mirror of
https://github.com/gnss-sdr/gnss-sdr
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New GPS L1 CA tracking module GpsL1CaDllPllOptimTracking optimized for speed:
- The local code replica is pre-initialized and resampled to the nominal PRN code sample rate (no code Doppler correction) git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@242 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
0703dd2af3
commit
02ab6ce7d7
@ -0,0 +1,163 @@
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/*!
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* \file gps_l1_ca_dll_pll_optim_tracking.cc
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* \brief Interface of an adapter of a speed optimized DLL+PLL tracking loop block
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* for GPS L1 C/A to a TrackingInterface
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* \author Javier Arribas, 2012. jarribas(at)cttc.es
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*
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* GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
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* - Code Doppler is not compensated in the local replica
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* Code DLL + carrier PLL according to the algorithms described in:
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* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkha user, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* at your option) any later version.
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*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_dll_pll_optim_tracking.h"
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#include "GPS_L1_CA.h"
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#include "configuration_interface.h"
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#include <boost/math/special_functions/round.hpp>
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#include <gnuradio/gr_io_signature.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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using google::LogMessage;
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GpsL1CaDllPllOptimTracking::GpsL1CaDllPllOptimTracking(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams,
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gr_msg_queue_sptr queue) :
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role_(role), in_streams_(in_streams), out_streams_(out_streams),
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queue_(queue)
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{
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DLOG(INFO) << "role " << role;
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//################# CONFIGURATION PARAMETERS ########################
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int fs_in;
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int vector_length;
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int f_if;
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bool dump;
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std::string dump_filename;
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std::string item_type;
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std::string default_item_type = "gr_complex";
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float pll_bw_hz;
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float dll_bw_hz;
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float early_late_space_chips;
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item_type = configuration->property(role + ".item_type",default_item_type);
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//vector_length = configuration->property(role + ".vector_length", 2048);
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fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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f_if = configuration->property(role + ".if", 0);
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dump = configuration->property(role + ".dump", false);
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pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
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early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
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std::string default_dump_filename = "./track_ch";
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dump_filename = configuration->property(role + ".dump_filename",
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default_dump_filename); //unused!
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vector_length = round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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//################# MAKE TRACKING GNURadio object ###################
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if (item_type.compare("gr_complex") == 0)
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{
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item_size_ = sizeof(gr_complex);
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tracking_ = gps_l1_ca_dll_pll_make_optim_tracking_cc(
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f_if,
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fs_in,
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vector_length,
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queue_,
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dump,
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dump_filename,
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pll_bw_hz,
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dll_bw_hz,
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early_late_space_chips);
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}
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else
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{
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LOG_AT_LEVEL(WARNING) << item_type << " unknown tracking item type.";
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}
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DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
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}
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GpsL1CaDllPllOptimTracking::~GpsL1CaDllPllOptimTracking()
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{
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}
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void GpsL1CaDllPllOptimTracking::start_tracking()
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{
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tracking_->start_tracking();
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}
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/*
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* Set tracking channel unique ID
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*/
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void GpsL1CaDllPllOptimTracking::set_channel(unsigned int channel)
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{
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channel_ = channel;
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tracking_->set_channel(channel);
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}
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/*
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* Set tracking channel internal queue
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*/
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void GpsL1CaDllPllOptimTracking::set_channel_queue(
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concurrent_queue<int> *channel_internal_queue)
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{
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channel_internal_queue_ = channel_internal_queue;
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tracking_->set_channel_queue(channel_internal_queue_);
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}
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void GpsL1CaDllPllOptimTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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tracking_->set_gnss_synchro(p_gnss_synchro);
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}
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void GpsL1CaDllPllOptimTracking::connect(gr_top_block_sptr top_block)
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{
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//nothing to connect, now the tracking uses gr_sync_decimator
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}
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void GpsL1CaDllPllOptimTracking::disconnect(gr_top_block_sptr top_block)
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{
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//nothing to disconnect, now the tracking uses gr_sync_decimator
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}
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gr_basic_block_sptr GpsL1CaDllPllOptimTracking::get_left_block()
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{
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return tracking_;
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}
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gr_basic_block_sptr GpsL1CaDllPllOptimTracking::get_right_block()
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{
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return tracking_;
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}
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@ -0,0 +1,115 @@
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/*!
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* \file gps_l1_ca_dll_pll_optim_tracking.h
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* \brief Interface of an adapter of a speed optimized DLL+PLL tracking loop block
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* for GPS L1 C/A to a TrackingInterface
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* \author Javier Arribas, 2012. jarribas(at)cttc.es
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*
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* GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
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* - Code Doppler is not compensated in the local replica
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* Code DLL + carrier PLL according to the algorithms described in:
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* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkha user, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
|
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*
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* This file is part of GNSS-SDR.
|
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*
|
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* GNSS-SDR is free software: you can redistribute it and/or modify
|
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* at your option) any later version.
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*
|
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
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#define GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
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#include "tracking_interface.h"
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#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
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#include <gnuradio/gr_msg_queue.h>
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class ConfigurationInterface;
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/*!
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* \brief This class implements a code DLL + carrier PLL tracking loop
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*/
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class GpsL1CaDllPllOptimTracking : public TrackingInterface
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{
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public:
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GpsL1CaDllPllOptimTracking(ConfigurationInterface* configuration,
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std::string role,
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unsigned int in_streams,
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unsigned int out_streams,
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gr_msg_queue_sptr queue);
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virtual ~GpsL1CaDllPllOptimTracking();
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std::string role()
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{
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return role_;
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}
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std::string implementation()
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{
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return "GPS_L1_CA_DLL_PLL_Optim_Tracking";
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}
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size_t item_size()
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{
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return item_size_;
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}
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void connect(gr_top_block_sptr top_block);
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void disconnect(gr_top_block_sptr top_block);
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gr_basic_block_sptr get_left_block();
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gr_basic_block_sptr get_right_block();
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/*!
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* \brief Set tracking channel unique ID
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*/
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void set_channel(unsigned int channel);
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/*!
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* \brief Set acquisition/tracking common Gnss_Synchro object pointer
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* to efficiently exchange synchronization data between acquisition and tracking blocks
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*/
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void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
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/*!
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* \brief Set tracking channel internal queue
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*/
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void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
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void start_tracking();
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private:
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gps_l1_ca_dll_pll_optim_tracking_cc_sptr tracking_;
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size_t item_size_;
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unsigned int channel_;
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std::string role_;
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unsigned int in_streams_;
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unsigned int out_streams_;
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gr_msg_queue_sptr queue_;
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concurrent_queue<int> *channel_internal_queue_;
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};
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#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
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@ -3,4 +3,5 @@ project : build-dir ../../../../build ;
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obj gps_l1_ca_dll_pll_tracking : gps_l1_ca_dll_pll_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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obj gps_l1_ca_dll_fll_pll_tracking : gps_l1_ca_dll_fll_pll_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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obj gps_l1_ca_tcp_connector_tracking : gps_l1_ca_tcp_connector_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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obj galileo_e1_dll_pll_veml_tracking : galileo_e1_dll_pll_veml_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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obj galileo_e1_dll_pll_veml_tracking : galileo_e1_dll_pll_veml_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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obj gps_l1_ca_dll_pll_optim_tracking : gps_l1_ca_dll_pll_optim_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
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@ -0,0 +1,688 @@
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/*!
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* \file gps_l1_ca_dll_pll_optim_tracking_cc.cc
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* \brief Implementation of a code DLL + carrier PLL tracking block
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* \author Javier Arribas, 2012. jarribas(at)cttc.es
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* GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
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* - Code Doppler is not compensated in the local replica
|
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
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*
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* -------------------------------------------------------------------------
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*
|
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
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*
|
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* GNSS-SDR is a software defined Global Navigation
|
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* 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,
|
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* 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
|
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_synchro.h"
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#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
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#include "gps_sdr_signal_processing.h"
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#include "tracking_discriminators.h"
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#include "CN_estimators.h"
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#include "GPS_L1_CA.h"
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#include "control_message_factory.h"
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#include <boost/lexical_cast.hpp>
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#include <iostream>
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#include <sstream>
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#include <cmath>
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#include "math.h"
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#include <gnuradio/gr_io_signature.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include <gr_fxpt.h>
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/*!
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* \todo Include in definition header file
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*/
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#define CN0_ESTIMATION_SAMPLES 10
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#define MINIMUM_VALID_CN0 25
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#define MAXIMUM_LOCK_FAIL_COUNTER 200
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using google::LogMessage;
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gps_l1_ca_dll_pll_optim_tracking_cc_sptr
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gps_l1_ca_dll_pll_make_optim_tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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gr_msg_queue_sptr queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips)
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{
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return gps_l1_ca_dll_pll_optim_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(if_freq,
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fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
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}
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void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::forecast (int noutput_items,
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gr_vector_int &ninput_items_required)
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{
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ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
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}
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Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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gr_msg_queue_sptr queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips) :
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gr_block ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
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gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
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{
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//gr_sync_decimator ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
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// gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
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// initialize internal vars
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d_queue = queue;
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d_dump = dump;
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d_if_freq = if_freq;
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d_fs_in = fs_in;
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d_vector_length = vector_length;
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d_dump_filename = dump_filename;
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// Initialize tracking ==========================================
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d_code_loop_filter.set_DLL_BW(dll_bw_hz);
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d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
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//--- DLL variables --------------------------------------------------------
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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// Initialization of local code replica
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// Get space for a vector with the C/A code replica sampled 1x/chip
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d_ca_code = new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 2];
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d_carr_sign = new gr_complex[d_vector_length*2];
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/* If an array is partitioned for more than one thread to operate on,
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* having the sub-array boundaries unaligned to cache lines could lead
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* to performance degradation. Here we allocate memory
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* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
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*/
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// todo: do something if posix_memalign fails
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// Get space for the resampled early / prompt / late local replicas
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if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
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if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
// space for carrier wipeoff and signal baseband vectors
|
||||
if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
// correlator outputs (scalar)
|
||||
if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
|
||||
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carr_phase_rad = 0.0;
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0;
|
||||
//d_sample_counter_seconds = 0;
|
||||
d_acq_sample_stamp = 0;
|
||||
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
d_last_seg = 0;
|
||||
|
||||
d_current_prn_length_samples = (int)d_vector_length;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = 20;
|
||||
|
||||
systemName["G"] = std::string("GPS");
|
||||
systemName["R"] = std::string("GLONASS");
|
||||
systemName["S"] = std::string("SBAS");
|
||||
systemName["E"] = std::string("Galileo");
|
||||
systemName["C"] = std::string("Compass");
|
||||
}
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::start_tracking()
|
||||
{
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
unsigned long int acq_trk_diff_samples;
|
||||
float acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
|
||||
std::cout << "acq_trk_diff_samples=" << acq_trk_diff_samples << std::endl;
|
||||
acq_trk_diff_seconds = (float)acq_trk_diff_samples / (float)d_fs_in;
|
||||
//doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
float radial_velocity;
|
||||
radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
float T_chip_mod_seconds;
|
||||
float T_prn_mod_seconds;
|
||||
float T_prn_mod_samples;
|
||||
d_code_freq_hz = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
||||
T_chip_mod_seconds = 1/d_code_freq_hz;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * (float)d_fs_in;
|
||||
|
||||
d_next_prn_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
|
||||
float T_prn_diff_seconds;
|
||||
T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
float N_prn_diff;
|
||||
N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
float corrected_acq_phase_samples, delay_correction_samples;
|
||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * (float)d_fs_in), T_prn_true_samples);
|
||||
if (corrected_acq_phase_samples < 0)
|
||||
{
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_carrier_doppler_hz); //initialize the carrier filter
|
||||
d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
|
||||
d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
|
||||
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
|
||||
|
||||
|
||||
//******************************************************************************
|
||||
// Experimental: pre-sampled local signal replica at nominal code frequency.
|
||||
// No code doppler correction
|
||||
|
||||
// unified loop for E, P, L code vectors
|
||||
double code_phase_step_chips;
|
||||
code_phase_step_chips = (GPS_L1_CA_CODE_RATE_HZ / (double)d_fs_in);
|
||||
double tcode_chips = 0;
|
||||
// Alternative EPL code generation (40% of speed improvement!)
|
||||
int early_late_spc_samples;
|
||||
early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
|
||||
double epl_loop_length_samples;
|
||||
epl_loop_length_samples=d_current_prn_length_samples+early_late_spc_samples*2;
|
||||
int associated_chip_index;
|
||||
int code_length_chips = (int)GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
for (int i=0; i<epl_loop_length_samples; i++)
|
||||
{
|
||||
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
|
||||
d_early_code[i] = d_ca_code[associated_chip_index];
|
||||
tcode_chips = tcode_chips + d_code_phase_step_chips;
|
||||
}
|
||||
|
||||
memcpy(d_prompt_code,&d_early_code[early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_late_code,&d_early_code[early_late_spc_samples*2],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
|
||||
//******************************************************************************
|
||||
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0;
|
||||
d_rem_carr_phase_rad = 0;
|
||||
d_rem_code_phase_samples = 0;
|
||||
d_next_rem_code_phase_samples = 0;
|
||||
d_acc_carrier_phase_rad = 0;
|
||||
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0,1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
DLOG(INFO) << "Start tracking for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " received" << std::endl;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
|
||||
std::cout << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
|
||||
}
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_code()
|
||||
{
|
||||
double tcode_chips;
|
||||
double rem_code_phase_chips;
|
||||
int associated_chip_index;
|
||||
int code_length_chips = (int)GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double code_phase_step_chips;
|
||||
int early_late_spc_samples;
|
||||
int epl_loop_length_samples;
|
||||
|
||||
// unified loop for E, P, L code vectors
|
||||
code_phase_step_chips = ((double)d_code_freq_hz) / ((double)d_fs_in);
|
||||
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_hz / d_fs_in);
|
||||
tcode_chips = -rem_code_phase_chips;
|
||||
|
||||
// Alternative EPL code generation (40% of speed improvement!)
|
||||
early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
|
||||
epl_loop_length_samples=d_current_prn_length_samples+early_late_spc_samples*2;
|
||||
for (int i=0; i<epl_loop_length_samples; i++)
|
||||
{
|
||||
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
|
||||
d_early_code[i] = d_ca_code[associated_chip_index];
|
||||
tcode_chips = tcode_chips + d_code_phase_step_chips;
|
||||
}
|
||||
|
||||
memcpy(d_prompt_code,&d_early_code[early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_late_code,&d_early_code[early_late_spc_samples*2],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_carrier()
|
||||
{
|
||||
float phase_rad, phase_step_rad;
|
||||
|
||||
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
|
||||
phase_rad = d_rem_carr_phase_rad;
|
||||
|
||||
int phase_rad_i;
|
||||
phase_rad_i=gr_fxpt::float_to_fixed(phase_rad);
|
||||
int phase_step_rad_i;
|
||||
phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
|
||||
|
||||
float sin_f,cos_f;
|
||||
|
||||
for(int i = 0; i < d_current_prn_length_samples; i++)
|
||||
{
|
||||
//using temp variables
|
||||
gr_fxpt::sincos(phase_rad_i,&sin_f,&cos_f);
|
||||
d_carr_sign[i] = gr_complex(cos_f, sin_f);
|
||||
//using references (may be it can be a problem for c++11 standard
|
||||
//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
|
||||
|
||||
phase_rad_i += phase_step_rad_i;
|
||||
|
||||
// Using std::cos and std::sin
|
||||
//d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
|
||||
}
|
||||
|
||||
d_rem_carr_phase_rad = fmod(gr_fxpt::fixed_to_float(phase_rad_i), GPS_TWO_PI);
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc()
|
||||
{
|
||||
d_dump_file.close();
|
||||
|
||||
free(d_prompt_code);
|
||||
free(d_late_code);
|
||||
free(d_early_code);
|
||||
free(d_carr_sign);
|
||||
free(d_Early);
|
||||
free(d_Prompt);
|
||||
free(d_Late);
|
||||
|
||||
delete[] d_ca_code;
|
||||
delete[] d_Prompt_buffer;
|
||||
}
|
||||
|
||||
|
||||
/* Tracking signal processing
|
||||
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
|
||||
*/
|
||||
|
||||
int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
|
||||
// process vars
|
||||
float carr_error;
|
||||
float carr_nco;
|
||||
float code_error;
|
||||
float code_nco;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
/*
|
||||
* Receiver signal alignment
|
||||
*/
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
|
||||
// 28/11/2011 ACQ to TRK transition BUG CORRECTION
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
|
||||
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
consume_each(samples_offset); //shift input to perform alignement with local replica
|
||||
return 1;
|
||||
}
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
|
||||
// Update the prn length based on code freq (variable) and
|
||||
// sampling frequency (fixed)
|
||||
// variable code PRN sample block size
|
||||
d_current_prn_length_samples = d_next_prn_length_samples;
|
||||
|
||||
//update_local_code();
|
||||
update_local_carrier();
|
||||
|
||||
// perform Early, Prompt and Late correlation
|
||||
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
|
||||
in,
|
||||
d_carr_sign,
|
||||
d_early_code,
|
||||
d_prompt_code,
|
||||
d_late_code,
|
||||
d_Early,
|
||||
d_Prompt,
|
||||
d_Late,
|
||||
is_unaligned());
|
||||
|
||||
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
|
||||
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true )// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
const int samples_available = ninput_items[0];
|
||||
d_sample_counter = d_sample_counter + samples_available;
|
||||
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
|
||||
consume_each(samples_available);
|
||||
|
||||
// make an output to not stop the rest of the processing blocks
|
||||
current_synchro_data.Prompt_I=0.0;
|
||||
current_synchro_data.Prompt_Q=0.0;
|
||||
current_synchro_data.Tracking_timestamp_secs=(double)d_sample_counter/(double)d_fs_in;
|
||||
current_synchro_data.Carrier_phase_rads=0.0;
|
||||
current_synchro_data.Code_phase_secs=0.0;
|
||||
current_synchro_data.CN0_dB_hz=0.0;
|
||||
current_synchro_data.Flag_valid_tracking=false;
|
||||
|
||||
*out[0] =current_synchro_data;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Compute PLL error and update carrier NCO -
|
||||
carr_error = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
|
||||
// Implement carrier loop filter and generate NCO command
|
||||
carr_nco = d_carrier_loop_filter.get_carrier_nco(carr_error);
|
||||
// Modify carrier freq based on NCO command
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_nco;
|
||||
|
||||
// Compute DLL error and update code NCO
|
||||
code_error = dll_nc_e_minus_l_normalized(*d_Early, *d_Late);
|
||||
// Implement code loop filter and generate NCO command
|
||||
code_nco = d_code_loop_filter.get_code_nco(code_error);
|
||||
// Modify code freq based on NCO command
|
||||
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ - code_nco;
|
||||
|
||||
// Update the phasestep based on code freq (variable) and
|
||||
// sampling frequency (fixed)
|
||||
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
||||
// variable code PRN sample block size
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
T_chip_seconds = 1 / d_code_freq_hz;
|
||||
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * d_fs_in;
|
||||
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
|
||||
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
||||
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
|
||||
|
||||
/*!
|
||||
* \todo Improve the lock detection algorithm!
|
||||
*/
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_CN0_SNV_dB_Hz = gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// ###### TRACKING UNLOCK NOTIFICATION #####
|
||||
if (std::abs(d_carrier_lock_test) > d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
|
||||
//tracking_message = 3; //loss of lock
|
||||
//d_channel_internal_queue->push(tracking_message);
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
if (d_queue != gr_msg_queue_sptr()) {
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
|
||||
}
|
||||
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
|
||||
}
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
|
||||
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
|
||||
// Tracking_timestamp_secs is aligned with the PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs=0;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
*/
|
||||
// debug: Second counter in channel 0
|
||||
if (d_channel == 0)
|
||||
{
|
||||
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||
{
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||
{
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
*d_Early = gr_complex(0,0);
|
||||
*d_Prompt = gr_complex(0,0);
|
||||
*d_Late = gr_complex(0,0);
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
|
||||
//std::cout<<output_items.size()<<std::endl;
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
*out[0] = current_synchro_data;
|
||||
}
|
||||
|
||||
if(d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_float;
|
||||
double tmp_double;
|
||||
prompt_I = (*d_Prompt).imag();
|
||||
prompt_Q = (*d_Prompt).real();
|
||||
tmp_E = std::abs<float>(*d_Early);
|
||||
tmp_P = std::abs<float>(*d_Prompt);
|
||||
tmp_L = std::abs<float>(*d_Late);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
||||
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
||||
|
||||
// carrier and code frequency
|
||||
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write((char*)&carr_error, sizeof(float));
|
||||
d_dump_file.write((char*)&carr_nco, sizeof(float));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write((char*)&code_error, sizeof(float));
|
||||
d_dump_file.write((char*)&code_nco, sizeof(float));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "Exception writing trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in );
|
||||
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump==true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
std::cout << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
d_channel_internal_queue = channel_internal_queue;
|
||||
}
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
|
||||
}
|
||||
@ -0,0 +1,202 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_optim_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Javier Arribas, 2012. jarribas(at)cttc.es
|
||||
* GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
|
||||
* - Code Doppler is not compensated in the local replica
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (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 <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
|
||||
|
||||
#include <fstream>
|
||||
#include <queue>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/gr_block.h>
|
||||
#include <gnuradio/gr_msg_queue.h>
|
||||
//#include <gnuradio/gr_sync_decimator.h>
|
||||
#include "concurrent_queue.h"
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
|
||||
#include "correlator.h"
|
||||
|
||||
|
||||
|
||||
class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc;
|
||||
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc>
|
||||
gps_l1_ca_dll_pll_optim_tracking_cc_sptr;
|
||||
|
||||
gps_l1_ca_dll_pll_optim_tracking_cc_sptr
|
||||
gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips);
|
||||
|
||||
//class gps_l1_ca_dll_pll_tracking_cc: public gr_sync_decimator
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc: public gr_block
|
||||
{
|
||||
public:
|
||||
|
||||
~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*
|
||||
* \brief just like gr_block::general_work, only this arranges to call consume_each for you
|
||||
*
|
||||
* The user must override work to define the signal processing code
|
||||
*/
|
||||
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
|
||||
|
||||
|
||||
private:
|
||||
|
||||
friend gps_l1_ca_dll_pll_optim_tracking_cc_sptr
|
||||
gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips);
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips);
|
||||
void update_local_code();
|
||||
void update_local_carrier();
|
||||
|
||||
// tracking configuration vars
|
||||
gr_msg_queue_sptr d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
int d_last_seg;
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
|
||||
double d_code_phase_step_chips;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
|
||||
gr_complex* d_early_code;
|
||||
gr_complex* d_late_code;
|
||||
gr_complex* d_prompt_code;
|
||||
gr_complex* d_carr_sign;
|
||||
|
||||
gr_complex *d_Early;
|
||||
gr_complex *d_Prompt;
|
||||
gr_complex *d_Late;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
float d_rem_code_phase_samples;
|
||||
float d_next_rem_code_phase_samples;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_2nd_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
float d_acq_code_phase_samples;
|
||||
float d_acq_carrier_doppler_hz;
|
||||
// correlator
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_hz;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_code_phase_samples;
|
||||
|
||||
//PRN period in samples
|
||||
int d_current_prn_length_samples;
|
||||
int d_next_prn_length_samples;
|
||||
//double d_sample_counter_seconds;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
float d_carrier_lock_test;
|
||||
float d_CN0_SNV_dB_Hz;
|
||||
float d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
|
||||
@ -4,3 +4,4 @@ obj gps_l1_ca_dll_pll_tracking_cc : gps_l1_ca_dll_pll_tracking_cc.cc : <toolset>
|
||||
obj gps_l1_ca_dll_fll_pll_tracking_cc : gps_l1_ca_dll_fll_pll_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_tcp_connector_tracking_cc : gps_l1_ca_tcp_connector_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj galileo_e1_dll_pll_veml_tracking_cc : galileo_e1_dll_pll_veml_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_dll_pll_optim_tracking_cc : gps_l1_ca_dll_pll_optim_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
|
||||
@ -56,6 +56,7 @@
|
||||
#include "gps_l1_ca_pcps_acquisition.h"
|
||||
#include "galileo_e1_pcps_ambiguous_acquisition.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking.h"
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
#include "gps_l1_ca_tcp_connector_tracking.h"
|
||||
#include "galileo_e1_dll_pll_veml_tracking.h"
|
||||
@ -352,6 +353,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
|
||||
block = new GpsL1CaDllPllTracking(configuration, role, in_streams,
|
||||
out_streams, queue);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Optim_Tracking") == 0)
|
||||
{
|
||||
block = new GpsL1CaDllPllOptimTracking(configuration, role, in_streams,
|
||||
out_streams, queue);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_DLL_FLL_PLL_Tracking") == 0)
|
||||
{
|
||||
block = new GpsL1CaDllFllPllTracking(configuration, role, in_streams,
|
||||
|
||||
@ -51,10 +51,12 @@ exe gnss-sdr : main.cc
|
||||
../algorithms/PVT/adapters//gps_l1_ca_pvt
|
||||
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_optim_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc
|
||||
|
||||
@ -48,10 +48,12 @@ exe run_tests : test_main.cc
|
||||
../algorithms/PVT/adapters//gps_l1_ca_pvt
|
||||
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_optim_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user