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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2019-06-16 11:13:18 +02:00
commit 01099e27f2
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GPG Key ID: 4C583C52B0C3877D
14 changed files with 755 additions and 382 deletions
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1
.clang-tidy
View File

@ -32,7 +32,6 @@ Checks: '-*,
performance-inefficient-algorithm, performance-inefficient-algorithm,
performance-move-const-arg, performance-move-const-arg,
performance-type-promotion-in-math-fn, performance-type-promotion-in-math-fn,
performance-unnecessary-copy-initialization,
performance-unnecessary-value-param, performance-unnecessary-value-param,
readability-container-size-empty, readability-container-size-empty,
readability-identifier-naming, readability-identifier-naming,

198
CMakeLists.txt
View File

@ -295,6 +295,12 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
set(OS_IS_MACOSX TRUE) set(OS_IS_MACOSX TRUE)
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION) execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION}) string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
if(${DARWIN_VERSION} MATCHES "19")
set(MACOS_CATALINA TRUE)
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on macOS Catalina 10.15")
endif()
if(${DARWIN_VERSION} MATCHES "18") if(${DARWIN_VERSION} MATCHES "18")
set(MACOS_MOJAVE TRUE) set(MACOS_MOJAVE TRUE)
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14") set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
@ -468,7 +474,7 @@ endif()
################################################################################ ################################################################################
# Set C and C++ standard # Set minimal C and C++ standards
################################################################################ ################################################################################
if(NOT (CMAKE_VERSION VERSION_LESS "3.1")) if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD 11)
@ -484,7 +490,7 @@ else()
endif() endif()
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX) if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
if(CLANG_VERSION VERSION_LESS "600") if(CLANG_VERSION VERSION_LESS "600")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>") add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else() else()
@ -623,132 +629,6 @@ set_package_properties(GNURADIO PROPERTIES
PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones." PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
TYPE REQUIRED TYPE REQUIRED
) )
if(GNURADIO_VERSION)
if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
unset(GNURADIO_RUNTIME_FOUND)
message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
endif()
endif()
if(NOT GNURADIO_RUNTIME_FOUND)
message(STATUS "CMake cannot find GNU Radio >= ${GNSSSDR_GNURADIO_MIN_VERSION}")
if(OS_IS_LINUX)
message("Go to https://github.com/gnuradio/pybombs")
message("and follow the instructions to install GNU Radio in your system.")
endif()
if(OS_IS_MACOSX)
message("You can install it easily via Macports:")
message(" sudo port install gnuradio ")
message("Alternatively, you can use homebrew:")
message(" brew install gnuradio")
endif()
message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
else()
if(NOT TARGET Gnuradio::runtime)
add_library(Gnuradio::runtime SHARED IMPORTED)
list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::runtime PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_ANALOG_FOUND)
message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::analog)
add_library(Gnuradio::analog SHARED IMPORTED)
list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::analog PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_BLOCKS_FOUND)
message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::blocks)
add_library(Gnuradio::blocks SHARED IMPORTED)
list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::blocks PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_FILTER_FOUND)
message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::filter)
add_library(Gnuradio::filter SHARED IMPORTED)
list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::filter PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_FFT_FOUND)
message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::fft)
add_library(Gnuradio::fft SHARED IMPORTED)
list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::fft PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_PMT_FOUND)
message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::pmt)
add_library(Gnuradio::pmt SHARED IMPORTED)
list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::pmt PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
)
endif()
endif()
if(ENABLE_UHD AND UHD_FOUND AND GNURADIO_UHD_FOUND)
if(NOT TARGET Gnuradio::uhd)
add_library(Gnuradio::uhd SHARED IMPORTED)
list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::uhd PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
)
endif()
endif()
@ -769,7 +649,7 @@ endif()
################################################################################ ################################################################################
# Dectect availability of std::filesystem # Detect availability of std::filesystem and set C++ standard accordingly
################################################################################ ################################################################################
set(FILESYSTEM_FOUND FALSE) set(FILESYSTEM_FOUND FALSE)
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17) if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
@ -787,7 +667,11 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
TYPE OPTIONAL TYPE OPTIONAL
) )
if(${FILESYSTEM_FOUND}) if(${FILESYSTEM_FOUND})
if(CMAKE_VERSION VERSION_LESS 3.12)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
else()
set(CMAKE_CXX_STANDARD 20)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif() endif()
endif() endif()
@ -1231,37 +1115,30 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS}) set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS}) set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
endif() endif()
if(OS_IS_MACOSX)
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") set(GFLAGS_LIBRARIES_TO_LINK "${GFLAGS_LIBRARIES_TO_LINK} -lc++")
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags set(GLOG_EXPORT_CXX_LIBRARIES "export CXXFLAGS=\"-stdlib=libc++\"")
"#!/bin/sh
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK} -lc++\"
export CXXFLAGS=\"-stdlib=libc++\"
export CC=clang
export CXX=clang++
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
aclocal
automake --add-missing
autoreconf -vfi
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
)
else()
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
"#!/bin/sh
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
export LIBS=${GFLAGS_LIBRARIES_TO_LINK}
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
aclocal
automake --add-missing
autoreconf -vfi
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
)
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(GLOG_EXPORT_C_COMPILER "export CC=clang")
set(GLOG_EXPORT_CXX_COMPILER "export CXX=clang++")
endif()
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
"#!/bin/sh
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK}\"
${GLOG_EXPORT_CXX_LIBRARIES}
${GLOG_EXPORT_C_COMPILER}
${GLOG_EXPORT_CXX_COMPILER}
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
aclocal
automake --add-missing
autoreconf -vfi
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
)
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
@ -1460,6 +1337,9 @@ set_package_properties(Armadillo PROPERTIES
TYPE REQUIRED TYPE REQUIRED
) )
if(ARMADILLO_FOUND) if(ARMADILLO_FOUND)
set_package_properties(Armadillo PROPERTIES
DESCRIPTION "C++ library for linear algebra and scientific computing (found: v${ARMADILLO_VERSION_STRING})"
)
if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION}) if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
set(ARMADILLO_FOUND false) set(ARMADILLO_FOUND false)
set(ENABLE_OWN_ARMADILLO true) set(ENABLE_OWN_ARMADILLO true)

43
cmake/Modules/FindGFORTRAN.cmake
View File

@ -45,12 +45,37 @@ find_library(GFORTRAN NAMES gfortran
/usr/lib/gcc/i686-redhat-linux/4.8.2 /usr/lib/gcc/i686-redhat-linux/4.8.2
/usr/lib/gcc/x86_64-redhat-linux/7 /usr/lib/gcc/x86_64-redhat-linux/7
/usr/lib/gcc/i686-redhat-linux/7 /usr/lib/gcc/i686-redhat-linux/7
/usr/lib/gcc/x86_64-redhat-linux/8
/usr/lib/gcc/i686-redhat-linux/8
/usr/lib/gcc/x86_64-redhat-linux/9
/usr/lib/gcc/i686-redhat-linux/9
/usr/lib64/gcc/x86_64-redhat-linux/7
/usr/lib64/gcc/x86_64-redhat-linux/8
/usr/lib64/gcc/x86_64-redhat-linux/9
/usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7 /usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7
/usr/lib/gcc/aarch64-redhat-linux/7 /usr/lib/gcc/aarch64-redhat-linux/7
/usr/lib/gcc/i586-suse-linux/4.8 # OpenSUSE 13.1 /usr/lib/gcc/i586-suse-linux/4.8 # OpenSUSE 13.1
/usr/lib/gcc/i586-suse-linux/4.9 /usr/lib/gcc/i586-suse-linux/4.9
/usr/lib/gcc/i586-suse-linux/7
/usr/lib/gcc/i586-suse-linux/8
/usr/lib/gcc/i586-suse-linux/9
/usr/lib/gcc/x86_64-suse-linux/4.8 /usr/lib/gcc/x86_64-suse-linux/4.8
/usr/lib/gcc/x86_64-suse-linux/4.9 /usr/lib/gcc/x86_64-suse-linux/4.9
/usr/lib64/gcc/x86_64-suse-linux/7
/usr/lib64/gcc/x86_64-suse-linux/8
/usr/lib64/gcc/x86_64-suse-linux/9
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/7
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/8
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/9
/usr/lib64/gcc/aarch64-suse-linux/7
/usr/lib64/gcc/aarch64-suse-linux/8
/usr/lib64/gcc/aarch64-suse-linux/9
/usr/lib64/gcc/powerpc64-suse-linux/7
/usr/lib64/gcc/powerpc64-suse-linux/8
/usr/lib64/gcc/powerpc64-suse-linux/9
/usr/lib64/gcc/powerpc64le-suse-linux/7
/usr/lib64/gcc/powerpc64le-suse-linux/8
/usr/lib64/gcc/powerpc64le-suse-linux/9
/usr/lib/gcc/i486-linux-gnu # Debian 7 /usr/lib/gcc/i486-linux-gnu # Debian 7
/usr/lib/gcc/i486-linux-gnu/4.4 /usr/lib/gcc/i486-linux-gnu/4.4
/usr/lib/gcc/i486-linux-gnu/4.6 /usr/lib/gcc/i486-linux-gnu/4.6
@ -142,6 +167,24 @@ find_library(GFORTRAN NAMES gfortran
/usr/lib/gcc/powerpc64le-linux-gnu/8 /usr/lib/gcc/powerpc64le-linux-gnu/8
/usr/lib/gcc/s390x-linux-gnu/8 /usr/lib/gcc/s390x-linux-gnu/8
/usr/lib/gcc/alpha-linux-gnu/8 /usr/lib/gcc/alpha-linux-gnu/8
/usr/lib/gcc/x86_64-linux-gnu/9
/usr/lib/gcc/aarch64-linux-gnu/9
/usr/lib/gcc/arm-linux-gnueabi/9
/usr/lib/gcc/arm-linux-gnueabihf/9
/usr/lib/gcc/i686-linux-gnu/9
/usr/lib/gcc/powerpc64le-linux-gnu/9
/usr/lib/gcc/powerpc64-linux-gnu/9/
/usr/lib/gcc/s390x-linux-gnu/9
/usr/lib/gcc/alpha-linux-gnu/9
/usr/lib/gcc/hppa-linux-gnu/9
/usr/lib/gcc/m68k-linux-gnu/9
/usr/lib/gcc/mips-linux-gnu/9
/usr/lib/gcc/mips64el-linux-gnuabi64/9
/usr/lib/gcc/mipsel-linux-gnu/9
/usr/lib/gcc/riscv64-linux-gnu/9
/usr/lib/gcc/sh4-linux-gnu/9
/usr/lib/gcc/sparc64-linux-gnu/9
/usr/lib/gcc/x86_64-linux-gnux32/9
${GFORTRAN_ROOT}/lib ${GFORTRAN_ROOT}/lib
$ENV{GFORTRAN_ROOT}/lib $ENV{GFORTRAN_ROOT}/lib
) )

37
cmake/Modules/FindGNURADIO.cmake
View File

@ -143,6 +143,21 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
set(GNURADIO_FOUND FALSE) # Trick for feature_summary set(GNURADIO_FOUND FALSE) # Trick for feature_summary
endif() endif()
# Create imported target
string(TOLOWER ${EXTVAR} gnuradio_component)
if(NOT TARGET Gnuradio::${gnuradio_component})
add_library(Gnuradio::${gnuradio_component} SHARED IMPORTED)
set(GNURADIO_LIBRARY ${GNURADIO_${EXTVAR}_LIBRARIES})
list(GET GNURADIO_LIBRARY 0 FIRST_DIR)
get_filename_component(GNURADIO_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::${gnuradio_component} PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_${EXTVAR}_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_LIBRARY}"
)
endif()
mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS) mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
endfunction() endfunction()
@ -218,3 +233,25 @@ if(NOT DEFINED GNURADIO_FOUND)
set(GNURADIO_FOUND TRUE) set(GNURADIO_FOUND TRUE)
endif() endif()
set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION}) set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION})
if(NOT GNSSSDR_GNURADIO_MIN_VERSION)
set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
endif()
if(GNURADIO_VERSION)
if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
unset(GNURADIO_RUNTIME_FOUND)
message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
if(OS_IS_LINUX)
message("Go to https://github.com/gnuradio/pybombs")
message("and follow the instructions to install GNU Radio in your system.")
endif()
if(OS_IS_MACOSX)
message("You can install it easily via Macports:")
message(" sudo port install gnuradio ")
message("Alternatively, you can use homebrew:")
message(" brew install gnuradio")
endif()
message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
endif()
endif()

5
docs/changelog
View File

@ -16,7 +16,7 @@
- Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel). - Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
- Shortened Acquisition to Tracking transition time. - Shortened Acquisition to Tracking transition time.
- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-copy-initialization, performance-unnecessary-value-param, readability-string-compare. - Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
### Improvements in Flexibility: ### Improvements in Flexibility:
@ -50,7 +50,8 @@
- Added interfaces for FPGA off-loading. - Added interfaces for FPGA off-loading.
- CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12. - CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
- Improvements for macOS users using Homebrew. - Improvements for macOS users using Homebrew.
- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17. - The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
- CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
### Improvements in Reliability ### Improvements in Reliability

8
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
View File

@ -95,7 +95,11 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD 14)
else() else()
if(${FILESYSTEM_FOUND}) if(${FILESYSTEM_FOUND})
if(CMAKE_VERSION VERSION_LESS 3.12)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
else()
set(CMAKE_CXX_STANDARD 20)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
else() else()
set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD 14)
@ -134,7 +138,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD 14)
else() else()
if(${FILESYSTEM_FOUND}) if(${FILESYSTEM_FOUND})
if(CMAKE_VERSION VERSION_LESS 3.12)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
else()
set(CMAKE_CXX_STANDARD 20)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
else() else()
set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD 14)

9
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -33,7 +33,6 @@ set(TRACKING_LIB_SOURCES
cpu_multicorrelator.cc cpu_multicorrelator.cc
cpu_multicorrelator_real_codes.cc cpu_multicorrelator_real_codes.cc
cpu_multicorrelator_16sc.cc cpu_multicorrelator_16sc.cc
cubature_filter.cc
lock_detectors.cc lock_detectors.cc
tcp_communication.cc tcp_communication.cc
tcp_packet_data.cc tcp_packet_data.cc
@ -51,7 +50,6 @@ set(TRACKING_LIB_HEADERS
cpu_multicorrelator.h cpu_multicorrelator.h
cpu_multicorrelator_real_codes.h cpu_multicorrelator_real_codes.h
cpu_multicorrelator_16sc.h cpu_multicorrelator_16sc.h
cubature_filter.h
lock_detectors.h lock_detectors.h
tcp_communication.h tcp_communication.h
tcp_packet_data.h tcp_packet_data.h
@ -65,6 +63,12 @@ set(TRACKING_LIB_HEADERS
exponential_smoother.h exponential_smoother.h
) )
if(ARMADILLO_VERSION_STRING VERSION_GREATER 7.400)
# sqrtmat_sympd() requires 7.400
set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} nonlinear_tracking.cc)
set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} nonlinear_tracking.h)
endif()
if(ENABLE_FPGA) if(ENABLE_FPGA)
set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc) set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h) set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
@ -84,6 +88,7 @@ target_link_libraries(tracking_libs
Gnuradio::runtime Gnuradio::runtime
Volkgnsssdr::volkgnsssdr Volkgnsssdr::volkgnsssdr
core_system_parameters core_system_parameters
algorithms_libs
${OPT_TRACKING_LIBRARIES} ${OPT_TRACKING_LIBRARIES}
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags

199
src/algorithms/tracking/libs/cubature_filter.cc
View File

@ -1,199 +0,0 @@
/*!
* \file cubature_filter.cc
* \brief Interface of a library with Bayesian noise statistic estimation
*
* Cubature_Filter implements the functionality of the Cubature Kalman
* Filter, which uses multidimensional cubature rules to estimate the
* time evolution of a nonlinear system.
*
* [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
* Transactions on Automatic Control, 54(6):1254–1269,2009.
*
* \authors <ul>
* <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
* <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
* </ul>
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "cubature_filter.h"
Cubature_filter::Cubature_filter()
{
int nx = 1;
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(int nx)
{
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::~Cubature_filter() = default;
void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
/*
* Perform the prediction step of the cubature Kalman filter
*/
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_post.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Initialize predicted mean and covariance
arma::vec x_pred = arma::zeros(nx, 1);
arma::mat P_x_pred = arma::zeros(nx, nx);
// Factorize posterior covariance
arma::mat Sm_post = arma::chol(P_x_post, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_post;
arma::vec Xi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_post = Sm_post * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_post;
Xi_pred = (*transition_fcn)(Xi_post);
x_pred = x_pred + Xi_pred;
P_x_pred = P_x_pred + Xi_pred * Xi_pred.t();
}
// Estimate predicted state and error covariance
x_pred = x_pred / static_cast<float>(np);
P_x_pred = P_x_pred / static_cast<float>(np) - x_pred * x_pred.t() + noise_covariance;
// Store predicted state and error covariance
x_pred_out = x_pred;
P_x_pred_out = P_x_pred;
}
/*
* Perform the update step of the cubature Kalman filter
*/
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_pred.n_elem;
int nz = z_upd.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Evaluate predicted measurement and covariances
arma::mat z_pred = arma::zeros(nz, 1);
arma::mat P_zz_pred = arma::zeros(nz, nz);
arma::mat P_xz_pred = arma::zeros(nx, nz);
// Factorize predicted covariance
arma::mat Sm_pred = arma::chol(P_x_pred, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_pred;
arma::vec Zi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_pred = Sm_pred * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_pred;
Zi_pred = (*measurement_fcn)(Xi_pred);
z_pred = z_pred + Zi_pred;
P_zz_pred = P_zz_pred + Zi_pred * Zi_pred.t();
P_xz_pred = P_xz_pred + Xi_pred * Zi_pred.t();
}
// Estimate measurement covariance and cross covariances
z_pred = z_pred / static_cast<float>(np);
P_zz_pred = P_zz_pred / static_cast<float>(np) - z_pred * z_pred.t() + noise_covariance;
P_xz_pred = P_xz_pred / static_cast<float>(np) - x_pred * z_pred.t();
// Estimate cubature Kalman gain
arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
// Estimate and store the updated state and error covariance
x_est = x_pred + W_k * (z_upd - z_pred);
P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
}
arma::mat Cubature_filter::get_x_pred() const
{
return x_pred_out;
}
arma::mat Cubature_filter::get_P_x_pred() const
{
return P_x_pred_out;
}
arma::mat Cubature_filter::get_x_est() const
{
return x_est;
}
arma::mat Cubature_filter::get_P_x_est() const
{
return P_x_est;
}

390
src/algorithms/tracking/libs/nonlinear_tracking.cc Normal file
View File

@ -0,0 +1,390 @@
/*!
* \file cubature_filter.cc
* \brief Interface of a library for nonlinear tracking algorithms
*
* Cubature_Filter implements the functionality of the Cubature Kalman
* Filter, which uses multidimensional cubature rules to estimate the
* time evolution of a nonlinear system. Unscented_filter implements
* an Unscented Kalman Filter which uses Unscented Transform rules to
* perform a similar estimation.
*
* [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
* Transactions on Automatic Control, 54(6):1254–1269,2009.
*
* \authors <ul>
* <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
* <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
* </ul>
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "nonlinear_tracking.h"
/***************** CUBATURE KALMAN FILTER *****************/
Cubature_filter::Cubature_filter()
{
int nx = 1;
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(int nx)
{
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Cubature_filter::~Cubature_filter() = default;
void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
/*
* Perform the prediction step of the cubature Kalman filter
*/
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_post.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Initialize predicted mean and covariance
arma::vec x_pred = arma::zeros(nx, 1);
arma::mat P_x_pred = arma::zeros(nx, nx);
// Factorize posterior covariance
arma::mat Sm_post = arma::chol(P_x_post, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_post;
arma::vec Xi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_post = Sm_post * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_post;
Xi_pred = (*transition_fcn)(Xi_post);
x_pred = x_pred + Xi_pred;
P_x_pred = P_x_pred + Xi_pred * Xi_pred.t();
}
// Compute predicted mean and error covariance
x_pred = x_pred / static_cast<float>(np);
P_x_pred = P_x_pred / static_cast<float>(np) - x_pred * x_pred.t() + noise_covariance;
// Store predicted mean and error covariance
x_pred_out = x_pred;
P_x_pred_out = P_x_pred;
}
/*
* Perform the update step of the cubature Kalman filter
*/
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_pred.n_elem;
int nz = z_upd.n_elem;
int np = 2 * nx;
// Generator Matrix
arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
// Initialize estimated predicted measurement and covariances
arma::mat z_pred = arma::zeros(nz, 1);
arma::mat P_zz_pred = arma::zeros(nz, nz);
arma::mat P_xz_pred = arma::zeros(nx, nz);
// Factorize predicted covariance
arma::mat Sm_pred = arma::chol(P_x_pred, "lower");
// Propagate and evaluate cubature points
arma::vec Xi_pred;
arma::vec Zi_pred;
for (uint8_t i = 0; i < np; i++)
{
Xi_pred = Sm_pred * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_pred;
Zi_pred = (*measurement_fcn)(Xi_pred);
z_pred = z_pred + Zi_pred;
P_zz_pred = P_zz_pred + Zi_pred * Zi_pred.t();
P_xz_pred = P_xz_pred + Xi_pred * Zi_pred.t();
}
// Compute measurement mean, covariance and cross covariance
z_pred = z_pred / static_cast<float>(np);
P_zz_pred = P_zz_pred / static_cast<float>(np) - z_pred * z_pred.t() + noise_covariance;
P_xz_pred = P_xz_pred / static_cast<float>(np) - x_pred * z_pred.t();
// Compute cubature Kalman gain
arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
// Compute and store the updated mean and error covariance
x_est = x_pred + W_k * (z_upd - z_pred);
P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
}
arma::mat Cubature_filter::get_x_pred() const
{
return x_pred_out;
}
arma::mat Cubature_filter::get_P_x_pred() const
{
return P_x_pred_out;
}
arma::mat Cubature_filter::get_x_est() const
{
return x_est;
}
arma::mat Cubature_filter::get_P_x_est() const
{
return P_x_est;
}
/***************** END CUBATURE KALMAN FILTER *****************/
/***************** UNSCENTED KALMAN FILTER *****************/
Unscented_filter::Unscented_filter()
{
int nx = 1;
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Unscented_filter::Unscented_filter(int nx)
{
x_pred_out = arma::zeros(nx, 1);
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
Unscented_filter::~Unscented_filter() = default;
void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
{
x_pred_out = x_pred_0;
P_x_pred_out = P_x_pred_0;
x_est = x_pred_out;
P_x_est = P_x_pred_out;
}
/*
* Perform the prediction step of the Unscented Kalman filter
*/
void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
{
// Compute number of sigma points
int nx = x_post.n_elem;
int np = 2 * nx + 1;
float alpha = 0.001;
float kappa = 0.0;
float beta = 2.0;
float lambda = std::pow(alpha, 2.0) * (static_cast<float>(nx) + kappa) - static_cast<float>(nx);
// Compute UT Weights
float W0_m = lambda / (static_cast<float>(nx) + lambda);
float W0_c = lambda / (static_cast<float>(nx) + lambda) + (1 - std::pow(alpha, 2.0) + beta);
float Wi_m = 1.0 / (2.0 * (static_cast<float>(nx) + lambda));
// Propagate and evaluate sigma points
arma::mat Xi_fact = arma::zeros(nx, nx);
arma::mat Xi_post = arma::zeros(nx, np);
arma::mat Xi_pred = arma::zeros(nx, np);
Xi_post.col(0) = x_post;
Xi_pred.col(0) = (*transition_fcn)(Xi_post.col(0));
for (uint8_t i = 1; i <= nx; i++)
{
Xi_fact = std::sqrt(static_cast<float>(nx) + lambda) * arma::sqrtmat_sympd(P_x_post);
Xi_post.col(i) = x_post + Xi_fact.col(i - 1);
Xi_post.col(i + nx) = x_post - Xi_fact.col(i - 1);
Xi_pred.col(i) = (*transition_fcn)(Xi_post.col(i));
Xi_pred.col(i + nx) = (*transition_fcn)(Xi_post.col(i + nx));
}
// Compute predicted mean
arma::vec x_pred = W0_m * Xi_pred.col(0) + Wi_m * arma::sum(Xi_pred.cols(1, np - 1), 1);
// Compute predicted error covariance
arma::mat P_x_pred = W0_c * ((Xi_pred.col(0) - x_pred) * (Xi_pred.col(0).t() - x_pred.t()));
for (uint8_t i = 1; i < np; i++)
{
P_x_pred = P_x_pred + Wi_m * ((Xi_pred.col(i) - x_pred) * (Xi_pred.col(i).t() - x_pred.t()));
}
P_x_pred = P_x_pred + noise_covariance;
// Store predicted mean and error covariance
x_pred_out = x_pred;
P_x_pred_out = P_x_pred;
}
/*
* Perform the update step of the Unscented Kalman filter
*/
void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
{
// Compute number of sigma points
int nx = x_pred.n_elem;
int nz = z_upd.n_elem;
int np = 2 * nx + 1;
float alpha = 0.001;
float kappa = 0.0;
float beta = 2.0;
float lambda = std::pow(alpha, 2.0) * (static_cast<float>(nx) + kappa) - static_cast<float>(nx);
// Compute UT Weights
float W0_m = lambda / (static_cast<float>(nx) + lambda);
float W0_c = lambda / (static_cast<float>(nx) + lambda) + (1.0 - std::pow(alpha, 2.0) + beta);
float Wi_m = 1.0 / (2.0 * (static_cast<float>(nx) + lambda));
// Propagate and evaluate sigma points
arma::mat Xi_fact = arma::zeros(nx, nx);
arma::mat Xi_pred = arma::zeros(nx, np);
arma::mat Zi_pred = arma::zeros(nz, np);
Xi_pred.col(0) = x_pred;
Zi_pred.col(0) = (*measurement_fcn)(Xi_pred.col(0));
for (uint8_t i = 1; i <= nx; i++)
{
Xi_fact = std::sqrt(static_cast<float>(nx) + lambda) * arma::sqrtmat_sympd(P_x_pred);
Xi_pred.col(i) = x_pred + Xi_fact.col(i - 1);
Xi_pred.col(i + nx) = x_pred - Xi_fact.col(i - 1);
Zi_pred.col(i) = (*measurement_fcn)(Xi_pred.col(i));
Zi_pred.col(i + nx) = (*measurement_fcn)(Xi_pred.col(i + nx));
}
// Compute measurement mean
arma::mat z_pred = W0_m * Zi_pred.col(0) + Wi_m * arma::sum(Zi_pred.cols(1, np - 1), 1);
// Compute measurement covariance and cross covariance
arma::mat P_zz_pred = W0_c * ((Zi_pred.col(0) - z_pred) * (Zi_pred.col(0).t() - z_pred.t()));
arma::mat P_xz_pred = W0_c * ((Xi_pred.col(0) - x_pred) * (Zi_pred.col(0).t() - z_pred.t()));
for (uint8_t i = 0; i < np; i++)
{
P_zz_pred = P_zz_pred + Wi_m * ((Zi_pred.col(i) - z_pred) * (Zi_pred.col(i).t() - z_pred.t()));
P_xz_pred = P_xz_pred + Wi_m * ((Xi_pred.col(i) - x_pred) * (Zi_pred.col(i).t() - z_pred.t()));
}
P_zz_pred = P_zz_pred + noise_covariance;
// Estimate cubature Kalman gain
arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
// Estimate and store the updated mean and error covariance
x_est = x_pred + W_k * (z_upd - z_pred);
P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
}
arma::mat Unscented_filter::get_x_pred() const
{
return x_pred_out;
}
arma::mat Unscented_filter::get_P_x_pred() const
{
return P_x_pred_out;
}
arma::mat Unscented_filter::get_x_est() const
{
return x_est;
}
arma::mat Unscented_filter::get_P_x_est() const
{
return P_x_est;
}
/***************** END UNSCENTED KALMAN FILTER *****************/

44
src/algorithms/tracking/libs/cubature_filter.h → src/algorithms/tracking/libs/nonlinear_tracking.h
View File

@ -1,10 +1,12 @@
/*! /*!
* \file cubature_filter.h * \file nonlinear_tracking.h
* \brief Interface of a library with Bayesian noise statistic estimation * \brief Interface of a library for nonlinear tracking algorithms
* *
* Cubature_Filter implements the functionality of the Cubature Kalman * Cubature_Filter implements the functionality of the Cubature Kalman
* Filter, which uses multidimensional cubature rules to estimate the * Filter, which uses multidimensional cubature rules to estimate the
* time evolution of a nonlinear system. * time evolution of a nonlinear system. Unscented_filter implements
* an Unscented Kalman Filter which uses Unscented Transform rules to
* perform a similar estimation.
* *
* [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE * [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
* Transactions on Automatic Control, 54(6):1254–1269,2009. * Transactions on Automatic Control, 54(6):1254–1269,2009.
@ -38,14 +40,15 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_CUBATURE_FILTER_H_ #ifndef GNSS_SDR_NONLINEAR_TRACKING_H_
#define GNSS_SDR_CUBATURE_FILTER_H_ #define GNSS_SDR_NONLINEAR_TRACKING_H_
#include <armadillo> #include <armadillo>
#include <gnuradio/gr_complex.h> #include <gnuradio/gr_complex.h>
// Abstract model function // Abstract model function
class Model_Function{ class Model_Function
{
public: public:
Model_Function(){}; Model_Function(){};
virtual arma::vec operator()(arma::vec input) = 0; virtual arma::vec operator()(arma::vec input) = 0;
@ -81,4 +84,33 @@ private:
arma::mat P_x_est; arma::mat P_x_est;
}; };
class Unscented_filter
{
public:
// Constructors and destructors
Unscented_filter();
Unscented_filter(int nx);
Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
~Unscented_filter();
// Reinitialization function
void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
// Prediction and estimation
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
// Getters
arma::mat get_x_pred() const;
arma::mat get_P_x_pred() const;
arma::mat get_x_est() const;
arma::mat get_P_x_est() const;
private:
arma::vec x_pred_out;
arma::mat P_x_pred_out;
arma::vec x_est;
arma::mat P_x_est;
};
#endif #endif

14
src/tests/CMakeLists.txt
View File

@ -161,6 +161,11 @@ if(ENABLE_FPGA)
add_definitions(-DFPGA_BLOCKS_TEST=1) add_definitions(-DFPGA_BLOCKS_TEST=1)
endif() endif()
if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
# mvnrnd() requires 8.400
add_definitions(-DARMADILLO_HAVE_MVNRND=1)
endif()
find_package(Gnuplot) find_package(Gnuplot)
if(GNUPLOT_FOUND) if(GNUPLOT_FOUND)
add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}") add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
@ -793,13 +798,20 @@ endif()
######################################################### #########################################################
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA) if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
set(NONLINEAR_SOURCES "")
if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
set(NONLINEAR_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
)
endif()
add_executable(trk_test add_executable(trk_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc ${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc ${NONLINEAR_SOURCES}
) )
if(${FILESYSTEM_FOUND}) if(${FILESYSTEM_FOUND})
target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1) target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1)

3
src/tests/test_main.cc
View File

@ -99,7 +99,10 @@ DECLARE_string(log_dir);
#endif #endif
#include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc" #include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc"
#if ARMADILLO_HAVE_MVNRND
#include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc" #include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc"
#endif
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc" #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc" #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"

11
src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
View File

@ -28,12 +28,13 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "cubature_filter.h" #include "nonlinear_tracking.h"
#include <armadillo> #include <armadillo>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <random> #include <random>
#define CUBATURE_TEST_N_TRIALS 1000 #define CUBATURE_TEST_N_TRIALS 1000
#define CUBATURE_TEST_TOLERANCE 0.01
class Transition_Model : public Model_Function class Transition_Model : public Model_Function
{ {
@ -127,8 +128,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
kf_x_pre = kf_F * kf_x_post; kf_x_pre = kf_F * kf_x_post;
kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q; kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", 0.01)); EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", 0.01)); EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
// Update Step // Update Step
kf_H = arma::randu<arma::mat>(ny, nx); kf_H = arma::randu<arma::mat>(ny, nx);
@ -151,8 +152,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre); kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre; kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre;
EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", 0.01)); EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", 0.01)); EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
delete transition_function; delete transition_function;
delete measurement_function; delete measurement_function;

161
src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc Normal file
View File

@ -0,0 +1,161 @@
/*!
* \file unscented_filter_test.cc
* \brief This file implements numerical accuracy test for the CKF library.
* \author Gerald LaMountain, 2019. gerald(at)ece.neu.edu
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "nonlinear_tracking.h"
#include <armadillo>
#include <gtest/gtest.h>
#include <random>
#define UNSCENTED_TEST_N_TRIALS 10
#define UNSCENTED_TEST_TOLERANCE 10
class Transition_Model_UKF : public Model_Function
{
public:
Transition_Model_UKF(arma::mat kf_F) { coeff_mat = kf_F; };
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
private:
arma::mat coeff_mat;
};
class Measurement_Model_UKF : public Model_Function
{
public:
Measurement_Model_UKF(arma::mat kf_H) { coeff_mat = kf_H; };
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
private:
arma::mat coeff_mat;
};
TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
{
Unscented_filter kf_unscented;
arma::vec kf_x;
arma::mat kf_P_x;
arma::vec kf_x_pre;
arma::mat kf_P_x_pre;
arma::vec ukf_x_pre;
arma::mat ukf_P_x_pre;
arma::vec kf_x_post;
arma::mat kf_P_x_post;
arma::vec ukf_x_post;
arma::mat ukf_P_x_post;
arma::mat kf_F;
arma::mat kf_H;
arma::mat kf_Q;
arma::mat kf_R;
arma::vec eta;
arma::vec nu;
arma::vec kf_y;
arma::mat kf_P_y;
arma::mat kf_K;
Model_Function* transition_function;
Model_Function* measurement_function;
//--- Perform initializations ------------------------------
std::random_device r;
std::default_random_engine e1(r());
std::normal_distribution<float> normal_dist(0, 5);
std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
uint8_t nx = 0;
uint8_t ny = 0;
for (uint16_t k = 0; k < UNSCENTED_TEST_N_TRIALS; k++)
{
nx = std::rand() % 5 + 1;
ny = std::rand() % 5 + 1;
kf_x = arma::randn<arma::vec>(nx, 1);
kf_P_x_post = 5.0 * arma::diagmat(arma::randu<arma::vec>(nx, 1));
kf_x_post = arma::mvnrnd(kf_x, kf_P_x_post);
kf_unscented.initialize(kf_x_post, kf_P_x_post);
// Prediction Step
kf_F = arma::randu<arma::mat>(nx, nx);
kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
transition_function = new Transition_Model_UKF(kf_F);
arma::mat ttx = (*transition_function)(kf_x_post);
kf_unscented.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
ukf_x_pre = kf_unscented.get_x_pred();
ukf_P_x_pre = kf_unscented.get_P_x_pred();
kf_x_pre = kf_F * kf_x_post;
kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
EXPECT_TRUE(arma::approx_equal(ukf_x_pre, kf_x_pre, "absdiff", UNSCENTED_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ukf_P_x_pre, kf_P_x_pre, "absdiff", UNSCENTED_TEST_TOLERANCE));
// Update Step
kf_H = arma::randu<arma::mat>(ny, nx);
kf_R = arma::diagmat(arma::randu<arma::vec>(ny, 1));
eta = arma::mvnrnd(arma::zeros<arma::vec>(nx, 1), kf_Q);
nu = arma::mvnrnd(arma::zeros<arma::vec>(ny, 1), kf_R);
kf_y = kf_H * (kf_F * kf_x + eta) + nu;
measurement_function = new Measurement_Model_UKF(kf_H);
kf_unscented.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
ukf_x_post = kf_unscented.get_x_est();
ukf_P_x_post = kf_unscented.get_P_x_est();
kf_P_y = kf_H * kf_P_x_pre * kf_H.t() + kf_R;
kf_K = (kf_P_x_pre * kf_H.t()) * arma::inv(kf_P_y);
kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre;
EXPECT_TRUE(arma::approx_equal(ukf_x_post, kf_x_post, "absdiff", UNSCENTED_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ukf_P_x_post, kf_P_x_post, "absdiff", UNSCENTED_TEST_TOLERANCE));
delete transition_function;
delete measurement_function;
}
}