mirror of
https://github.com/gnss-sdr/gnss-sdr
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Updating branch contents
This commit is contained in:
Damian Miralles
commit
00805d4b2f
@ -799,25 +799,104 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{
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int result = 0;
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int sat = 0;
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nav_t nav_data;
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nav_t nav_data{};
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nav_data.eph = eph_data.data();
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nav_data.geph = geph_data.data();
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nav_data.n = valid_obs;
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nav_data.ng = glo_valid_obs;
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for (auto &i : nav_data.lam)
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if (gps_iono.valid)
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{
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i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
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i[1] = SPEED_OF_LIGHT / FREQ2; // L2
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i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
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nav_data.ion_gps[0] = gps_iono.d_alpha0;
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nav_data.ion_gps[1] = gps_iono.d_alpha1;
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nav_data.ion_gps[2] = gps_iono.d_alpha2;
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nav_data.ion_gps[3] = gps_iono.d_alpha3;
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nav_data.ion_gps[4] = gps_iono.d_beta0;
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nav_data.ion_gps[5] = gps_iono.d_beta1;
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nav_data.ion_gps[6] = gps_iono.d_beta2;
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nav_data.ion_gps[7] = gps_iono.d_beta3;
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}
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if (!(gps_iono.valid) and gps_cnav_iono.valid)
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{
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nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0;
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nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1;
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nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2;
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nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3;
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nav_data.ion_gps[4] = gps_cnav_iono.d_beta0;
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nav_data.ion_gps[5] = gps_cnav_iono.d_beta1;
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nav_data.ion_gps[6] = gps_cnav_iono.d_beta2;
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nav_data.ion_gps[7] = gps_cnav_iono.d_beta3;
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}
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if (galileo_iono.ai0_5 != 0.0)
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{
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nav_data.ion_gal[0] = galileo_iono.ai0_5;
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nav_data.ion_gal[1] = galileo_iono.ai1_5;
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nav_data.ion_gal[2] = galileo_iono.ai2_5;
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nav_data.ion_gal[3] = 0.0;
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}
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if (beidou_dnav_iono.valid)
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{
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nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0;
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nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1;
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nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2;
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nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3;
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nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0;
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nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0;
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nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0;
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nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3;
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}
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if (gps_utc_model.valid)
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{
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nav_data.utc_gps[0] = gps_utc_model.d_A0;
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nav_data.utc_gps[1] = gps_utc_model.d_A1;
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nav_data.utc_gps[2] = gps_utc_model.d_t_OT;
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nav_data.utc_gps[3] = gps_utc_model.i_WN_T;
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nav_data.leaps = gps_utc_model.d_DeltaT_LS;
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}
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if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
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{
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nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0;
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nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1;
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nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT;
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nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T;
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nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS;
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}
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if (glonass_gnav_utc_model.valid)
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{
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nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
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nav_data.utc_glo[1] = 0.0; // ??
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nav_data.utc_glo[2] = 0.0; // ??
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nav_data.utc_glo[3] = 0.0; // ??
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}
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if (galileo_utc_model.A0_6 != 0.0)
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{
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nav_data.utc_gal[0] = galileo_utc_model.A0_6;
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nav_data.utc_gal[1] = galileo_utc_model.A1_6;
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nav_data.utc_gal[2] = galileo_utc_model.t0t_6;
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nav_data.utc_gal[3] = galileo_utc_model.WNot_6;
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nav_data.leaps = galileo_utc_model.Delta_tLS_6;
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}
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if (beidou_dnav_utc_model.valid)
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{
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nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC;
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nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC;
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nav_data.utc_cmp[2] = 0.0; // ??
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nav_data.utc_cmp[3] = 0.0; // ??
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nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS;
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}
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for (auto &lambda_ : nav_data.lam)
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{
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lambda_[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
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lambda_[1] = SPEED_OF_LIGHT / FREQ2; // L2
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lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
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// Keep update on sat number
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sat++;
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if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
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{
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i[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
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i[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
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i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
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lambda_[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
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lambda_[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
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lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
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}
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}
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@ -76,7 +76,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
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This may be a bug, but acquisition also work by variying the folding factor at va-
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lues different that the expressed in the paper. In adition, it is important to point
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out that by making the folding factor smaller we were able to get QuickSync work with
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Galileo. Future work should be directed to test this asumption statistically.*/
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Galileo. Future work should be directed to test this assumption statistically.*/
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//folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
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folding_factor_ = configuration_->property(role + ".folding_factor", 2);
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@ -512,7 +512,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
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{
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/*!
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* TODO: High sensitivity acquisition algorithm:
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* State Mechine:
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* State Machine:
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* S0. StandBy. If d_active==1 -> S1
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* S1. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
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* Accumulate the search grid matrix (#doppler_bins x #fft_size)
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@ -182,7 +182,7 @@ public:
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}
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/*!
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* \brief This funciton triggers a HW reset of the FPGA PL.
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* \brief This function triggers a HW reset of the FPGA PL.
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*/
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void reset_acquisition(void);
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@ -353,7 +353,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
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{
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/*!
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* TODO: High sensitivity acquisition algorithm:
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* State Mechine:
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* State Machine:
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* S0. StandBy. If d_active==1 -> S1
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* S1. GetAssist. Define search grid with assistance information. Reset grid matrix -> S2
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* S2. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
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@ -463,7 +463,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
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complex_acumulator[i] += (corr_output[j]);
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}
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}
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/*Obtain maximun value of correlation given the possible delay selected */
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/*Obtain maximum value of correlation given the possible delay selected */
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volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor);
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volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f, d_folding_factor);
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@ -1,7 +1,7 @@
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/*!
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* \file acq_conf.cc
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* \brief Class that contains all the configuration parameters for generic
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* acquisition block based on the PCPS algoritm.
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* acquisition block based on the PCPS algorithm.
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* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
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*
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* -------------------------------------------------------------------------
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@ -1,7 +1,7 @@
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/*!
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* \file acq_conf.h
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* \brief Class that contains all the configuration parameters for generic
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* acquisition block based on the PCPS algoritm.
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* acquisition block based on the PCPS algorithm.
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* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
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*
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* -------------------------------------------------------------------------
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@ -121,7 +121,7 @@ private:
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int32_t d_fd; // driver descriptor
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volatile uint32_t *d_map_base; // driver memory map
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uint32_t *d_all_fft_codes; // memory that contains all the code ffts
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uint32_t d_vector_length; // number of samples incluing padding and number of ms
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uint32_t d_vector_length; // number of samples including padding and number of ms
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uint32_t d_excludelimit;
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uint32_t d_nsamples_total; // number of samples including padding
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uint32_t d_nsamples; // number of samples not including padding
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@ -50,7 +50,7 @@ list(APPEND AVAIL_BUILDTYPES
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# known build types in AVAIL_BUILDTYPES. If the build type is found,
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# the function exits immediately. If nothing is found by the end of
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# checking all available build types, we exit with an error and list
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# the avialable build types.
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# the available build types.
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########################################################################
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function(VOLK_CHECK_BUILD_TYPE settype)
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string(TOUPPER ${settype} _settype)
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@ -183,7 +183,7 @@ if(CPU_IS_x86)
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# eliminate AVX if cvtpi32_ps intrinsic fails like some versions of clang
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#########################################################################
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# check to see if the compiler/linker works with cvtpi32_ps instrinsic when using AVX
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# check to see if the compiler/linker works with cvtpi32_ps intrinsic when using AVX
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if(CMAKE_SIZEOF_VOID_P EQUAL 4)
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file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c "#include <immintrin.h>\nint main (void) {__m128 __a; __m64 __b; __m128 foo = _mm_cvtpi32_ps(__a, __b); return (0); }")
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execute_process(COMMAND ${CMAKE_C_COMPILER} -mavx -o
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@ -192,7 +192,7 @@ if(CPU_IS_x86)
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OUTPUT_QUIET ERROR_QUIET
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RESULT_VARIABLE avx_compile_result)
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if(NOT ${avx_compile_result} EQUAL 0)
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overrule_arch(avx "Compiler missing cvtpi32_ps instrinsic")
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overrule_arch(avx "Compiler missing cvtpi32_ps intrinsic")
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elseif(NOT CROSSCOMPILE_MULTILIB)
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execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
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OUTPUT_QUIET ERROR_QUIET
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@ -216,7 +216,7 @@ if(CPU_IS_x86)
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if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang")
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# Figure out the version of Clang
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if(CMAKE_VERSION VERSION_LESS "2.8.10")
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# Exctract the Clang version from the --version string.
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# Extract the Clang version from the --version string.
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# In cmake 2.8.10, we can just use CMAKE_C_COMPILER_VERSION
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# without having to go through these string manipulations
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execute_process(COMMAND ${CMAKE_C_COMPILER} --version
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@ -102,7 +102,7 @@ private:
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static void static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr, const u_char *packet);
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/*
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* Opens the ethernet device using libpcap raw capture mode
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* If any of these fail, the fuction retuns the error and exits.
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* If any of these fail, the function returns the error and exits.
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*/
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bool open();
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};
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@ -1649,7 +1649,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
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d_P_accu = *d_Prompt;
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d_L_accu = *d_Late;
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//fail-safe: check if the secondary code or bit synchronization has not succedded in a limited time period
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//fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
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if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
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{
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d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition
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@ -1065,7 +1065,7 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
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* \param[in] what What is the action:
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* --- actions from channels ---
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* -> 0 acquisition failed
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* -> 1 acquisition succesfull
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* -> 1 acquisition successful
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* -> 2 tracking lost
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* --- actions from TC receiver control ---
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* -> 10 TC request standby mode
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@ -59,7 +59,7 @@ const uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [
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const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
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//optimum parameters
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const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
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const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
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/*!
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* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
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@ -64,7 +64,7 @@ const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [s
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const int32_t GPS_L2C_HISTORY_DEEP = 5;
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//optimum parameters
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const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
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const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
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const int32_t GPS_L2C_M_INIT_REG[115] =
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@ -65,7 +65,7 @@ const double GPS_L5Q_PERIOD = 0.001; //!< GPS L5 code period [secon
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const int32_t GPS_L5_HISTORY_DEEP = 5;
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//optimum parameters
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const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
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const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
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const int32_t GPS_L5I_INIT_REG[210] =
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{266, 365, 804, 1138,
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@ -65,7 +65,7 @@ const int32_t GALILEO_E1_NUMBER_OF_CODES = 50;
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//optimum parameters
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const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
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const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
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const double GALILEO_STARTOFFSET_MS = 68.802; //[ms] Initial sign. travel time (this cannot go here)
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@ -58,7 +58,7 @@ const int32_t GALILEO_E5A_HISTORY_DEEP = 20;
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const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
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//optimum parameters
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const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
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const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
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// F/NAV message structure
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@ -458,7 +458,7 @@ int32_t Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& s
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subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_FRAID));
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// Perform crc computtaion (tbd)
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// Perform crc computation (tbd)
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flag_crc_test = true;
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// Decode all 5 sub-frames
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@ -753,7 +753,7 @@ int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& s
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subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_FRAID));
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page_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_PNUM));
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// Perform crc computtaion (tbd)
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// Perform crc computation (tbd)
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flag_crc_test = true;
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// Decode all 5 sub-frames
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