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/*!
* \ file gps_l1_ca_kf_tracking_cc . cc
* \ brief Implementation of a code DLL + carrier PLL tracking block
* \ author Carlos Aviles , 2010. carlos . avilesr ( at ) googlemail . com
* Javier Arribas , 2011. jarribas ( at ) cttc . es
*
* Code DLL + carrier PLL according to the algorithms described in :
* [ 1 ] K . Borre , D . M . Akos , N . Bertelsen , P . Rinder , and S . H . Jensen ,
* A Software - Defined GPS and Galileo Receiver . A Single - Frequency
* Approach , Birkhauser , 2007
*
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
*
* Copyright ( C ) 2010 - 2015 ( 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 .
*
* GNSS - SDR is free software : you can redistribute it and / or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation , either version 3 of the License , or
* ( at your option ) any later version .
*
* GNSS - SDR is distributed in the hope that it will be useful ,
* but WITHOUT ANY WARRANTY ; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
* GNU General Public License for more details .
*
* You should have received a copy of the GNU General Public License
* along with GNSS - SDR . If not , see < http : //www.gnu.org/licenses/>.
*
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
*/
# include "gps_l1_ca_kf_tracking_cc.h"
# include "gps_sdr_signal_processing.h"
# include "tracking_discriminators.h"
# include "lock_detectors.h"
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# include "gnss_sdr_flags.h"
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# include "GPS_L1_CA.h"
# include "control_message_factory.h"
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# include <boost/lexical_cast.hpp>
# include <gnuradio/io_signature.h>
# include <glog/logging.h>
# include <volk_gnsssdr/volk_gnsssdr.h>
# include <matio.h>
# include <cmath>
# include <iostream>
# include <memory>
# include <sstream>
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using google : : LogMessage ;
gps_l1_ca_kf_tracking_cc_sptr
gps_l1_ca_kf_make_tracking_cc (
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long if_freq ,
long fs_in ,
unsigned int vector_length ,
bool dump ,
std : : string dump_filename ,
float dll_bw_hz ,
float early_late_space_chips )
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{
return gps_l1_ca_kf_tracking_cc_sptr ( new Gps_L1_Ca_Kf_Tracking_cc ( if_freq ,
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fs_in , vector_length , dump , dump_filename , dll_bw_hz , early_late_space_chips ) ) ;
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}
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void Gps_L1_Ca_Kf_Tracking_cc : : forecast ( int noutput_items ,
gr_vector_int & ninput_items_required )
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{
if ( noutput_items ! = 0 )
{
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ninput_items_required [ 0 ] = static_cast < int > ( d_vector_length ) * 2 ; //set the required available samples in each call
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}
}
Gps_L1_Ca_Kf_Tracking_cc : : Gps_L1_Ca_Kf_Tracking_cc (
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long if_freq ,
long fs_in ,
unsigned int vector_length ,
bool dump ,
std : : string dump_filename ,
float dll_bw_hz ,
float early_late_space_chips ) : gr : : block ( " Gps_L1_Ca_Kf_Tracking_cc " , gr : : io_signature : : make ( 1 , 1 , sizeof ( gr_complex ) ) ,
gr : : io_signature : : make ( 1 , 1 , sizeof ( Gnss_Synchro ) ) )
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{
// Telemetry bit synchronization message port input
this - > message_port_register_in ( pmt : : mp ( " preamble_timestamp_s " ) ) ;
this - > message_port_register_out ( pmt : : mp ( " events " ) ) ;
// initialize internal vars
d_dump = dump ;
d_if_freq = if_freq ;
d_fs_in = fs_in ;
d_vector_length = vector_length ;
d_dump_filename = dump_filename ;
d_current_prn_length_samples = static_cast < int > ( d_vector_length ) ;
// Initialize tracking ==========================================
d_code_loop_filter . set_DLL_BW ( dll_bw_hz ) ;
//--- 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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// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
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d_ca_code = static_cast < float * > ( volk_gnsssdr_malloc ( static_cast < int > ( GPS_L1_CA_CODE_LENGTH_CHIPS ) * sizeof ( float ) , volk_gnsssdr_get_alignment ( ) ) ) ;
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// correlator outputs (scalar)
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d_n_correlator_taps = 3 ; // Early, Prompt, and Late
d_correlator_outs = static_cast < gr_complex * > ( volk_gnsssdr_malloc ( d_n_correlator_taps * sizeof ( gr_complex ) , volk_gnsssdr_get_alignment ( ) ) ) ;
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for ( int n = 0 ; n < d_n_correlator_taps ; n + + )
{
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d_correlator_outs [ n ] = gr_complex ( 0 , 0 ) ;
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}
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d_local_code_shift_chips = static_cast < float * > ( volk_gnsssdr_malloc ( d_n_correlator_taps * sizeof ( float ) , volk_gnsssdr_get_alignment ( ) ) ) ;
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// Set TAPs delay values [chips]
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d_local_code_shift_chips [ 0 ] = - d_early_late_spc_chips ;
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d_local_code_shift_chips [ 1 ] = 0.0 ;
d_local_code_shift_chips [ 2 ] = d_early_late_spc_chips ;
multicorrelator_cpu . init ( 2 * d_current_prn_length_samples , d_n_correlator_taps ) ;
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0 ;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0 ;
// sample synchronization
d_sample_counter = 0 ;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0 ;
d_enable_tracking = false ;
d_pull_in = false ;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0 ;
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d_Prompt_buffer = new gr_complex [ FLAGS_cn0_samples ] ;
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d_carrier_lock_test = 1 ;
d_CN0_SNV_dB_Hz = 0 ;
d_carrier_lock_fail_counter = 0 ;
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d_carrier_lock_threshold = FLAGS_carrier_lock_th ;
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systemName [ " G " ] = std : : string ( " GPS " ) ;
systemName [ " S " ] = std : : string ( " SBAS " ) ;
d_acquisition_gnss_synchro = 0 ;
d_channel = 0 ;
d_acq_code_phase_samples = 0.0 ;
d_acq_carrier_doppler_hz = 0.0 ;
d_carrier_doppler_hz = 0.0 ;
d_acc_carrier_phase_rad = 0.0 ;
d_code_phase_samples = 0.0 ;
d_rem_code_phase_chips = 0.0 ;
d_code_phase_step_chips = 0.0 ;
d_carrier_phase_step_rad = 0.0 ;
set_relative_rate ( 1.0 / static_cast < double > ( d_vector_length ) ) ;
// Kalman filter initialization (receiver initialization)
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double CN_dB_Hz = 40 ;
double CN_lin = pow ( 10 , CN_dB_Hz / 10.0 ) ;
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double sigma2_phase_detector_cycles2 ;
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sigma2_phase_detector_cycles2 = ( 1.0 / ( 2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD ) ) * ( 1.0 + 1.0 / ( 2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD ) ) ;
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//covariances (static)
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double sigma2_carrier_phase = GPS_TWO_PI / 4 ;
double sigma2_doppler = 250 ;
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kf_P_x_ini = arma : : zeros ( 2 , 2 ) ;
kf_P_x_ini ( 0 , 0 ) = sigma2_carrier_phase ;
kf_P_x_ini ( 1 , 1 ) = sigma2_doppler ;
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kf_R = arma : : zeros ( 1 , 1 ) ;
kf_R ( 0 , 0 ) = sigma2_phase_detector_cycles2 ;
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//arma::colvec G={pow(GPS_L1_CA_CODE_PERIOD,3)/6.0, pow(GPS_L1_CA_CODE_PERIOD,2)/2.0,GPS_L1_CA_CODE_PERIOD};
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kf_Q = arma : : zeros ( 2 , 2 ) ;
kf_Q ( 0 , 0 ) = 1e-12 ;
kf_Q ( 1 , 1 ) = 1e-2 ;
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// kf_Q=arma::diagmat(pow(GPS_L1_CA_CODE_PERIOD,6)*kf_Q);
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//std::cout<<"kf_Q="<<kf_Q<<std::endl;
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kf_F = arma : : zeros ( 2 , 2 ) ;
kf_F ( 0 , 0 ) = 1.0 ;
kf_F ( 0 , 1 ) = GPS_TWO_PI * GPS_L1_CA_CODE_PERIOD ;
kf_F ( 1 , 0 ) = 0.0 ;
kf_F ( 1 , 1 ) = 1.0 ;
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kf_H = arma : : zeros ( 1 , 2 ) ;
kf_H ( 0 , 0 ) = 1.0 ;
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kf_x = arma : : zeros ( 2 , 1 ) ;
kf_y = arma : : zeros ( 1 , 1 ) ;
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}
void Gps_L1_Ca_Kf_Tracking_cc : : start_tracking ( )
{
/*
* correct the code phase according to the delay between acq and trk
*/
d_acq_code_phase_samples = d_acquisition_gnss_synchro - > Acq_delay_samples ;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro - > Acq_doppler_hz ;
d_acq_sample_stamp = d_acquisition_gnss_synchro - > Acq_samplestamp_samples ;
long int acq_trk_diff_samples ;
double acq_trk_diff_seconds ;
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acq_trk_diff_samples = static_cast < long int > ( d_sample_counter ) - static_cast < long int > ( d_acq_sample_stamp ) ; //-d_vector_length;
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DLOG ( INFO ) < < " Number of samples between Acquisition and Tracking = " < < acq_trk_diff_samples ;
acq_trk_diff_seconds = static_cast < float > ( acq_trk_diff_samples ) / static_cast < float > ( d_fs_in ) ;
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = ( GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz ) / GPS_L1_FREQ_HZ ;
// new chip and prn sequence periods based on acq Doppler
double T_chip_mod_seconds ;
double T_prn_mod_seconds ;
double T_prn_mod_samples ;
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ ;
d_code_phase_step_chips = static_cast < double > ( d_code_freq_chips ) / static_cast < double > ( d_fs_in ) ;
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T_chip_mod_seconds = 1 / d_code_freq_chips ;
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T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS ;
T_prn_mod_samples = T_prn_mod_seconds * static_cast < double > ( d_fs_in ) ;
d_current_prn_length_samples = round ( T_prn_mod_samples ) ;
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ ;
double T_prn_true_samples = T_prn_true_seconds * static_cast < double > ( d_fs_in ) ;
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds ;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds ;
double corrected_acq_phase_samples , delay_correction_samples ;
corrected_acq_phase_samples = fmod ( ( d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast < double > ( d_fs_in ) ) , T_prn_true_samples ) ;
if ( corrected_acq_phase_samples < 0 )
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples ;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples ;
d_acq_code_phase_samples = corrected_acq_phase_samples ;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz ;
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast < double > ( d_fs_in ) ;
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// DLL filter initialization
d_code_loop_filter . initialize ( ) ; // initialize the code filter
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// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
gps_l1_ca_code_gen_float ( d_ca_code , d_acquisition_gnss_synchro - > PRN , 0 ) ;
multicorrelator_cpu . set_local_code_and_taps ( static_cast < int > ( GPS_L1_CA_CODE_LENGTH_CHIPS ) , d_ca_code , d_local_code_shift_chips ) ;
for ( int n = 0 ; n < d_n_correlator_taps ; n + + )
{
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d_correlator_outs [ n ] = gr_complex ( 0 , 0 ) ;
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}
d_carrier_lock_fail_counter = 0 ;
d_rem_code_phase_samples = 0 ;
d_rem_carr_phase_rad = 0.0 ;
d_rem_code_phase_chips = 0.0 ;
d_acc_carrier_phase_rad = 0.0 ;
d_code_phase_samples = d_acq_code_phase_samples ;
std : : string sys_ = & d_acquisition_gnss_synchro - > System ;
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sys = sys_ . substr ( 0 , 1 ) ;
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// DEBUG OUTPUT
std : : cout < < " Tracking of GPS L1 C/A signal started on channel " < < d_channel < < " for satellite " < < Gnss_Satellite ( systemName [ sys ] , d_acquisition_gnss_synchro - > PRN ) < < std : : endl ;
LOG ( INFO ) < < " Starting tracking of satellite " < < Gnss_Satellite ( systemName [ sys ] , d_acquisition_gnss_synchro - > PRN ) < < " on channel " < < d_channel ;
// enable tracking
d_pull_in = true ;
d_enable_tracking = true ;
LOG ( INFO ) < < " PULL-IN Doppler [Hz]= " < < d_carrier_doppler_hz
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< < " Code Phase correction [samples]= " < < delay_correction_samples
< < " PULL-IN Code Phase [samples]= " < < d_acq_code_phase_samples ;
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}
Gps_L1_Ca_Kf_Tracking_cc : : ~ Gps_L1_Ca_Kf_Tracking_cc ( )
{
if ( d_dump_file . is_open ( ) )
{
try
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{
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d_dump_file . close ( ) ;
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}
catch ( const std : : exception & ex )
{
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LOG ( WARNING ) < < " Exception in destructor " < < ex . what ( ) ;
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}
}
if ( d_dump )
{
if ( d_channel = = 0 )
{
std : : cout < < " Writing .mat files ... " ;
}
Gps_L1_Ca_Kf_Tracking_cc : : save_matfile ( ) ;
if ( d_channel = = 0 )
{
std : : cout < < " done. " < < std : : endl ;
}
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}
try
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{
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volk_gnsssdr_free ( d_local_code_shift_chips ) ;
volk_gnsssdr_free ( d_correlator_outs ) ;
volk_gnsssdr_free ( d_ca_code ) ;
delete [ ] d_Prompt_buffer ;
multicorrelator_cpu . free ( ) ;
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}
catch ( const std : : exception & ex )
{
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LOG ( WARNING ) < < " Exception in destructor " < < ex . what ( ) ;
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}
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}
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int Gps_L1_Ca_Kf_Tracking_cc : : general_work ( int noutput_items __attribute__ ( ( unused ) ) , gr_vector_int & ninput_items __attribute__ ( ( unused ) ) ,
gr_vector_const_void_star & input_items , gr_vector_void_star & output_items )
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{
// process vars
double carr_phase_error_rad = 0.0 ;
double carr_phase_error_filt_rad = 0.0 ;
double code_error_chips = 0.0 ;
double code_error_filt_chips = 0.0 ;
// Block input data and block output stream pointers
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const gr_complex * in = reinterpret_cast < const gr_complex * > ( input_items [ 0 ] ) ;
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Gnss_Synchro * * out = reinterpret_cast < Gnss_Synchro * * > ( & output_items [ 0 ] ) ;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro ( ) ;
if ( d_enable_tracking = = true )
{
// Fill the acquisition data
current_synchro_data = * d_acquisition_gnss_synchro ;
// Receiver signal alignment
if ( d_pull_in = = true )
{
int samples_offset ;
double 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_current_prn_length_samples - fmod ( static_cast < float > ( acq_to_trk_delay_samples ) , static_cast < float > ( d_current_prn_length_samples ) ) ;
samples_offset = round ( d_acq_code_phase_samples + acq_trk_shif_correction_samples ) ;
current_synchro_data . Tracking_sample_counter = d_sample_counter + samples_offset ;
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d_sample_counter = d_sample_counter + samples_offset ; // count for the processed samples
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d_pull_in = false ;
// take into account the carrier cycles accumulated in the pull in signal alignment
d_acc_carrier_phase_rad - = d_carrier_phase_step_rad * samples_offset ;
current_synchro_data . Carrier_phase_rads = d_acc_carrier_phase_rad ;
current_synchro_data . Carrier_Doppler_hz = d_carrier_doppler_hz ;
current_synchro_data . fs = d_fs_in ;
current_synchro_data . correlation_length_ms = 1 ;
* out [ 0 ] = current_synchro_data ;
//Kalman filter initialization reset
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kf_P_x = kf_P_x_ini ;
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//Update Kalman states based on acquisition information
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kf_x ( 0 ) = d_carrier_phase_step_rad * samples_offset ;
kf_x ( 1 ) = current_synchro_data . Carrier_Doppler_hz ;
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consume_each ( samples_offset ) ; // shift input to perform alignment with local replica
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return 1 ;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_cpu . set_input_output_vectors ( d_correlator_outs , in ) ;
multicorrelator_cpu . Carrier_wipeoff_multicorrelator_resampler ( d_rem_carr_phase_rad ,
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d_carrier_phase_step_rad ,
d_rem_code_phase_chips ,
d_code_phase_step_chips ,
d_current_prn_length_samples ) ;
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// ################## Kalman Carrier Tracking ######################################
//Kalman state prediction (time update)
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kf_x_pre = kf_F * kf_x ; //state prediction
kf_P_x_pre = kf_F * kf_P_x * kf_F . t ( ) + kf_Q ; //state error covariance prediction
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// Update discriminator [rads/Ti]
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carr_phase_error_rad = pll_cloop_two_quadrant_atan ( d_correlator_outs [ 1 ] ) ; // prompt output
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//Kalman estimation (measuremant update)
double sigma2_phase_detector_cycles2 ;
double CN_lin = pow ( 10 , d_CN0_SNV_dB_Hz / 10.0 ) ;
sigma2_phase_detector_cycles2 = ( 1.0 / ( 2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD ) ) * ( 1.0 + 1.0 / ( 2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD ) ) ;
kf_R ( 0 , 0 ) = sigma2_phase_detector_cycles2 ;
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kf_P_y = kf_H * kf_P_x_pre * kf_H . t ( ) + kf_R ; // innovation covariance matrix
kf_K = ( kf_P_x_pre * kf_H . t ( ) ) * arma : : inv ( kf_P_y ) ; // Kalman gain
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kf_y ( 0 ) = carr_phase_error_rad ; // measurement vector
kf_x = kf_x_pre + kf_K * kf_y ; // updated state estimation
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kf_P_x = ( arma : : eye ( 2 , 2 ) - kf_K * kf_H ) * kf_P_x_pre ; // update state estimation error covariance matrix
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d_rem_carr_phase_rad = kf_x ( 0 ) ; // set a new carrier Phase estimation to the NCO
d_carrier_doppler_hz = kf_x ( 1 ) ; // set a new carrier Doppler estimation to the NCO
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carr_phase_error_filt_rad = d_rem_carr_phase_rad ;
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// ################## DLL ##########################################################
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// New code Doppler frequency estimation based on carrier frequency estimation
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d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ( ( d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ ) / GPS_L1_FREQ_HZ ) ;
// DLL discriminator
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code_error_chips = dll_nc_e_minus_l_normalized ( d_correlator_outs [ 0 ] , d_correlator_outs [ 2 ] ) ; // [chips/Ti] early and late
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// Code discriminator filter
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code_error_filt_chips = d_code_loop_filter . get_code_nco ( code_error_chips ) ; // [chips/second]
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double T_chip_seconds = 1.0 / static_cast < double > ( d_code_freq_chips ) ;
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS ;
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double code_error_filt_secs = ( T_prn_seconds * code_error_filt_chips * T_chip_seconds ) ; // [seconds]
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// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
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// keep alignment parameters for the next input buffer
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
double T_prn_samples = T_prn_seconds * static_cast < double > ( d_fs_in ) ;
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast < double > ( d_fs_in ) ;
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d_current_prn_length_samples = round ( K_blk_samples ) ; // round to a discrete number of samples
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//################### NCO COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast < double > ( d_fs_in ) ;
// carrier phase accumulator
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d_acc_carrier_phase_rad = - kf_x ( 0 ) ;
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//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast < double > ( d_fs_in ) ;
// remnant code phase [chips]
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d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples ; // rounding error < 1 sample
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d_rem_code_phase_chips = d_code_freq_chips * ( d_rem_code_phase_samples / static_cast < double > ( d_fs_in ) ) ;
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
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if ( d_cn0_estimation_counter < FLAGS_cn0_samples )
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{
// fill buffer with prompt correlator output values
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d_Prompt_buffer [ d_cn0_estimation_counter ] = d_correlator_outs [ 1 ] ; //prompt
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d_cn0_estimation_counter + + ;
}
else
{
d_cn0_estimation_counter = 0 ;
// Code lock indicator
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d_CN0_SNV_dB_Hz = cn0_svn_estimator ( d_Prompt_buffer , FLAGS_cn0_samples , d_fs_in , GPS_L1_CA_CODE_LENGTH_CHIPS ) ;
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// Carrier lock indicator
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d_carrier_lock_test = carrier_lock_detector ( d_Prompt_buffer , FLAGS_cn0_samples ) ;
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// Loss of lock detection
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if ( d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min )
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{
d_carrier_lock_fail_counter + + ;
}
else
{
if ( d_carrier_lock_fail_counter > 0 ) d_carrier_lock_fail_counter - - ;
}
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if ( d_carrier_lock_fail_counter > FLAGS_max_lock_fail )
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{
std : : cout < < " Loss of lock in channel " < < d_channel < < " ! " < < std : : endl ;
LOG ( INFO ) < < " Loss of lock in channel " < < d_channel < < " ! " ;
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this - > message_port_pub ( pmt : : mp ( " events " ) , pmt : : from_long ( 3 ) ) ; // 3 -> loss of lock
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d_carrier_lock_fail_counter = 0 ;
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d_enable_tracking = false ; // TODO: check if disabling tracking is consistent with the channel state machine
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}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data . Prompt_I = static_cast < double > ( ( d_correlator_outs [ 1 ] ) . real ( ) ) ;
current_synchro_data . Prompt_Q = static_cast < double > ( ( d_correlator_outs [ 1 ] ) . imag ( ) ) ;
current_synchro_data . Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples ;
current_synchro_data . Code_phase_samples = d_rem_code_phase_samples ;
current_synchro_data . Carrier_phase_rads = d_acc_carrier_phase_rad ;
current_synchro_data . Carrier_Doppler_hz = d_carrier_doppler_hz ;
current_synchro_data . CN0_dB_hz = d_CN0_SNV_dB_Hz ;
current_synchro_data . Flag_valid_symbol_output = true ;
current_synchro_data . correlation_length_ms = 1 ;
}
else
{
for ( int n = 0 ; n < d_n_correlator_taps ; n + + )
{
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d_correlator_outs [ n ] = gr_complex ( 0 , 0 ) ;
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}
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current_synchro_data . Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples ;
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current_synchro_data . System = { ' G ' } ;
current_synchro_data . correlation_length_ms = 1 ;
}
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// assign the GNU Radio block output data
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current_synchro_data . fs = d_fs_in ;
* out [ 0 ] = current_synchro_data ;
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if ( d_dump )
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{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I ;
float prompt_Q ;
float tmp_E , tmp_P , tmp_L ;
double tmp_double ;
unsigned long int tmp_long ;
prompt_I = d_correlator_outs [ 1 ] . real ( ) ;
prompt_Q = d_correlator_outs [ 1 ] . imag ( ) ;
tmp_E = std : : abs < float > ( d_correlator_outs [ 0 ] ) ;
tmp_P = std : : abs < float > ( d_correlator_outs [ 1 ] ) ;
tmp_L = std : : abs < float > ( d_correlator_outs [ 2 ] ) ;
try
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{
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// EPR
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d_dump_file . write ( reinterpret_cast < char * > ( & tmp_E ) , sizeof ( float ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & tmp_P ) , sizeof ( float ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & tmp_L ) , sizeof ( float ) ) ;
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// PROMPT I and Q (to analyze navigation symbols)
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d_dump_file . write ( reinterpret_cast < char * > ( & prompt_I ) , sizeof ( float ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & prompt_Q ) , sizeof ( float ) ) ;
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// PRN start sample stamp
tmp_long = d_sample_counter + d_current_prn_length_samples ;
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d_dump_file . write ( reinterpret_cast < char * > ( & tmp_long ) , sizeof ( unsigned long int ) ) ;
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// accumulated carrier phase
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d_dump_file . write ( reinterpret_cast < char * > ( & d_acc_carrier_phase_rad ) , sizeof ( double ) ) ;
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// carrier and code frequency
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d_dump_file . write ( reinterpret_cast < char * > ( & d_carrier_doppler_hz ) , sizeof ( double ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & d_code_freq_chips ) , sizeof ( double ) ) ;
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// PLL commands
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d_dump_file . write ( reinterpret_cast < char * > ( & carr_phase_error_rad ) , sizeof ( double ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & carr_phase_error_filt_rad ) , sizeof ( double ) ) ;
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// DLL commands
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d_dump_file . write ( reinterpret_cast < char * > ( & code_error_chips ) , sizeof ( double ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & code_error_filt_chips ) , sizeof ( double ) ) ;
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// CN0 and carrier lock test
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d_dump_file . write ( reinterpret_cast < char * > ( & d_CN0_SNV_dB_Hz ) , sizeof ( double ) ) ;
d_dump_file . write ( reinterpret_cast < char * > ( & d_carrier_lock_test ) , sizeof ( double ) ) ;
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// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples ;
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d_dump_file . write ( reinterpret_cast < char * > ( & tmp_double ) , sizeof ( double ) ) ;
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tmp_double = static_cast < double > ( d_sample_counter ) ;
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d_dump_file . write ( reinterpret_cast < char * > ( & tmp_double ) , sizeof ( double ) ) ;
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// PRN
unsigned int prn_ = d_acquisition_gnss_synchro - > PRN ;
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d_dump_file . write ( reinterpret_cast < char * > ( & prn_ ) , sizeof ( unsigned int ) ) ;
}
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catch ( const std : : ifstream : : failure & e )
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{
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LOG ( WARNING ) < < " Exception writing trk dump file " < < e . what ( ) ;
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}
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}
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consume_each ( d_current_prn_length_samples ) ; // this is necessary 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
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}
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int Gps_L1_Ca_Kf_Tracking_cc : : save_matfile ( )
{
// READ DUMP FILE
std : : ifstream : : pos_type size ;
int number_of_double_vars = 11 ;
int number_of_float_vars = 5 ;
int epoch_size_bytes = sizeof ( unsigned long int ) + sizeof ( double ) * number_of_double_vars +
sizeof ( float ) * number_of_float_vars + sizeof ( unsigned int ) ;
std : : ifstream dump_file ;
dump_file . exceptions ( std : : ifstream : : failbit | std : : ifstream : : badbit ) ;
try
{
dump_file . open ( d_dump_filename . c_str ( ) , std : : ios : : binary | std : : ios : : ate ) ;
}
catch ( const std : : ifstream : : failure & e )
{
std : : cerr < < " Problem opening dump file: " < < e . what ( ) < < std : : endl ;
return 1 ;
}
// count number of epochs and rewind
long int num_epoch = 0 ;
if ( dump_file . is_open ( ) )
{
size = dump_file . tellg ( ) ;
num_epoch = static_cast < long int > ( size ) / static_cast < long int > ( epoch_size_bytes ) ;
dump_file . seekg ( 0 , std : : ios : : beg ) ;
}
else
{
return 1 ;
}
float * abs_E = new float [ num_epoch ] ;
float * abs_P = new float [ num_epoch ] ;
float * abs_L = new float [ num_epoch ] ;
float * Prompt_I = new float [ num_epoch ] ;
float * Prompt_Q = new float [ num_epoch ] ;
unsigned long int * PRN_start_sample_count = new unsigned long int [ num_epoch ] ;
double * acc_carrier_phase_rad = new double [ num_epoch ] ;
double * carrier_doppler_hz = new double [ num_epoch ] ;
double * code_freq_chips = new double [ num_epoch ] ;
double * carr_error_hz = new double [ num_epoch ] ;
double * carr_error_filt_hz = new double [ num_epoch ] ;
double * code_error_chips = new double [ num_epoch ] ;
double * code_error_filt_chips = new double [ num_epoch ] ;
double * CN0_SNV_dB_Hz = new double [ num_epoch ] ;
double * carrier_lock_test = new double [ num_epoch ] ;
double * aux1 = new double [ num_epoch ] ;
double * aux2 = new double [ num_epoch ] ;
unsigned int * PRN = new unsigned int [ num_epoch ] ;
try
{
if ( dump_file . is_open ( ) )
{
for ( long int i = 0 ; i < num_epoch ; i + + )
{
dump_file . read ( reinterpret_cast < char * > ( & abs_E [ i ] ) , sizeof ( float ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & abs_P [ i ] ) , sizeof ( float ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & abs_L [ i ] ) , sizeof ( float ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & Prompt_I [ i ] ) , sizeof ( float ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & Prompt_Q [ i ] ) , sizeof ( float ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & PRN_start_sample_count [ i ] ) , sizeof ( unsigned long int ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & acc_carrier_phase_rad [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & carrier_doppler_hz [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & code_freq_chips [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & carr_error_hz [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & carr_error_filt_hz [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & code_error_chips [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & code_error_filt_chips [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & CN0_SNV_dB_Hz [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & carrier_lock_test [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & aux1 [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & aux2 [ i ] ) , sizeof ( double ) ) ;
dump_file . read ( reinterpret_cast < char * > ( & PRN [ i ] ) , sizeof ( unsigned int ) ) ;
}
}
dump_file . close ( ) ;
}
catch ( const std : : ifstream : : failure & e )
{
std : : cerr < < " Problem reading dump file: " < < e . what ( ) < < std : : endl ;
delete [ ] abs_E ;
delete [ ] abs_P ;
delete [ ] abs_L ;
delete [ ] Prompt_I ;
delete [ ] Prompt_Q ;
delete [ ] PRN_start_sample_count ;
delete [ ] acc_carrier_phase_rad ;
delete [ ] carrier_doppler_hz ;
delete [ ] code_freq_chips ;
delete [ ] carr_error_hz ;
delete [ ] carr_error_filt_hz ;
delete [ ] code_error_chips ;
delete [ ] code_error_filt_chips ;
delete [ ] CN0_SNV_dB_Hz ;
delete [ ] carrier_lock_test ;
delete [ ] aux1 ;
delete [ ] aux2 ;
delete [ ] PRN ;
return 1 ;
}
// WRITE MAT FILE
mat_t * matfp ;
matvar_t * matvar ;
std : : string filename = d_dump_filename ;
filename . erase ( filename . length ( ) - 4 , 4 ) ;
filename . append ( " .mat " ) ;
matfp = Mat_CreateVer ( filename . c_str ( ) , NULL , MAT_FT_MAT73 ) ;
if ( reinterpret_cast < long * > ( matfp ) ! = NULL )
{
size_t dims [ 2 ] = { 1 , static_cast < size_t > ( num_epoch ) } ;
matvar = Mat_VarCreate ( " abs_E " , MAT_C_SINGLE , MAT_T_SINGLE , 2 , dims , abs_E , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " abs_P " , MAT_C_SINGLE , MAT_T_SINGLE , 2 , dims , abs_P , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " abs_L " , MAT_C_SINGLE , MAT_T_SINGLE , 2 , dims , abs_L , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " Prompt_I " , MAT_C_SINGLE , MAT_T_SINGLE , 2 , dims , Prompt_I , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " Prompt_Q " , MAT_C_SINGLE , MAT_T_SINGLE , 2 , dims , Prompt_Q , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " PRN_start_sample_count " , MAT_C_UINT64 , MAT_T_UINT64 , 2 , dims , PRN_start_sample_count , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " acc_carrier_phase_rad " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , acc_carrier_phase_rad , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " carrier_doppler_hz " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , carrier_doppler_hz , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " code_freq_chips " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , code_freq_chips , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " carr_error_hz " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , carr_error_hz , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " carr_error_filt_hz " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , carr_error_filt_hz , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " code_error_chips " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , code_error_chips , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " code_error_filt_chips " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , code_error_filt_chips , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " CN0_SNV_dB_Hz " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , CN0_SNV_dB_Hz , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " carrier_lock_test " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , carrier_lock_test , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " aux1 " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , aux1 , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " aux2 " , MAT_C_DOUBLE , MAT_T_DOUBLE , 2 , dims , aux2 , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
matvar = Mat_VarCreate ( " PRN " , MAT_C_UINT32 , MAT_T_UINT32 , 2 , dims , PRN , 0 ) ;
Mat_VarWrite ( matfp , matvar , MAT_COMPRESSION_ZLIB ) ; // or MAT_COMPRESSION_NONE
Mat_VarFree ( matvar ) ;
}
Mat_Close ( matfp ) ;
delete [ ] abs_E ;
delete [ ] abs_P ;
delete [ ] abs_L ;
delete [ ] Prompt_I ;
delete [ ] Prompt_Q ;
delete [ ] PRN_start_sample_count ;
delete [ ] acc_carrier_phase_rad ;
delete [ ] carrier_doppler_hz ;
delete [ ] code_freq_chips ;
delete [ ] carr_error_hz ;
delete [ ] carr_error_filt_hz ;
delete [ ] code_error_chips ;
delete [ ] code_error_filt_chips ;
delete [ ] CN0_SNV_dB_Hz ;
delete [ ] carrier_lock_test ;
delete [ ] aux1 ;
delete [ ] aux2 ;
delete [ ] PRN ;
return 0 ;
}
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void Gps_L1_Ca_Kf_Tracking_cc : : set_channel ( unsigned int channel )
{
d_channel = channel ;
LOG ( INFO ) < < " Tracking Channel set to " < < d_channel ;
// ############# ENABLE DATA FILE LOG #################
if ( d_dump = = true )
{
if ( d_dump_file . is_open ( ) = = false )
{
try
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{
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d_dump_filename . append ( boost : : lexical_cast < std : : string > ( d_channel ) ) ;
d_dump_filename . append ( " .dat " ) ;
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d_dump_file . exceptions ( std : : ifstream : : failbit | std : : ifstream : : badbit ) ;
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d_dump_file . open ( d_dump_filename . c_str ( ) , std : : ios : : out | std : : ios : : binary ) ;
LOG ( INFO ) < < " Tracking dump enabled on channel " < < d_channel < < " Log file: " < < d_dump_filename . c_str ( ) ;
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}
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catch ( const std : : ifstream : : failure & e )
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{
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LOG ( WARNING ) < < " channel " < < d_channel < < " Exception opening trk dump file " < < e . what ( ) ;
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}
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}
}
}
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void Gps_L1_Ca_Kf_Tracking_cc : : set_gnss_synchro ( Gnss_Synchro * p_gnss_synchro )
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{
d_acquisition_gnss_synchro = p_gnss_synchro ;
}