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Add work on KF tracking

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This commit is contained in:
Carles Fernandez 2022-07-22 13:20:25 +02:00
parent ea4af27796
commit 01fc2b1120
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 3 additions and 90 deletions
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53
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc
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@ -18,6 +18,7 @@
* -----------------------------------------------------------------------------
*/
#include "kf_vtl_tracking.h"
#include "Beidou_B1I.h"
#include "Beidou_B3I.h"
#include "GPS_L1_CA.h"
@ -39,7 +40,6 @@
#include "gps_l2c_signal_replica.h"
#include "gps_l5_signal_replica.h"
#include "gps_sdr_signal_replica.h"
#include "kf_vtl_tracking.h"
#include "lock_detectors.h"
#include "tracking_discriminators.h"
#include "trackingcmd.h"
@ -859,50 +859,29 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
d_F = arma::mat(4, 4);
d_F = {{1, 0, B * Ti, B * TiTi / 2},
{0, 1, 2.0 * GNSS_PI * Ti, GNSS_PI * TiTi},
{0, 0, 1, Ti},
{0, 0, 0, 1}};
d_H = arma::mat(2, 4);
d_H = {{1, 0, -B * Ti / 2.0, B * TiTi / 6.0},
{0, 1, -GNSS_PI * Ti, GNSS_PI * TiTi / 3.0}};
// Phase noise variance
// const double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
// const double N_periods = 1; // Only 1 interval
// const double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
// const double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
// measurement covariance matrix (static)
// d_R = arma::mat(2, 2);
// d_R << Sigma2_Tau << 0 << arma::endr
// << 0 << Sigma2_Phase << arma::endr;
d_R = arma::mat(2, 2);
d_R = {{pow(d_trk_parameters.code_disc_sd_chips, 2.0), 0},
{0, pow(d_trk_parameters.carrier_disc_sd_rads, 2.0)}};
// system cov11ariance matrix (static)
d_Q = arma::mat(4, 4);
// system covariance matrix (static)
d_Q = {{pow(d_trk_parameters.code_phase_sd_chips, 2.0), 0, 0, 0},
{0, pow(d_trk_parameters.carrier_phase_sd_rad, 2.0), 0, 0},
{0, 0, pow(d_trk_parameters.carrier_freq_sd_hz, 2.0), 0},
{0, 0, 0, pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0)}};
// initial Kalman covariance matrix
d_P_old_old = arma::mat(4, 4);
d_P_old_old = {{pow(d_trk_parameters.init_code_phase_sd_chips, 2.0), 0, 0, 0},
{0, pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0), 0, 0},
{0, 0, pow(d_trk_parameters.init_carrier_freq_sd_hz, 2.0), 0},
{0, 0, 0, pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0)}};
// d_R = arma::mat(2, 2);
// d_R << Sigma2_Tau << 0 << arma::endr
// << 0 << Sigma2_Phase << arma::endr;
// init state vector
d_x_old_old = arma::vec(4);
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s
d_x_old_old = {acq_code_phase_chips, 0, acq_doppler_hz, 0};
@ -940,25 +919,14 @@ void kf_vtl_tracking::update_kf_narrow_integration_time()
d_H = {{1, 0, -B * Ti / 2.0, B * TiTi / 6.0},
{0, 1, -GNSS_PI * Ti, GNSS_PI * TiTi / 3.0}};
// system covariance matrix (static)
// d_Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << arma::endr
// << 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << arma::endr
// << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << arma::endr
// << 0 << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0) << arma::endr;
const double CN0_lin = pow(10.0, d_CN0_SNV_dB_Hz / 10.0); // CN0 in Hz
const double CN0_lin_Ti = CN0_lin * Ti;
// const double N_periods = 1; // Only 1 interval
// const double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
const double Sigma2_Phase = (1.0 / (2.0 * CN0_lin_Ti)) * (1.0 + 1.0 / (2.0 * CN0_lin_Ti));
// double prova = (1.0 / (CN0_lin * Ti)) * (0.5 + (0.5 / (1.0 - 0.5)) * (1.0 / (2.0 * CN0_lin * Ti)));
// std::cout << "Sigma2_Tau = " << Sigma2_Tau << ", prova: " << prova << std::endl;
const double Sigma2_Tau = (1.0 / CN0_lin_Ti) * (d_trk_parameters.spc + (d_trk_parameters.spc / (1.0 - d_trk_parameters.spc)) * (1.0 / (2.0 * CN0_lin_Ti)));
d_R = arma::mat(2, 2);
d_R = {{Sigma2_Tau, 0},
{0, Sigma2_Phase}};
// << 0 << 0 << 0 << 0 << pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0) << arma::endr;
std::cout << "Fu: " << d_F << "\n";
std::cout << "Hu: " << d_H << "\n";
std::cout << "Ru: " << d_R << "\n";
@ -982,14 +950,9 @@ void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
// Phase noise variance
const double CN0_lin = pow(10.0, current_cn0_dbhz / 10.0); // CN0 in Hz
const double CN0_lin_Ti = CN0_lin * Ti;
// const double N_periods = 1; // Only 1 interval
// const double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
const double Sigma2_Phase = (1.0 / (2.0 * CN0_lin_Ti)) * (1.0 + 1.0 / (2.0 * CN0_lin_Ti));
// double prova = (1.0 / (CN0_lin * Ti)) * (0.5 + (0.5 / (1.0 - 0.5)) * (1.0 / (2.0 * CN0_lin * Ti)));
// std::cout << "Sigma2_Tau = " << Sigma2_Tau << ", prova: " << prova << std::endl;
const double Sigma2_Tau = (1.0 / CN0_lin_Ti) * (d_trk_parameters.spc + (d_trk_parameters.spc / (1.0 - d_trk_parameters.spc)) * (1.0 / (2.0 * CN0_lin_Ti)));
// measurement covariance matrix (static)d_trk_parameters.spc
d_R = arma::mat(2, 2);
d_R = {{Sigma2_Tau, 0},
{0, Sigma2_Phase}};
}
@ -1331,16 +1294,6 @@ void kf_vtl_tracking::update_tracking_vars()
d_rem_carr_phase_rad += remnant_carrier_phase;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, TWO_PI);
// std::cout << d_carrier_phase_rate_step_rad * d_trk_parameters.fs_in * d_trk_parameters.fs_in / TWO_PI << '\n';
// remnant carrier phase to prevent overflow in the code NCO
// d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
// d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, TWO_PI);
// carrier phase accumulator
// double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
// double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
// std::cout << fmod(b, TWO_PI) / fmod(a, TWO_PI) << '\n';
d_acc_carrier_phase_rad -= remnant_carrier_phase;
// ################### DLL COMMANDS #################################################

22
src/algorithms/tracking/libs/kf_conf.cc
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@ -34,10 +34,6 @@ Kf_Conf::Kf_Conf() : item_type("gr_complex"),
carrier_phase_sd_rad(0.25),
carrier_freq_sd_hz(0.6),
carrier_freq_rate_sd_hz_s(0.01),
// narrow_code_phase_sd_chips(0.1),
// narrow_carrier_phase_sd_rad(0.01),
// narrow_carrier_freq_sd_hz(0.01),
// narrow_carrier_freq_rate_sd_hz_s(0.1),
init_code_phase_sd_chips(0.5),
init_carrier_phase_sd_rad(0.7),
init_carrier_freq_sd_hz(5),
@ -105,7 +101,6 @@ void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
// carrier_aiding = configuration->property(role + ".carrier_aiding", carrier_aiding);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
@ -122,34 +117,17 @@ void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
// Kalman filter covariances
// Measurement covariances (R)
// expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", expected_cn0_dbhz);
code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", code_disc_sd_chips);
carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", carrier_disc_sd_rads);
// enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", enable_dynamic_measurement_covariance);
// use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", use_estimated_cn0);
// System covariances (Q)
code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", code_phase_sd_chips);
// code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", code_rate_sd_chips_s);
carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", carrier_phase_sd_rad);
carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", carrier_freq_sd_hz);
carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", carrier_freq_rate_sd_hz_s);
// System covariances (narrow) (Q)
//narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", narrow_code_phase_sd_chips);
// narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", narrow_code_rate_sd_chips_s);
//narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", narrow_carrier_phase_sd_rad);
// narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", narrow_carrier_freq_sd_hz);
// narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", narrow_carrier_freq_rate_sd_hz_s);
// initial Kalman covariance matrix (P)
init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", init_code_phase_sd_chips);
// init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", init_code_rate_sd_chips_s);
init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", init_carrier_phase_sd_rad);
init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", init_carrier_freq_sd_hz);
init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", init_carrier_freq_rate_sd_hz_s);

18
src/algorithms/tracking/libs/kf_conf.h
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@ -38,33 +38,18 @@ public:
double carrier_lock_th;
// KF statistics
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
// Measurement covariances (R)
// double expected_cn0_dbhz;
double code_disc_sd_chips;
double carrier_disc_sd_rads;
// System covariances (Q)
double code_phase_sd_chips;
// double code_rate_sd_chips_s;
double carrier_phase_sd_rad;
double carrier_freq_sd_hz;
double carrier_freq_rate_sd_hz_s;
// System covariances (narrow) (Q)
// double narrow_code_phase_sd_chips;
// double narrow_code_rate_sd_chips_s;
// double narrow_carrier_phase_sd_rad;
// double narrow_carrier_freq_sd_hz;
//double narrow_carrier_freq_rate_sd_hz_s;
// initial Kalman covariance matrix (P)
double init_code_phase_sd_chips;
// double init_code_rate_sd_chips_s;
double init_carrier_phase_sd_rad;
double init_carrier_freq_sd_hz;
double init_carrier_freq_rate_sd_hz_s;
@ -96,9 +81,6 @@ public:
bool high_dyn;
bool dump;
bool dump_mat;
// bool enable_dynamic_measurement_covariance;
// bool use_estimated_cn0;
};
#endif