2012-10-19 13:38:25 +00:00
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/*!
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* \file galileo_e1_tcp_connector_tracking_cc.cc
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* \brief Implementation of a TCP connector block based on Code DLL + carrier PLL
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* \author David Pubill, 2012. dpubill(at)cttc.es
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* Javier Arribas, 2011. jarribas(at)cttc.es
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*
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkha user, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_synchro.h"
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#include "galileo_e1_tcp_connector_tracking_cc.h"
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#include "galileo_e1_signal_processing.h"
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#include "tracking_discriminators.h"
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2012-10-21 09:54:37 +00:00
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#include "lock_detectors.h"
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2012-10-19 13:38:25 +00:00
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#include "GPS_L1_CA.h"
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#include "Galileo_E1.h"
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#include "control_message_factory.h"
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#include "tcp_communication.h"
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#include <boost/lexical_cast.hpp>
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#include <iostream>
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#include <sstream>
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#include <cmath>
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#include "math.h"
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#include <gnuradio/gr_io_signature.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include <boost/asio.hpp>
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#include "tcp_packet_data.h"
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/*!
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* \todo Include in definition header file
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*/
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2012-10-20 16:11:31 +00:00
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#define CN0_ESTIMATION_SAMPLES 20
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2012-10-19 13:38:25 +00:00
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#define MINIMUM_VALID_CN0 25
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2012-10-20 16:11:31 +00:00
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#define MAXIMUM_LOCK_FAIL_COUNTER 50
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#define CARRIER_LOCK_THRESHOLD 0.85
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2012-10-19 13:38:25 +00:00
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using google::LogMessage;
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galileo_e1_tcp_connector_tracking_cc_sptr
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galileo_e1_tcp_connector_make_tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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gr_msg_queue_sptr queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips,
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float very_early_late_space_chips,
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size_t port_ch0)
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{
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return galileo_e1_tcp_connector_tracking_cc_sptr(new Galileo_E1_Tcp_Connector_Tracking_cc(if_freq,
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fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips, port_ch0));
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::forecast (int noutput_items,
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gr_vector_int &ninput_items_required)
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{
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ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
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}
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Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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gr_msg_queue_sptr queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips,
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float very_early_late_space_chips,
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size_t port_ch0):
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gr_block ("Galileo_E1_Tcp_Connector_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
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gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
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{
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this->set_relative_rate(1.0/vector_length);
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// initialize internal vars
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d_queue = queue;
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d_dump = dump;
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d_if_freq = if_freq;
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d_fs_in = fs_in;
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d_vector_length = vector_length;
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d_dump_filename = dump_filename;
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d_code_loop_filter=Tracking_2nd_DLL_filter(0.004);
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d_carrier_loop_filter=Tracking_2nd_PLL_filter(0.004);
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// Initialize tracking ==========================================
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d_code_loop_filter.set_DLL_BW(dll_bw_hz);
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d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
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//--- DLL variables --------------------------------------------------------
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
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//--- TCP CONNECTOR variables --------------------------------------------------------
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d_port_ch0 = port_ch0;
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d_port = 0;
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d_listen_connection = true;
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d_control_id = 0;
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// Initialization of local code replica
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// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
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// int d_ca_code_size = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4);
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d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)];
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// std::cout << "d_ca_code_size = " << d_ca_code_size << std::endl;
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/* If an array is partitioned for more than one thread to operate on,
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* having the sub-array boundaries unaligned to cache lines could lead
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* to performance degradation. Here we allocate memory
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* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
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*/
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// todo: do something if posix_memalign fails
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// Get space for the resampled early / prompt / late local replicas
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if (posix_memalign((void**)&d_very_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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if (posix_memalign((void**)&d_very_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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// space for carrier wipeoff and signal baseband vectors
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if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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// correlator outputs (scalar)
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if (posix_memalign((void**)&d_Very_Early, 16, sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_Very_Late, 16, sizeof(gr_complex)) == 0){};
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//--- Perform initializations ------------------------------
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// define initial code frequency basis of NCO
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d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ;
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// define residual code phase (in chips)
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d_rem_code_phase_samples = 0.0;
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// define residual carrier phase
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d_rem_carr_phase_rad = 0.0;
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// define phase step
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d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
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// sample synchronization
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d_sample_counter = 0;
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//d_sample_counter_seconds = 0;
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d_acq_sample_stamp = 0;
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d_enable_tracking = false;
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d_pull_in = false;
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d_last_seg = 0;
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d_current_prn_length_samples = (int)d_vector_length;
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// CN0 estimation and lock detector buffers
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d_cn0_estimation_counter = 0;
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d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
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d_carrier_lock_test = 1;
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d_CN0_SNV_dB_Hz = 0;
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d_carrier_lock_fail_counter = 0;
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2012-10-20 16:11:31 +00:00
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d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
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2012-10-19 13:38:25 +00:00
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systemName["G"] = std::string("GPS");
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systemName["R"] = std::string("GLONASS");
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systemName["S"] = std::string("SBAS");
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systemName["E"] = std::string("Galileo");
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systemName["C"] = std::string("Compass");
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking()
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{
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d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
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d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
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d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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// DLL/PLL filter initialization
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2012-10-24 08:02:51 +00:00
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d_carrier_loop_filter.initialize(); //initialize the carrier filter
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d_code_loop_filter.initialize(); //initialize the code filter
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2012-10-19 13:38:25 +00:00
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// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
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galileo_e1_code_gen_complex_sampled(&d_ca_code[2],d_acquisition_gnss_synchro->Signal, false, d_acquisition_gnss_synchro->PRN, 2*Galileo_E1_CODE_CHIP_RATE_HZ, 0);
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d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)];
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d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+1)];
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d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+2)] = d_ca_code[2];
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d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+3)] = d_ca_code[3];
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d_carrier_lock_fail_counter = 0;
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d_rem_code_phase_samples = 0.0;
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d_rem_carr_phase_rad = 0;
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d_next_rem_code_phase_samples = 0;
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d_acc_carrier_phase_rad = 0;
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d_code_phase_samples = d_acq_code_phase_samples;
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d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
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d_next_prn_length_samples = d_vector_length;
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std::string sys_ = &d_acquisition_gnss_synchro->System;
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sys = sys_.substr(0,1);
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// DEBUG OUTPUT
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std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
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DLOG(INFO) << "Start tracking for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " received" << std::endl;
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// enable tracking
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d_pull_in = true;
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d_enable_tracking = true;
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std::cout << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
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<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_code()
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{
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double tcode_half_chips;
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float rem_code_phase_half_chips;
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int associated_chip_index;
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int code_length_half_chips = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS);
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double code_phase_step_chips;
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double code_phase_step_half_chips;
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int early_late_spc_samples;
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int very_early_late_spc_samples;
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int epl_loop_length_samples;
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// unified loop for E, P, L code vectors
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code_phase_step_chips = ((double)d_code_freq_hz) / ((double)d_fs_in);
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code_phase_step_half_chips = (2.0*(double)d_code_freq_hz) / ((double)d_fs_in);
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rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_hz / d_fs_in);
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tcode_half_chips = -(double)rem_code_phase_half_chips;
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early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
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very_early_late_spc_samples=round(d_very_early_late_spc_chips/code_phase_step_chips);
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epl_loop_length_samples=d_current_prn_length_samples+very_early_late_spc_samples*2;
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for (int i=0; i<epl_loop_length_samples; i++)
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{
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associated_chip_index = 2 + round(fmod(tcode_half_chips - 2*d_very_early_late_spc_chips, code_length_half_chips));
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d_very_early_code[i] = d_ca_code[associated_chip_index];
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tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
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}
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memcpy(d_early_code,&d_very_early_code[very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
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memcpy(d_prompt_code,&d_very_early_code[very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
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memcpy(d_late_code,&d_very_early_code[2*very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
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memcpy(d_very_late_code,&d_very_early_code[2*very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_carrier()
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{
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float phase_rad, phase_step_rad;
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phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
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phase_rad = d_rem_carr_phase_rad;
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for(int i = 0; i < d_current_prn_length_samples; i++)
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{
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d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
|
|
|
|
phase_rad += phase_step_rad;
|
|
|
|
}
|
|
|
|
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
|
|
|
|
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Galileo_E1_Tcp_Connector_Tracking_cc::~Galileo_E1_Tcp_Connector_Tracking_cc()
|
|
|
|
{
|
|
|
|
d_dump_file.close();
|
|
|
|
|
|
|
|
free(d_very_early_code);
|
|
|
|
free(d_early_code);
|
|
|
|
free(d_prompt_code);
|
|
|
|
free(d_late_code);
|
|
|
|
free(d_very_late_code);
|
|
|
|
free(d_carr_sign);
|
|
|
|
free(d_Very_Early);
|
|
|
|
free(d_Early);
|
|
|
|
free(d_Prompt);
|
|
|
|
free(d_Late);
|
|
|
|
free(d_Very_Late);
|
|
|
|
|
|
|
|
delete[] d_ca_code;
|
|
|
|
delete[] d_Prompt_buffer;
|
|
|
|
|
|
|
|
d_tcp_com.close_tcp_connection(d_port);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
|
|
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
|
|
|
{
|
|
|
|
|
|
|
|
// process vars
|
|
|
|
float carr_nco_hz;
|
|
|
|
float code_nco_chips;
|
|
|
|
|
|
|
|
tcp_packet_data tcp_data;
|
|
|
|
|
|
|
|
if (d_enable_tracking == true)
|
|
|
|
{
|
|
|
|
/*
|
|
|
|
* Receiver signal alignment
|
|
|
|
*/
|
|
|
|
if (d_pull_in == true)
|
|
|
|
{
|
|
|
|
int samples_offset;
|
|
|
|
float acq_trk_shif_correction_samples;
|
|
|
|
int acq_to_trk_delay_samples;
|
|
|
|
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
|
|
|
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
|
|
|
|
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
|
|
|
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
|
|
|
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
|
|
|
|
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
|
|
|
d_pull_in = false;
|
|
|
|
consume_each(samples_offset); //shift input to perform alignement with local replica
|
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
|
|
Gnss_Synchro current_synchro_data;
|
|
|
|
// Fill the acquisition data
|
|
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
|
|
|
|
|
|
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
|
|
|
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
|
|
|
|
|
|
|
// Update the prn length based on code freq (variable) and
|
|
|
|
// sampling frequency (fixed)
|
|
|
|
// variable code PRN sample block size
|
|
|
|
d_current_prn_length_samples = d_next_prn_length_samples;
|
|
|
|
|
|
|
|
update_local_code();
|
|
|
|
update_local_carrier();
|
|
|
|
|
|
|
|
// perform Early, Prompt and Late correlation
|
|
|
|
d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
|
|
|
|
in,
|
|
|
|
d_carr_sign,
|
|
|
|
d_very_early_code,
|
|
|
|
d_early_code,
|
|
|
|
d_prompt_code,
|
|
|
|
d_late_code,
|
|
|
|
d_very_late_code,
|
|
|
|
d_Very_Early,
|
|
|
|
d_Early,
|
|
|
|
d_Prompt,
|
|
|
|
d_Late,
|
|
|
|
d_Very_Late,
|
|
|
|
is_unaligned());
|
|
|
|
|
|
|
|
|
|
|
|
//! Variable used for control
|
|
|
|
d_control_id++;
|
|
|
|
|
|
|
|
//! Send and receive a TCP packet
|
|
|
|
boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> tx_variables_array = {{d_control_id,(*d_Very_Early).real(),(*d_Very_Early).imag(),(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Very_Late).real(),(*d_Very_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
|
|
|
|
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
|
|
|
|
|
|
|
|
// PLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
|
|
|
carr_nco_hz = tcp_data.proc_pack_carr_error;
|
|
|
|
// Modify carrier freq based on NCO command (TCP_connector)
|
|
|
|
d_carrier_doppler_hz = tcp_data.proc_pack_carrier_doppler_hz;
|
|
|
|
|
|
|
|
// DLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
|
|
|
code_nco_chips = tcp_data.proc_pack_code_error;
|
|
|
|
// Modify code freq based on NCO command
|
|
|
|
d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ + (d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ - code_nco_chips;
|
|
|
|
// Update the phase step based on code freq (variable) and sampling frequency (fixed)
|
|
|
|
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
|
|
|
|
|
|
|
// keep alignment parameters for the next input buffer
|
|
|
|
float T_chip_seconds;
|
|
|
|
float T_prn_seconds;
|
|
|
|
float T_prn_samples;
|
|
|
|
float K_blk_samples;
|
|
|
|
T_chip_seconds = 1 / d_code_freq_hz;
|
|
|
|
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
|
|
|
|
T_prn_samples = T_prn_seconds * d_fs_in;
|
|
|
|
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
|
|
|
|
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
|
|
|
|
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
|
|
|
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
|
|
|
|
|
|
|
|
/*!
|
|
|
|
* \todo Improve the lock detection algorithm!
|
|
|
|
*/
|
|
|
|
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
|
|
|
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
|
|
|
{
|
|
|
|
// fill buffer with prompt correlator output values
|
|
|
|
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
|
|
|
|
d_cn0_estimation_counter++;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
d_cn0_estimation_counter = 0;
|
2012-10-21 09:54:37 +00:00
|
|
|
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
|
2012-10-19 13:38:25 +00:00
|
|
|
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
2012-10-21 09:54:37 +00:00
|
|
|
|
2012-10-19 13:38:25 +00:00
|
|
|
// ###### TRACKING UNLOCK NOTIFICATION #####
|
2012-10-20 16:11:31 +00:00
|
|
|
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
2012-10-19 13:38:25 +00:00
|
|
|
{
|
|
|
|
d_carrier_lock_fail_counter++;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
|
|
|
}
|
|
|
|
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
|
|
|
{
|
|
|
|
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
|
|
|
|
//tracking_message = 3; //loss of lock
|
|
|
|
//d_channel_internal_queue->push(tracking_message);
|
|
|
|
ControlMessageFactory* cmf = new ControlMessageFactory();
|
|
|
|
if (d_queue != gr_msg_queue_sptr()) {
|
|
|
|
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
|
|
|
}
|
|
|
|
delete cmf;
|
|
|
|
d_carrier_lock_fail_counter = 0;
|
|
|
|
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// ########### Output the tracking data to navigation and PVT ##########
|
|
|
|
|
|
|
|
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
|
|
|
|
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
|
|
|
|
// Tracking_timestamp_secs is aligned with the PRN start sample
|
|
|
|
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
|
|
|
|
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
|
|
|
current_synchro_data.Code_phase_secs=0;
|
|
|
|
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
|
|
|
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
|
|
|
*out[0] = current_synchro_data;
|
|
|
|
|
|
|
|
// ########## DEBUG OUTPUT
|
|
|
|
/*!
|
|
|
|
* \todo The stop timer has to be moved to the signal source!
|
|
|
|
*/
|
|
|
|
// debug: Second counter in channel 0
|
|
|
|
if (d_channel == 0)
|
|
|
|
{
|
|
|
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
|
|
|
{
|
|
|
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
|
|
|
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
|
|
|
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
|
|
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
|
|
|
{
|
|
|
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
|
|
|
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
|
|
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
*d_Early = gr_complex(0,0);
|
|
|
|
*d_Prompt = gr_complex(0,0);
|
|
|
|
*d_Late = gr_complex(0,0);
|
|
|
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
|
|
|
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
|
|
Gnss_Synchro current_synchro_data;
|
|
|
|
*out[0] = current_synchro_data;
|
|
|
|
|
|
|
|
//! When tracking is disabled an array of 1's is sent to maintain the TCP connection
|
|
|
|
boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> tx_variables_array = {{1,1,1,1,1,1,1,1,1,1,1,1,0}};
|
|
|
|
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
|
|
|
|
}
|
|
|
|
|
|
|
|
if(d_dump)
|
|
|
|
{
|
|
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
|
|
float prompt_I;
|
|
|
|
float prompt_Q;
|
|
|
|
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
|
|
|
|
float tmp_float;
|
|
|
|
tmp_float=0;
|
|
|
|
double tmp_double;
|
|
|
|
prompt_I = (*d_Prompt).real();
|
|
|
|
prompt_Q = (*d_Prompt).imag();
|
|
|
|
tmp_VE = std::abs<float>(*d_Very_Early);
|
|
|
|
tmp_E = std::abs<float>(*d_Early);
|
|
|
|
tmp_P = std::abs<float>(*d_Prompt);
|
|
|
|
tmp_L = std::abs<float>(*d_Late);
|
|
|
|
tmp_VL = std::abs<float>(*d_Very_Late);
|
|
|
|
|
|
|
|
try
|
|
|
|
{
|
|
|
|
// EPR
|
|
|
|
d_dump_file.write((char*)&tmp_VE, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&tmp_VL, sizeof(float));
|
|
|
|
// PROMPT I and Q (to analyze navigation symbols)
|
|
|
|
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
|
|
|
// PRN start sample stamp
|
|
|
|
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
|
|
|
// accumulated carrier phase
|
|
|
|
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
|
|
|
|
|
|
|
// carrier and code frequency
|
|
|
|
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
|
|
|
|
|
|
|
//PLL commands
|
|
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
|
|
|
|
|
|
|
|
//DLL commands
|
|
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&code_nco_chips, sizeof(float));
|
|
|
|
|
|
|
|
// CN0 and carrier lock test
|
|
|
|
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
|
|
|
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
|
|
|
|
|
|
|
// AUX vars (for debug purposes)
|
|
|
|
tmp_float = d_rem_code_phase_samples;
|
|
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
|
|
|
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
}
|
|
|
|
catch (std::ifstream::failure e)
|
|
|
|
{
|
|
|
|
std::cout << "Exception writing trk dump file " << e.what() << std::endl;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// if(d_current_prn_length_samples!=d_vector_length)
|
|
|
|
// std::cout << "d_current_prn_length_samples = " << d_current_prn_length_samples << std::endl;
|
|
|
|
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
|
|
|
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
|
|
|
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel)
|
|
|
|
{
|
|
|
|
d_channel = channel;
|
|
|
|
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
|
|
|
|
// ############# ENABLE DATA FILE LOG #################
|
|
|
|
if (d_dump==true)
|
|
|
|
{
|
|
|
|
if (d_dump_file.is_open() == false)
|
|
|
|
{
|
|
|
|
try
|
|
|
|
{
|
|
|
|
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
|
|
|
d_dump_filename.append(".dat");
|
|
|
|
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
|
|
|
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
|
|
|
std::cout << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
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}
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catch (std::ifstream::failure e)
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{
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std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
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}
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}
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}
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//! Listen for connections on a TCP port
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if (d_listen_connection == true)
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{
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d_port = d_port_ch0 + d_channel;
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d_listen_connection = d_tcp_com.listen_tcp_connection(d_port,d_port_ch0);
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}
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
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{
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d_channel_internal_queue = channel_internal_queue;
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}
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void Galileo_E1_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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d_acquisition_gnss_synchro = p_gnss_synchro;
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// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
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//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
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//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
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}
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