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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2015-01-08 18:49:59 +00:00
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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2012-10-19 13:38:25 +00:00
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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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2015-01-08 18:49:59 +00:00
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* (at your option) any later version.
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2012-10-19 13:38:25 +00:00
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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 "galileo_e1_tcp_connector_tracking_cc.h"
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2014-03-16 19:58:29 +00:00
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#include <cmath>
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#include <iostream>
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2014-07-19 17:29:27 +00:00
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#include <memory>
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2014-03-16 19:58:29 +00:00
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#include <sstream>
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#include <boost/asio.hpp>
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#include <boost/lexical_cast.hpp>
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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2016-08-18 12:17:02 +00:00
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#include <volk_gnsssdr/volk_gnsssdr.h>
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2012-10-19 13:38:25 +00:00
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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 "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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2013-11-29 08:38:22 +00:00
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galileo_e1_tcp_connector_tracking_cc_sptr galileo_e1_tcp_connector_make_tracking_cc(
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2012-10-19 13:38:25 +00:00
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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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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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2016-05-09 09:51:42 +00:00
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fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips, port_ch0));
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2012-10-19 13:38:25 +00:00
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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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2015-12-02 17:25:06 +00:00
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if (noutput_items != 0)
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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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2012-10-19 13:38:25 +00:00
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}
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2013-11-29 08:38:22 +00:00
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2012-10-19 13:38:25 +00:00
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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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bool dump,
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std::string dump_filename,
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2016-04-06 13:04:52 +00:00
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float pll_bw_hz __attribute__((unused)),
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float dll_bw_hz __attribute__((unused)),
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2012-10-19 13:38:25 +00:00
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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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2013-07-04 13:47:40 +00:00
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gr::block("Galileo_E1_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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2012-10-19 13:38:25 +00:00
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{
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2016-04-08 13:10:46 +00:00
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// Telemetry bit synchronization message port input
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this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
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2016-04-21 16:54:08 +00:00
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this->message_port_register_out(pmt::mp("events"));
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2012-10-19 13:38:25 +00:00
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this->set_relative_rate(1.0/vector_length);
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// initialize internal vars
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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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// Initialize tracking ==========================================
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//--- DLL variables --------------------------------------------------------
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2013-11-29 08:38:22 +00:00
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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2012-10-19 13:38:25 +00:00
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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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2014-03-16 19:58:29 +00:00
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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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2012-10-19 13:38:25 +00:00
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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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2016-08-18 12:17:02 +00:00
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d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc((2*Galileo_E1_B_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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2014-09-07 17:11:37 +00:00
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2012-10-19 13:38:25 +00:00
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// correlator outputs (scalar)
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2016-04-06 12:58:18 +00:00
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d_n_correlator_taps = 5; // Very-Early, Early, Prompt, Late, Very-Late
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2016-08-18 12:17:02 +00:00
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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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2016-04-06 12:58:18 +00:00
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for (int n = 0; n < d_n_correlator_taps; n++)
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{
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d_correlator_outs[n] = gr_complex(0,0);
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}
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// map memory pointers of correlator outputs
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d_Very_Early = &d_correlator_outs[0];
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d_Early = &d_correlator_outs[1];
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d_Prompt = &d_correlator_outs[2];
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d_Late = &d_correlator_outs[3];
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d_Very_Late = &d_correlator_outs[4];
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2016-08-18 12:17:02 +00:00
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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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2016-04-06 12:58:18 +00:00
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// Set TAPs delay values [chips]
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2016-08-11 11:51:14 +00:00
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d_local_code_shift_chips[0] = - d_very_early_late_spc_chips;
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d_local_code_shift_chips[1] = - d_early_late_spc_chips;
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2016-04-06 12:58:18 +00:00
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d_local_code_shift_chips[2] = 0.0;
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2016-08-11 11:51:14 +00:00
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d_local_code_shift_chips[3] = d_early_late_spc_chips;
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d_local_code_shift_chips[4] = d_very_early_late_spc_chips;
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2014-09-07 17:11:37 +00:00
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2016-04-08 13:10:46 +00:00
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d_correlation_length_samples = d_vector_length;
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2016-04-06 12:58:18 +00:00
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multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
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2012-10-19 13:38:25 +00:00
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//--- Perform initializations ------------------------------
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// define initial code frequency basis of NCO
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2012-10-27 11:50:35 +00:00
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d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ;
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2012-10-19 13:38:25 +00:00
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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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// sample synchronization
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d_sample_counter = 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_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["E"] = std::string("Galileo");
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2015-05-17 09:02:27 +00:00
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d_acquisition_gnss_synchro = 0;
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d_channel = 0;
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d_next_rem_code_phase_samples = 0;
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d_acq_code_phase_samples = 0.0;
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d_acq_carrier_doppler_hz = 0.0;
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d_acc_carrier_phase_rad = 0.0;
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d_acc_code_phase_secs = 0.0;
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d_code_phase_samples = 0;
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d_next_prn_length_samples = 0;
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2015-05-22 18:14:25 +00:00
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d_carrier_doppler_hz = 0.0;
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2012-10-19 13:38:25 +00:00
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}
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2013-11-29 08:38:22 +00:00
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2012-10-19 13:38:25 +00:00
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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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2016-04-06 12:58:18 +00:00
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// generate local reference ALWAYS starting at chip 1 (2 samples per chip)
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galileo_e1_code_gen_complex_sampled(d_ca_code,
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2013-11-29 08:38:22 +00:00
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d_acquisition_gnss_synchro->Signal,
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false,
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d_acquisition_gnss_synchro->PRN,
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2016-04-06 12:58:18 +00:00
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2 * Galileo_E1_CODE_CHIP_RATE_HZ,
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2013-11-29 08:38:22 +00:00
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0);
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2016-04-06 12:58:18 +00:00
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multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(2*Galileo_E1_B_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
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for (int n = 0; n < d_n_correlator_taps; n++)
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{
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d_correlator_outs[n] = gr_complex(0,0);
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}
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2012-10-27 11:50:35 +00:00
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2012-10-19 13:38:25 +00:00
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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_acc_carrier_phase_rad = 0;
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2012-10-27 11:50:35 +00:00
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d_acc_code_phase_secs = 0;
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2012-10-19 13:38:25 +00:00
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d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
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2012-10-27 11:50:35 +00:00
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d_current_prn_length_samples = d_vector_length;
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2012-10-19 13:38:25 +00:00
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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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2014-03-16 19:58:29 +00:00
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LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
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2012-10-19 13:38:25 +00:00
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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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2014-03-16 19:58:29 +00:00
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LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
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2012-10-19 13:38:25 +00:00
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}
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Galileo_E1_Tcp_Connector_Tracking_cc::~Galileo_E1_Tcp_Connector_Tracking_cc()
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{
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d_dump_file.close();
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delete[] d_Prompt_buffer;
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2016-08-18 12:17:02 +00:00
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volk_gnsssdr_free(d_ca_code);
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volk_gnsssdr_free(d_local_code_shift_chips);
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volk_gnsssdr_free(d_correlator_outs);
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2012-10-19 13:38:25 +00:00
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d_tcp_com.close_tcp_connection(d_port);
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2016-04-06 12:58:18 +00:00
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multicorrelator_cpu.free();
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2012-10-19 13:38:25 +00:00
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}
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2016-04-06 13:04:52 +00:00
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int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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2012-10-19 13:38:25 +00:00
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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// process vars
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2012-10-27 11:50:35 +00:00
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float carr_error_filt_hz;
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float code_error_filt_chips;
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2012-10-19 13:38:25 +00:00
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tcp_packet_data tcp_data;
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2016-04-08 13:10:46 +00:00
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// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
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2016-04-10 08:18:42 +00:00
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Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
2016-04-08 13:10:46 +00:00
|
|
|
// Block input data and block output stream pointers
|
|
|
|
const gr_complex* in = (gr_complex*) input_items[0];
|
|
|
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
2012-10-19 13:38:25 +00:00
|
|
|
if (d_enable_tracking == true)
|
|
|
|
{
|
2016-04-08 13:10:46 +00:00
|
|
|
// Fill the acquisition data
|
|
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
2013-11-29 08:38:22 +00:00
|
|
|
if (d_pull_in == true)
|
|
|
|
{
|
|
|
|
/*
|
|
|
|
* Signal alignment (skip samples until the incoming signal is aligned with local replica)
|
|
|
|
*/
|
|
|
|
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_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
|
|
|
|
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
2017-04-12 15:04:51 +00:00
|
|
|
current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
|
|
|
|
current_synchro_data.fs=d_fs_in;
|
2016-04-07 16:25:45 +00:00
|
|
|
*out[0] = current_synchro_data;
|
2013-11-29 08:38:22 +00:00
|
|
|
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 alignment with local replica
|
|
|
|
return 1;
|
|
|
|
}
|
2012-10-27 11:50:35 +00:00
|
|
|
|
2016-04-06 12:58:18 +00:00
|
|
|
// ################# 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);
|
|
|
|
|
|
|
|
double carr_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
|
|
|
double code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast<double>(d_fs_in));
|
|
|
|
double rem_code_phase_half_chips = d_rem_code_phase_samples * (2.0*d_code_freq_chips / d_fs_in);
|
|
|
|
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
|
2016-05-02 21:46:30 +00:00
|
|
|
d_rem_carr_phase_rad,
|
|
|
|
carr_phase_step_rad,
|
|
|
|
rem_code_phase_half_chips,
|
|
|
|
code_phase_step_half_chips,
|
|
|
|
d_correlation_length_samples);
|
2012-10-19 13:38:25 +00:00
|
|
|
|
2012-10-27 11:50:35 +00:00
|
|
|
// ################## TCP CONNECTOR ##########################################################
|
2012-10-19 13:38:25 +00:00
|
|
|
//! Variable used for control
|
|
|
|
d_control_id++;
|
|
|
|
|
|
|
|
//! Send and receive a TCP packet
|
2013-11-29 08:38:22 +00:00
|
|
|
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}};
|
2012-10-19 13:38:25 +00:00
|
|
|
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
|
|
|
|
|
2012-10-27 11:50:35 +00:00
|
|
|
// ################## PLL ##########################################################
|
2012-10-19 13:38:25 +00:00
|
|
|
// PLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
2012-10-27 11:50:35 +00:00
|
|
|
carr_error_filt_hz = tcp_data.proc_pack_carr_error;
|
|
|
|
// New carrier Doppler frequency estimation
|
|
|
|
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
|
|
|
// New code Doppler frequency estimation
|
|
|
|
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
|
|
|
|
//carrier phase accumulator for (K) doppler estimation
|
2015-11-26 17:44:04 +00:00
|
|
|
d_acc_carrier_phase_rad -= GPS_TWO_PI*d_carrier_doppler_hz*Galileo_E1_CODE_PERIOD;
|
2013-11-29 08:38:22 +00:00
|
|
|
//remnant carrier phase to prevent overflow in the code NCO
|
|
|
|
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI*d_carrier_doppler_hz*Galileo_E1_CODE_PERIOD;
|
|
|
|
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
2012-10-27 11:50:35 +00:00
|
|
|
|
|
|
|
// ################## DLL ##########################################################
|
2012-10-19 13:38:25 +00:00
|
|
|
// DLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
2012-10-27 11:50:35 +00:00
|
|
|
code_error_filt_chips = tcp_data.proc_pack_code_error;
|
|
|
|
//Code phase accumulator
|
|
|
|
float code_error_filt_secs;
|
2014-07-19 17:29:27 +00:00
|
|
|
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
|
|
|
|
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
2012-10-27 11:50:35 +00:00
|
|
|
|
|
|
|
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
2013-11-29 08:38:22 +00:00
|
|
|
// keep alignment parameters for the next input buffer
|
2014-07-19 17:29:27 +00:00
|
|
|
double T_chip_seconds;
|
|
|
|
double T_prn_seconds;
|
|
|
|
double T_prn_samples;
|
|
|
|
double K_blk_samples;
|
2013-11-29 08:38:22 +00:00
|
|
|
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
|
2014-07-19 17:29:27 +00:00
|
|
|
T_chip_seconds = 1 / (double)d_code_freq_chips;
|
2013-11-29 08:38:22 +00:00
|
|
|
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
|
2014-07-19 17:29:27 +00:00
|
|
|
T_prn_samples = T_prn_seconds * (double)d_fs_in;
|
|
|
|
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * (double)d_fs_in;
|
2013-11-29 08:38:22 +00:00
|
|
|
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
2014-08-31 11:21:41 +00:00
|
|
|
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
2013-11-29 08:38:22 +00:00
|
|
|
|
|
|
|
// ####### 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;
|
2012-10-19 13:38:25 +00:00
|
|
|
|
2013-11-29 08:38:22 +00:00
|
|
|
// Code lock indicator
|
|
|
|
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
|
|
|
|
2013-11-29 08:38:22 +00:00
|
|
|
// Carrier lock indicator
|
|
|
|
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
2012-10-19 13:38:25 +00:00
|
|
|
|
2013-11-29 08:38:22 +00:00
|
|
|
// Loss of lock detection
|
|
|
|
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
|
|
|
{
|
|
|
|
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)
|
|
|
|
{
|
2014-03-16 19:58:29 +00:00
|
|
|
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
|
|
|
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
2016-04-21 16:54:08 +00:00
|
|
|
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
|
|
|
|
|
2013-11-29 08:38:22 +00:00
|
|
|
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 ##########
|
2012-10-19 13:38:25 +00:00
|
|
|
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
|
2017-04-12 15:04:51 +00:00
|
|
|
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;
|
2014-08-31 11:21:41 +00:00
|
|
|
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
2012-10-19 13:38:25 +00:00
|
|
|
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
2013-07-04 13:47:40 +00:00
|
|
|
current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
|
2012-10-19 13:38:25 +00:00
|
|
|
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
2016-04-07 16:25:45 +00:00
|
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
2016-04-08 13:10:46 +00:00
|
|
|
current_synchro_data.correlation_length_ms = 4;
|
2012-10-19 13:38:25 +00:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
*d_Early = gr_complex(0,0);
|
|
|
|
*d_Prompt = gr_complex(0,0);
|
|
|
|
*d_Late = gr_complex(0,0);
|
2017-04-12 15:04:51 +00:00
|
|
|
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
|
2012-10-19 13:38:25 +00:00
|
|
|
//! 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);
|
|
|
|
}
|
2016-04-07 16:25:45 +00:00
|
|
|
//assign the GNURadio block output data
|
2016-04-08 13:10:46 +00:00
|
|
|
current_synchro_data.System = {'E'};
|
2016-04-10 08:18:42 +00:00
|
|
|
std::string str_aux = "1B";
|
|
|
|
const char * str = str_aux.c_str(); // get a C style null terminated string
|
|
|
|
std::memcpy((void*)current_synchro_data.Signal, str, 3);
|
|
|
|
|
2017-04-12 15:04:51 +00:00
|
|
|
current_synchro_data.fs=d_fs_in;
|
2016-04-07 16:25:45 +00:00
|
|
|
*out[0] = current_synchro_data;
|
2016-04-10 08:18:42 +00:00
|
|
|
|
2012-10-19 13:38:25 +00:00
|
|
|
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;
|
2016-04-08 13:10:46 +00:00
|
|
|
tmp_float = 0;
|
2012-10-19 13:38:25 +00:00
|
|
|
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));
|
2012-10-27 11:50:35 +00:00
|
|
|
d_dump_file.write((char*)&d_code_freq_chips, sizeof(float));
|
2012-10-19 13:38:25 +00:00
|
|
|
|
|
|
|
//PLL commands
|
|
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
2012-10-27 11:50:35 +00:00
|
|
|
d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float));
|
2012-10-19 13:38:25 +00:00
|
|
|
|
|
|
|
//DLL commands
|
|
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
2012-10-27 11:50:35 +00:00
|
|
|
d_dump_file.write((char*)&code_error_filt_chips, sizeof(float));
|
2012-10-19 13:38:25 +00:00
|
|
|
|
|
|
|
// 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));
|
2013-11-29 08:38:22 +00:00
|
|
|
tmp_double = (double)(d_sample_counter+d_current_prn_length_samples);
|
2012-10-19 13:38:25 +00:00
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
}
|
2016-04-06 12:58:18 +00:00
|
|
|
catch (const std::ifstream::failure &e)
|
2012-10-19 13:38:25 +00:00
|
|
|
{
|
2014-03-16 19:58:29 +00:00
|
|
|
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
2012-10-19 13:38:25 +00:00
|
|
|
}
|
|
|
|
}
|
2013-11-29 08:38:22 +00:00
|
|
|
consume_each(d_current_prn_length_samples); // this is needed in gr::block derivates
|
2012-10-19 13:38:25 +00:00
|
|
|
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
2016-04-06 13:04:52 +00:00
|
|
|
|
2012-10-19 13:38:25 +00:00
|
|
|
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;
|
2014-03-16 19:58:29 +00:00
|
|
|
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
2012-10-19 13:38:25 +00:00
|
|
|
// ############# ENABLE DATA FILE LOG #################
|
2014-03-16 19:58:29 +00:00
|
|
|
if (d_dump == true)
|
2012-10-19 13:38:25 +00:00
|
|
|
{
|
|
|
|
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);
|
2014-03-16 19:58:29 +00:00
|
|
|
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
2012-10-19 13:38:25 +00:00
|
|
|
}
|
2016-04-06 12:58:18 +00:00
|
|
|
catch (const std::ifstream::failure &e)
|
2012-10-19 13:38:25 +00:00
|
|
|
{
|
2014-03-16 19:58:29 +00:00
|
|
|
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
|
2012-10-19 13:38:25 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2013-11-29 08:38:22 +00:00
|
|
|
//! Listen for connections on a TCP port
|
2012-10-19 13:38:25 +00:00
|
|
|
if (d_listen_connection == true)
|
2013-11-29 08:38:22 +00:00
|
|
|
{
|
|
|
|
d_port = d_port_ch0 + d_channel;
|
|
|
|
d_listen_connection = d_tcp_com.listen_tcp_connection(d_port, d_port_ch0);
|
|
|
|
}
|
2012-10-19 13:38:25 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void Galileo_E1_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
|
|
|
{
|
|
|
|
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
|
|
}
|