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Estimate code rate chips freq

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This commit is contained in:
Antonio Ramos 2018-09-10 21:29:44 +02:00
parent f22a1586c7
commit 0210f9a5ce
4 changed files with 40 additions and 14 deletions
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46
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -401,18 +401,19 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_carrier_phase_step_rad = 0.0; d_carrier_phase_step_rad = 0.0;
d_carrier_phase_rate_step_rad = 0.0; d_carrier_phase_rate_step_rad = 0.0;
d_rem_code_phase_chips = 0.0; d_rem_code_phase_chips = 0.0;
d_K_blk_samples = 0.0;
d_code_phase_samples = 0.0; d_code_phase_samples = 0.0;
d_last_prompt = gr_complex(0.0, 0.0); d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby d_state = 0; // initial state: standby
clear_tracking_vars(); clear_tracking_vars();
if (trk_parameters.smoother_length > 0) if (trk_parameters.smoother_length > 0)
{ {
d_cp_history.resize(trk_parameters.smoother_length); d_carr_ph_history.resize(trk_parameters.smoother_length);
d_code_ph_history.resize(trk_parameters.smoother_length);
} }
else else
{ {
d_cp_history.resize(1); d_carr_ph_history.resize(1);
d_code_ph_history.resize(1);
} }
} }
@ -459,7 +460,8 @@ void dll_pll_veml_tracking::start_tracking()
d_carrier_doppler_hz = d_acq_carrier_doppler_hz; d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in; d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
d_carrier_phase_rate_step_rad = 0.0; d_carrier_phase_rate_step_rad = 0.0;
d_cp_history.clear(); d_carr_ph_history.clear();
d_code_ph_history.clear();
// DLL/PLL filter initialization // DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter d_code_loop_filter.initialize(); // initialize the code filter
@ -810,17 +812,17 @@ void dll_pll_veml_tracking::update_tracking_vars()
//################### PLL COMMANDS ################################################# //################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample] // carrier phase step (NCO phase increment per sample) [rads/sample]
// carrier phase difference = carrier_phase(t2) - carrier_phase(t1) // carrier phase difference = carrier_phase(t2) - carrier_phase(t1)
double cp_diff = -d_carrier_phase_step_rad; // The previous cp value is stored in the variable double tmp_diff = -d_carrier_phase_step_rad; // The previous cp value is stored in the variable
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in; d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
cp_diff += d_carrier_phase_step_rad; // The new cp value is added to the previous in order to obtain the difference tmp_diff += d_carrier_phase_step_rad; // The new cp value is added to the previous in order to obtain the difference
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2] // carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
cp_diff /= static_cast<double>(d_current_prn_length_samples); tmp_diff /= static_cast<double>(d_current_prn_length_samples);
if (trk_parameters.high_dyn) if (trk_parameters.high_dyn)
{ {
d_cp_history.push_back(cp_diff); d_carr_ph_history.push_back(tmp_diff);
if (d_cp_history.full()) if (d_carr_ph_history.full())
{ {
d_carrier_phase_rate_step_rad = std::accumulate(d_cp_history.begin(), d_cp_history.end(), 0.0) / static_cast<double>(d_cp_history.size()); d_carrier_phase_rate_step_rad = std::accumulate(d_carr_ph_history.begin(), d_carr_ph_history.end(), 0.0) / static_cast<double>(d_carr_ph_history.size());
} }
} }
@ -835,7 +837,18 @@ void dll_pll_veml_tracking::update_tracking_vars()
//################### DLL COMMANDS ################################################# //################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample] // code phase step (Code resampler phase increment per sample) [chips/sample]
tmp_diff = -d_code_phase_step_chips;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in; d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
tmp_diff += d_code_phase_step_chips;
tmp_diff /= static_cast<double>(d_current_prn_length_samples);
if (trk_parameters.high_dyn)
{
d_code_ph_history.push_back(tmp_diff);
if (d_code_ph_history.full())
{
d_code_phase_rate_step_chips = std::accumulate(d_code_ph_history.begin(), d_code_ph_history.end(), 0.0) / static_cast<double>(d_code_ph_history.size());
}
}
// remnant code phase [chips] // remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in; d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
@ -983,6 +996,9 @@ void dll_pll_veml_tracking::log_data(bool integrating)
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float)); d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips; tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float)); d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// code phase rate [chips/s^2]
tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands // PLL commands
tmp_float = d_carr_error_hz; tmp_float = d_carr_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float)); d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@ -1020,7 +1036,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
// READ DUMP FILE // READ DUMP FILE
std::ifstream::pos_type size; std::ifstream::pos_type size;
int32_t number_of_double_vars = 1; int32_t number_of_double_vars = 1;
int32_t number_of_float_vars = 18; int32_t number_of_float_vars = 19;
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars + int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(uint32_t); sizeof(float) * number_of_float_vars + sizeof(uint32_t);
std::ifstream dump_file; std::ifstream dump_file;
@ -1058,6 +1074,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
float *carrier_doppler_hz = new float[num_epoch]; float *carrier_doppler_hz = new float[num_epoch];
float *carrier_doppler_rate_hz = new float[num_epoch]; float *carrier_doppler_rate_hz = new float[num_epoch];
float *code_freq_chips = new float[num_epoch]; float *code_freq_chips = new float[num_epoch];
float *code_freq_rate_chips = new float[num_epoch];
float *carr_error_hz = new float[num_epoch]; float *carr_error_hz = new float[num_epoch];
float *carr_error_filt_hz = new float[num_epoch]; float *carr_error_filt_hz = new float[num_epoch];
float *code_error_chips = new float[num_epoch]; float *code_error_chips = new float[num_epoch];
@ -1086,6 +1103,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float)); dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
@ -1114,6 +1132,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
delete[] carrier_doppler_hz; delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz; delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips; delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz; delete[] carr_error_hz;
delete[] carr_error_filt_hz; delete[] carr_error_filt_hz;
delete[] code_error_chips; delete[] code_error_chips;
@ -1184,6 +1203,10 @@ int32_t dll_pll_veml_tracking::save_matfile()
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0); matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
@ -1233,6 +1256,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
delete[] carrier_doppler_hz; delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz; delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips; delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz; delete[] carr_error_hz;
delete[] carr_error_filt_hz; delete[] carr_error_filt_hz;
delete[] code_error_chips; delete[] code_error_chips;

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@ -146,9 +146,10 @@ private:
double d_code_phase_step_chips; double d_code_phase_step_chips;
double d_code_phase_rate_step_chips; double d_code_phase_rate_step_chips;
boost::circular_buffer<double> d_code_ph_history;
double d_carrier_phase_step_rad; double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad; double d_carrier_phase_rate_step_rad;
boost::circular_buffer<double> d_cp_history; boost::circular_buffer<double> d_carr_ph_history;
// remaining code phase and carrier phase between tracking loops // remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples; double d_rem_code_phase_samples;
float d_rem_carr_phase_rad; float d_rem_carr_phase_rad;
@ -166,7 +167,6 @@ private:
double d_carr_error_filt_hz; double d_carr_error_filt_hz;
double d_code_error_chips; double d_code_error_chips;
double d_code_error_filt_chips; double d_code_error_filt_chips;
double d_K_blk_samples;
double d_code_freq_chips; double d_code_freq_chips;
double d_carrier_doppler_hz; double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad; double d_acc_carrier_phase_rad;

3
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
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@ -47,6 +47,7 @@ bool tracking_dump_reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz_s), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz_s), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(float)); d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(float));
@ -84,7 +85,7 @@ int64_t tracking_dump_reader::num_epochs()
{ {
std::ifstream::pos_type size; std::ifstream::pos_type size;
int number_of_double_vars = 1; int number_of_double_vars = 1;
int number_of_float_vars = 18; int number_of_float_vars = 19;
int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars + int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int); sizeof(float) * number_of_float_vars + sizeof(unsigned int);
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);

1
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h
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@ -65,6 +65,7 @@ public:
float carrier_doppler_hz; float carrier_doppler_hz;
float carrier_doppler_rate_hz_s; float carrier_doppler_rate_hz_s;
float code_freq_chips; float code_freq_chips;
float code_freq_rate_chips;
// PLL commands // PLL commands
float carr_error_hz; float carr_error_hz;