2011-10-01 18:45:20 +00:00
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/*!
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2011-11-07 11:47:49 +00:00
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* \file gps_l1_ca_dll_pll_tracking.cc
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2011-12-28 21:36:45 +00:00
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* \brief Implementation of an adapter of a DLL+PLL tracking loop block
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* for GPS L1 C/A to a TrackingInterface
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2011-10-01 18:45:20 +00:00
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Javier Arribas, 2011. jarribas(at)cttc.es
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*
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2011-12-28 21:36:45 +00:00
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* Code DLL + carrier PLL according to the algorithms described in:
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* 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, Birkhauser, 2007
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2011-10-01 18:45:20 +00:00
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (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 "gps_l1_ca_dll_pll_tracking.h"
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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#include "GPS_L1_CA.h"
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2011-10-01 18:45:20 +00:00
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#include "configuration_interface.h"
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2011-12-24 22:15:37 +00:00
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#ifdef GNSS_SDR_USE_BOOST_ROUND
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#include <boost/math/special_functions/round.hpp>
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#endif
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2011-10-01 18:45:20 +00:00
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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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using google::LogMessage;
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GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams,
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gr_msg_queue_sptr queue) :
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2011-12-28 21:36:45 +00:00
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role_(role), in_streams_(in_streams), out_streams_(out_streams),
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queue_(queue)
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2011-10-01 18:45:20 +00:00
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{
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2011-11-22 17:21:54 +00:00
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DLOG(INFO) << "role " << role;
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//DLOG(INFO) << "vector length " << vector_length;
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//################# CONFIGURATION PARAMETERS ########################
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int fs_in;
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int vector_length;
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int f_if;
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bool dump;
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std::string dump_filename;
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std::string item_type;
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2011-10-01 18:45:20 +00:00
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std::string default_item_type = "gr_complex";
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2011-11-22 17:21:54 +00:00
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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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item_type = configuration->property(role + ".item_type",default_item_type);
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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//vector_length = configuration->property(role + ".vector_length", 2048);
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fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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2011-11-22 17:21:54 +00:00
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f_if = configuration->property(role + ".if", 0);
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dump = configuration->property(role + ".dump", false);
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pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
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early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
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2011-10-01 18:45:20 +00:00
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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std::string default_dump_filename = "./track_ch";
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2011-11-22 17:21:54 +00:00
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dump_filename = configuration->property(role + ".dump_filename",
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2011-10-01 18:45:20 +00:00
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default_dump_filename); //unused!
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2011-12-28 21:36:45 +00:00
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#ifdef GNSS_SDR_USE_BOOST_ROUND
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2011-12-24 20:54:25 +00:00
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vector_length = round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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2011-12-28 21:36:45 +00:00
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#else
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2011-12-24 22:15:37 +00:00
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vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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2011-12-28 21:36:45 +00:00
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#endif
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2011-11-22 17:21:54 +00:00
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//################# MAKE TRACKING GNURadio object ###################
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if (item_type.compare("gr_complex") == 0)
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2011-12-28 21:36:45 +00:00
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{
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item_size_ = sizeof(gr_complex);
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tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(satellite_, f_if,
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fs_in, vector_length, queue_, dump, dump_filename, pll_bw_hz,dll_bw_hz,early_late_space_chips);
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}
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2011-10-01 18:45:20 +00:00
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else
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2011-12-28 21:36:45 +00:00
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{
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LOG_AT_LEVEL(WARNING) << item_type << " unknown tracking item type.";
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}
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2011-10-01 18:45:20 +00:00
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DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
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}
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GpsL1CaDllPllTracking::~GpsL1CaDllPllTracking()
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{
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}
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void GpsL1CaDllPllTracking::start_tracking()
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{
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tracking_->start_tracking();
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set satellite ID
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*/
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2011-10-01 18:45:20 +00:00
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void GpsL1CaDllPllTracking::set_satellite(unsigned int satellite)
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{
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satellite_ = satellite;
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tracking_->set_satellite(satellite);
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DLOG(INFO) << "satellite set to " << satellite_;
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set tracking channel unique ID
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*/
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2011-10-01 18:45:20 +00:00
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void GpsL1CaDllPllTracking::set_channel(unsigned int channel)
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{
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channel_ = channel;
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tracking_->set_channel(channel);
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set tracking channel internal queue
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*/
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2011-10-01 18:45:20 +00:00
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void GpsL1CaDllPllTracking::set_channel_queue(
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concurrent_queue<int> *channel_internal_queue)
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{
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channel_internal_queue_ = channel_internal_queue;
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tracking_->set_channel_queue(channel_internal_queue_);
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set acquisition code phase in samples
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*/
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2011-11-07 11:47:49 +00:00
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void GpsL1CaDllPllTracking::set_prn_code_phase(signed int phase_samples)
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2011-10-01 18:45:20 +00:00
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{
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2011-11-07 11:47:49 +00:00
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return tracking_->set_acq_code_phase((float)phase_samples);
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2011-10-01 18:45:20 +00:00
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set acquisition Doppler frequency in Hz.
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*/
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2011-11-07 11:47:49 +00:00
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void GpsL1CaDllPllTracking::set_doppler_freq_shift(float doppler_freq_hz)
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2011-10-01 18:45:20 +00:00
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{
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2011-11-07 11:47:49 +00:00
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return tracking_->set_acq_doppler(doppler_freq_hz);
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2011-10-01 18:45:20 +00:00
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}
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2011-12-28 21:36:45 +00:00
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/*
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2011-11-22 17:21:54 +00:00
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* Set acquisition sample stamp in samples, in order to detect the delay between acquisition and tracking
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*/
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2011-10-01 18:45:20 +00:00
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void GpsL1CaDllPllTracking::set_acq_sample_stamp(
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unsigned long int sample_stamp)
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{
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return tracking_->set_acq_sample_stamp(sample_stamp);
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}
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2011-12-28 21:36:45 +00:00
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2011-10-01 18:45:20 +00:00
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void GpsL1CaDllPllTracking::connect(gr_top_block_sptr top_block)
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{
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//nothing to connect, now the tracking uses gr_sync_decimator
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}
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void GpsL1CaDllPllTracking::disconnect(gr_top_block_sptr top_block)
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{
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//nothing to disconnect, now the tracking uses gr_sync_decimator
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}
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gr_basic_block_sptr GpsL1CaDllPllTracking::get_left_block()
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{
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return tracking_;
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}
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gr_basic_block_sptr GpsL1CaDllPllTracking::get_right_block()
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{
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return tracking_;
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}
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