gnss-sdr/src/algorithms/tracking/libs/kf_conf.cc

/*!
 * \file Kf_conf.cc
 * \brief Class that contains all the configuration parameters for generic
 * tracking block based on a DLL and a PLL.
 * \author Javier Arribas, 2018. jarribas(at)cttc.es
 *
 * -----------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2020  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * SPDX-License-Identifier: GPL-3.0-or-later
 *
 * -----------------------------------------------------------------------------
 */

#include "kf_conf.h"
#include "gnss_sdr_flags.h"
#include "item_type_helpers.h"
#include <glog/logging.h>


Kf_Conf::Kf_Conf()
{
    /*KF tracking configuration */
    high_dyn = false;
    smoother_length = 10;
    fs_in = 2000000.0;
    vector_length = 0U;
    dump = false;
    dump_mat = true;
    dump_filename = std::string("./Kf_dump.dat");

    pull_in_time_s = 10;
    bit_synchronization_time_limit_s = pull_in_time_s + 60;
    early_late_space_chips = 0.25;
    very_early_late_space_chips = 0.5;
    early_late_space_narrow_chips = 0.15;
    very_early_late_space_narrow_chips = 0.5;
    slope = 1.0;
    spc = 0.5;
    y_intercept = 1.0;
    carrier_aiding = true;
    extend_correlation_symbols = 1;
    cn0_samples = FLAGS_cn0_samples;
    cn0_smoother_samples = 200;
    cn0_smoother_alpha = 0.002;
    carrier_lock_test_smoother_alpha = 0.002;
    carrier_lock_test_smoother_samples = 25;
    cn0_min = FLAGS_cn0_min;
    max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
    max_code_lock_fail = FLAGS_max_lock_fail;
    carrier_lock_th = FLAGS_carrier_lock_th;
    track_pilot = true;
    enable_doppler_correction = false;
    system = 'G';
    signal[0] = '1';
    signal[1] = 'C';
    signal[2] = '\0';
    item_type = "gr_complex";

    expected_cn0_dbhz = 0;
    // System covariances (Q)
    code_phase_sd_chips = 0;
    code_rate_sd_chips_s = 0;
    carrier_phase_sd_rad = 0;
    carrier_freq_sd_hz = 0;
    carrier_freq_rate_sd_hz_s = 0;
    // initial Kalman covariance matrix (P)
    init_code_phase_sd_chips = 0;
    init_code_rate_sd_chips_s = 0;
    init_carrier_phase_sd_rad = 0;
    init_carrier_freq_sd_hz = 0;
    init_carrier_freq_rate_sd_hz_s = 0;

    enable_dynamic_measurement_covariance = false;
    use_estimated_cn0 = false;
}


void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
    const std::string &role)
{
    item_type = configuration->property(role + ".item_type", item_type);
    if (!item_type_valid(item_type))
        {
            LOG(WARNING) << "Unknown item type: " + item_type << ". Set to gr_complex";
            item_type = "gr_complex";
        }

    double fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
    fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
    high_dyn = configuration->property(role + ".high_dyn", high_dyn);
    dump = configuration->property(role + ".dump", dump);
    dump_filename = configuration->property(role + ".dump_filename", dump_filename);
    dump_mat = configuration->property(role + ".dump_mat", dump_mat);

    pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
    bit_synchronization_time_limit_s = pull_in_time_s + 60;
    early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
    early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
    very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
    very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
    extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
    track_pilot = configuration->property(role + ".track_pilot", track_pilot);
    cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
    cn0_min = configuration->property(role + ".cn0_min", cn0_min);
    max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
    max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
    carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
    carrier_aiding = configuration->property(role + ".carrier_aiding", carrier_aiding);

    // tracking lock tests smoother parameters
    cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
    cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
    smoother_length = configuration->property(role + ".smoother_length", smoother_length);
    if (smoother_length < 1)
        {
            smoother_length = 1;
            LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
        }
    carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
    carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);

    // Kalman filter covariances

    // Measurement covariances (R)
    expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", 42.0);

    code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", 0.01);
    carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", 0.1);

    enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", false);
    use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", false);

    // System covariances (Q)
    code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", 0.001);
    code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", 0.001);

    carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", 0.001);
    carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", 0.1);
    carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", 1);

    // System covariances (narrow) (Q)
    narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", 0.001);
    narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", 0.001);

    narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", 0.001);
    narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", 0.1);
    narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", 1);


    // initial Kalman covariance matrix (P)
    init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", 1);
    init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", 100);

    init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", 10);
    init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", 1000);
    init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", 1000);
}