scripts allow to build GNSS-SDR in Linux Debian
(Jessie, Stretch and Sid), Ubuntu (from 12.04 to 16.04), including amd64,
i386, armhf and arm64 architectures, and possibly in other GNU/Linux
distributions, as well as in Mac OS X 10.9 to 10.11. It also works well with
CMake 3.5 (some problems solved with VOLK_GNSSSDR as a sub-project).
- The software can link either against OpenSSL or against GnuTLS with openssl
extensions, whatever it is available. This allows buildings in distributions
such as Fedora or ArchLinux, while being compatible with binary distribution
through Debian packages.
- Fixed a number of defects detected by Coverity Scan.
- Some fixes required by Debian licensing and packaging system.
- Added a CGRAN (https://www.cgran.org/) manifest
- Lots of code cleaning and fixes of typos and small bugs.
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.6](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.6)
This release has several improvements and bug fixes:
- Added initial support to multi-band, multi-source configurations (multiple
signal sources and signal conditioners).
- Updated configuration files to new notation. Old and new configuration
notations still compatible.
- Added skeleton for mixed (multi-frequency and multi-system) observables block.
- Faster local carrier update (25% of improvement).
- Added initial support to GPS L2C real time tracking and decoding of CNAV
message with NSL STEREO v2, Fraunhofers Flexiband, and USRPx front-ends (the
latter requiring external clock).
- Added initial support to select the frontend clock reference source in UHD
signal source (i.e. internal or external clock reference).
- Added 2 bits complex file source for GNSS-SDR GSoC 2015 signal sampler
designed by Ajith Peter.
- Added a new rtl_tcp signal source, remote access to RTL2832U-based dongles via
TCP.
- Always build front-end-cal, a calibration tool for some DVB-T receivers based
on the Realtek's RTL2832U chipset.
- Fixed bug in UTC time computation for GPS signals.
- Updated satellite identification for GPS and Galileo.
- Defined cbyte as a new input data type (std::complex<unsigned char>)
- Adding a new data_type_adapter, from interleaved short to std::complex<short>
- Adding a filter for complex short streams.
- Adding a fir_filter for std::complex<signed char> (aka cbyte). It converts the
data type to floats, filters, and converts back to cbyte.
- Added a resampler for cbytes and cshorts.
- First working version of a GPS tracking block implementation using CUDA with
multi-GPU device support.
- Updating RINEX obs header when leap second is available.
- Updating RINEX nav file when IONO and UTC data are available.
- Include Signal Strength Indicator in RINEX observable files.
- Tests fixed.
- Fixed more than 200 code defects detected by Coverity Scan.
- Updated documentation.
- Updated documentation and CMake scripts for the GN3S v2 driver (Linux-only)
- Armadillo version automatically downloaded and built if it is not present in
the system is now 5.400.3.
- Updated old links from googlecode to new links at GitHub for Google Test,
gflags, glog and gperftools.
- gfortran is no longer a required package, but it is used if available.
- Added an option to remove logging.
- Enabled cross-compilation for ARM devices.
- Lots of code cleaning.
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.5](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.5)
This release has several improvements and bug fixes:
- Now GNSS-SDR can be installed on the system with the usual cmake ../ && make
&& sudo make install.
- Added volk_gnsssdr library, a volk-like library implementing some specific
kernels and ensuring portable executables. It comes with a
volk_gnsssdr_profile executable, in the fashion of volk_profile. Volk and
volk_gnsssdr are compatible and can be mixed together. This is expected to
enable faster execution of the software receiver in upcoming versions.
- The former rtlsdr_signal_source has been replaced by a more general
osmosdr_signal_source compatible with all those front-ends accessible by the
OsmoSDR driver (bladeRF, hackRF, etc.) in addition to RTL-based dongles.
- Added manpages when binaries gnss-sdr, volk_gnsssdr_profile and front-end-cal
are installed.
- Now GNSS-SDR can be built on i386, amd64, armhf, armel and arm64
architectures.
- Now GNSS-SDR builds on Ubuntu 14.04 and 14.10, Debian jessie/sid and Mac OS X
10.9 and 10.10.
- Improved detection of dependencies, specially when installed as .deb packages.
- Added a check' target with some minimal tests.
- Added support for interleaved I/Q byte-size sample files.
- Minor bug fixes, updated documentation and code cleaning.
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.4](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.4)
This release has several improvements and bug fixes:
- Added hybrid processing GPS L1 C/A and Galileo E1B, providing position fixes
make use of observables for both constellations.
- Added implementations of the QuickSync algorithm for GPS L1 C/A and Galileo E1
acquisition.
- Added processing blocks for Galileo E5a: Acquisition, Tracking,
Telemetry_Decoder (experimental)
- New configuration files allow to configure GPS and Galileo channels in the
same receiver.
- Added tropospheric corrections to GPS and Galileo PVT solution.
- Improved precision obtained by changing some variables from float to double.
- New building options: ENABLE_GN3S, ENABLE_RTLSDR and ENABLE_ARRAY and
ENABLE_OPENCL.
- Improved documentation on how to enable optional drivers.
- Fixed bug in memory alignment that caused problems with high data rates.
- Added ENABLE_GENERIC_ARCH, an option to build the binary without detecting the
SIMD instruction set present in the compiling machine, so it can be executed
in other machines without those specific sets.
- Added ENABLE_GPERFTOOLS, which links the executable to tcmalloc and profiler
if Gperftools is available on the system.
- Added carrier phase, Doppler shift and signal strength observables to the
RINEX files. Static PPP solutions are available for GPS with RTKLIB via RINEX
files.
- The executable now produces RINEX files version 3.02 of Galileo Observables,
Navigation data, and mixed (GPS/Galileo) observables and nav data. RINEX 3.02
is the default version of RINEX files.
- Armadillo version updated to 4.400.2
- Armadillo now uses OpenBLAS instead of BLAS if the former is available on the
system.
- Some raw pointers have been changed to smart pointers.
- Minor bug fixes and code cleaning.
2020-03-01 12:18:59 +00:00
&nbsp;
## [GNSS-SDR v0.0.3](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.3)
This release has several improvements and bug fixes, completing the transition
from Subversion to Git. The main changes are:
- Created some missing directories lost in the SVN to Git transition.
- New C++11-ized block factory, flow graph and tests, resulting in better memory
management and fewer segmentation faults. Several raw pointers converted to
smart pointers.
- Reorganization of assistance data input and output.
- Fixed memory leak when talking to SUPL servers.
- Improved retrieval of assistance data.
- Fixing an error in a constant value related to Galileo.
- Inform users if the temporal folder is not /tmp.
- Fixes and additions to the documentation.
- README in markdown language so it looks better in Git repositories.
- Fixed a bug that prevented the update of all shared map structures (ephemeris,
iono parameters, etc…).
- The configuration script now throws error if GCC is older than 4.7 or Boost is
older than 1.45
- Improved detection / downloading & building if missing of Gflags and Glog.
- Improved detection / downloading & building if missing of Armadillo and
related dependencies.
- Fixes many warnings that appeared when using CMake 3.0.
- Improved detection of GTEST_DIR variable.
- Include header files in libraries so IDEs such as Xcode can display them.
Enjoy it!