From 5aec66f85e4b3238da9de7121997a248cccd8e9f Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 20:31:53 +0200 Subject: [PATCH 1/7] CMake fix --- .../cmake/Modules/VolkGnsssdrConfigVersion.cmake.in | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in index 265daeb8e..84dbe0b29 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in @@ -29,6 +29,6 @@ if(${PACKAGE_FIND_VERSION_MAJOR} EQUAL ${MAJOR_VERSION}) if(NOT ${PACKAGE_FIND_VERSION_PATCH} GREATER ${MAINT_VERSION}) set(PACKAGE_VERSION_EXACT 1) # exact match for API version set(PACKAGE_VERSION_COMPATIBLE 1) # compat for minor/patch version - endif(NOT ${PACKAGE_FIND_VERSION_PATCH} GREATER ${MINOR_VERSION}) - endif(${PACKAGE_FIND_VERSION_MINOR} EQUAL ${API_COMPAT}) + endif(NOT ${PACKAGE_FIND_VERSION_PATCH} GREATER ${MAINT_VERSION}) + endif(${PACKAGE_FIND_VERSION_MINOR} EQUAL ${MINOR_VERSION}) endif(${PACKAGE_FIND_VERSION_MAJOR} EQUAL ${MAJOR_VERSION}) From b9c2614fc3ec8645387034e69fcfd5807ffa05f2 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 20:58:48 +0200 Subject: [PATCH 2/7] Fix bug in saving data into a .mat file --- .../tracking/gnuradio_blocks/dll_pll_veml_tracking.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index a89dfefc9..887943acc 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -1100,7 +1100,7 @@ int dll_pll_veml_tracking::save_matfile() if (reinterpret_cast(matfp) != NULL) { size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); + matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); @@ -1116,7 +1116,7 @@ int dll_pll_veml_tracking::save_matfile() Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); - matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); + matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL, 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); From c9925e07db504af26f4a038ca54ce7014a105932 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 21:04:01 +0200 Subject: [PATCH 3/7] Initialize missing parameter --- .../acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc index 81773e326..821d61acb 100644 --- a/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc +++ b/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc @@ -72,6 +72,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition( use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_; max_dwells_ = configuration_->property(role + ".max_dwells", 1); + acq_parameters.max_dwells = max_dwells_; dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); acq_parameters.dump_filename = dump_filename_; From 8a4b51bf380ff5ee9392c7d7d0bc3ffde5788ced Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 21:15:51 +0200 Subject: [PATCH 4/7] Use dll_pll_veml_tracking tracking block for GPS L2C --- .../adapters/gps_l2_m_dll_pll_tracking.cc | 62 +- .../adapters/gps_l2_m_dll_pll_tracking.h | 4 +- .../tracking/gnuradio_blocks/CMakeLists.txt | 1 - .../gps_l2_m_dll_pll_tracking_cc.cc | 761 ------------------ .../gps_l2_m_dll_pll_tracking_cc.h | 165 ---- 5 files changed, 22 insertions(+), 971 deletions(-) delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h diff --git a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc index 563316bf5..9bee8e419 100644 --- a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc @@ -60,7 +60,6 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking( if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast(FLAGS_pll_bw_hz); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast(FLAGS_dll_bw_hz); - unified_ = configuration->property(role + ".unified", false); float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); std::string default_dump_filename = "./track_ch"; std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); @@ -79,26 +78,17 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking( if (item_type.compare("gr_complex") == 0) { item_size_ = sizeof(gr_complex); - if (unified_) - { - char sig_[3] = "2S"; - item_size_ = sizeof(gr_complex); - tracking_unified_ = dll_pll_veml_make_tracking( - fs_in, vector_length, dump, dump_filename, - pll_bw_hz, dll_bw_hz, pll_bw_hz, dll_bw_hz, - early_late_space_chips, - early_late_space_chips, - early_late_space_chips, - early_late_space_chips, - 1, false, 'G', sig_); - } - else - { - tracking_ = gps_l2_m_dll_pll_make_tracking_cc( - 0, fs_in, vector_length, dump, - dump_filename, pll_bw_hz, dll_bw_hz, - early_late_space_chips); - } + + char sig_[3] = "2S"; + item_size_ = sizeof(gr_complex); + tracking_ = dll_pll_veml_make_tracking( + fs_in, vector_length, dump, dump_filename, + pll_bw_hz, dll_bw_hz, pll_bw_hz, dll_bw_hz, + early_late_space_chips, + early_late_space_chips, + early_late_space_chips, + early_late_space_chips, + 1, false, 'G', sig_); } else { @@ -117,33 +107,26 @@ GpsL2MDllPllTracking::~GpsL2MDllPllTracking() void GpsL2MDllPllTracking::start_tracking() { - if (unified_) - tracking_unified_->start_tracking(); - else - tracking_->start_tracking(); + tracking_->start_tracking(); } + /* * Set tracking channel unique ID */ void GpsL2MDllPllTracking::set_channel(unsigned int channel) { channel_ = channel; - if (unified_) - tracking_unified_->set_channel(channel); - else - tracking_->set_channel(channel); + tracking_->set_channel(channel); } void GpsL2MDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) { - if (unified_) - tracking_unified_->set_gnss_synchro(p_gnss_synchro); - else - tracking_->set_gnss_synchro(p_gnss_synchro); + tracking_->set_gnss_synchro(p_gnss_synchro); } + void GpsL2MDllPllTracking::connect(gr::top_block_sptr top_block) { if (top_block) @@ -152,6 +135,7 @@ void GpsL2MDllPllTracking::connect(gr::top_block_sptr top_block) //nothing to connect, now the tracking uses gr_sync_decimator } + void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block) { if (top_block) @@ -160,18 +144,14 @@ void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block) //nothing to disconnect, now the tracking uses gr_sync_decimator } + gr::basic_block_sptr GpsL2MDllPllTracking::get_left_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } + gr::basic_block_sptr GpsL2MDllPllTracking::get_right_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } diff --git a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h index 77741e9b1..4717d0f5f 100644 --- a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h @@ -39,7 +39,6 @@ #define GNSS_SDR_gps_l2_m_dll_pll_tracking_H_ #include "tracking_interface.h" -#include "gps_l2_m_dll_pll_tracking_cc.h" #include "dll_pll_veml_tracking.h" #include @@ -93,8 +92,7 @@ public: void start_tracking() override; private: - gps_l2_m_dll_pll_tracking_cc_sptr tracking_; - dll_pll_veml_tracking_sptr tracking_unified_; + dll_pll_veml_tracking_sptr tracking_; size_t item_size_; unsigned int channel_; std::string role_; diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt index 3c3fb03d7..c30beee68 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -30,7 +30,6 @@ set(TRACKING_GR_BLOCKS_SOURCES galileo_e1_tcp_connector_tracking_cc.cc gps_l1_ca_tcp_connector_tracking_cc.cc galileo_e5a_dll_pll_tracking_cc.cc - gps_l2_m_dll_pll_tracking_cc.cc gps_l5i_dll_pll_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_sc.cc diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc deleted file mode 100644 index 7d53de441..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc +++ /dev/null @@ -1,761 +0,0 @@ -/*! - * \file gps_l2_m_dll_pll_tracking_cc.cc - * \brief Implementation of a code DLL + carrier PLL tracking block for GPS L2C - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#include "gps_l2_m_dll_pll_tracking_cc.h" -#include "gps_l2c_signal.h" -#include "tracking_discriminators.h" -#include "lock_detectors.h" -#include "GPS_L2C.h" -#include "control_message_factory.h" -#include "gnss_sdr_flags.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using google::LogMessage; - -gps_l2_m_dll_pll_tracking_cc_sptr -gps_l2_m_dll_pll_make_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips) -{ - return gps_l2_m_dll_pll_tracking_cc_sptr(new gps_l2_m_dll_pll_tracking_cc(if_freq, - fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips)); -} - - -void gps_l2_m_dll_pll_tracking_cc::forecast(int noutput_items, - gr_vector_int &ninput_items_required) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call - } -} - - -gps_l2_m_dll_pll_tracking_cc::gps_l2_m_dll_pll_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips) : gr::block("gps_l2_m_dll_pll_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) -{ - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); - this->message_port_register_out(pmt::mp("events")); - // initialize internal vars - d_dump = dump; - d_if_freq = if_freq; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_dump_filename = dump_filename; - - d_current_prn_length_samples = static_cast(d_vector_length); - - // DLL/PLL filter initialization - d_carrier_loop_filter = Tracking_2nd_PLL_filter(GPS_L2_M_PERIOD); - d_code_loop_filter = Tracking_2nd_DLL_filter(GPS_L2_M_PERIOD); - - // Initialize tracking ========================================== - d_code_loop_filter.set_DLL_BW(dll_bw_hz); - d_carrier_loop_filter.set_PLL_BW(pll_bw_hz); - - //--- DLL variables -------------------------------------------------------- - d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) - - // Initialization of local code replica - // Get space for a vector with the C/A code replica sampled 1x/chip - d_ca_code = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - // correlator outputs (scalar) - d_n_correlator_taps = 3; // Early, Prompt, and Late - d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = -d_early_late_spc_chips; - d_local_code_shift_chips[1] = 0.0; - d_local_code_shift_chips[2] = d_early_late_spc_chips; - - multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps); - - //--- Perform initializations ------------------------------ - // define initial code frequency basis of NCO - d_code_freq_chips = GPS_L2_M_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; - - // CN0 estimation and lock detector buffers - d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; - d_carrier_lock_test = 1; - d_CN0_SNV_dB_Hz = 0; - d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; - - systemName["G"] = std::string("GPS"); - - //set_min_output_buffer((long int)300); - - d_acquisition_gnss_synchro = 0; - d_channel = 0; - d_acq_code_phase_samples = 0.0; - d_acq_carrier_doppler_hz = 0.0; - d_carrier_doppler_hz = 0.0; - d_acc_carrier_phase_rad = 0.0; - d_code_phase_samples = 0.0; - - d_rem_code_phase_chips = 0.0; - d_code_phase_step_chips = 0.0; - d_carrier_phase_step_rad = 0.0; - - set_relative_rate(1.0 / static_cast(d_vector_length)); -} - - -void gps_l2_m_dll_pll_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; - - long int acq_trk_diff_samples; - double acq_trk_diff_seconds; - acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; - DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples; - acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); - // Doppler effect - // Fd=(C/(C+Vr))*F - double radial_velocity = (GPS_L2_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L2_FREQ_HZ; - // new chip and prn sequence periods based on acq Doppler - double T_chip_mod_seconds; - double T_prn_mod_seconds; - double T_prn_mod_samples; - d_code_freq_chips = radial_velocity * GPS_L2_M_CODE_RATE_HZ; - d_code_phase_step_chips = static_cast(d_code_freq_chips) / static_cast(d_fs_in); - T_chip_mod_seconds = 1 / d_code_freq_chips; - T_prn_mod_seconds = T_chip_mod_seconds * GPS_L2_M_CODE_LENGTH_CHIPS; - T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); - - d_current_prn_length_samples = round(T_prn_mod_samples); - - double T_prn_true_seconds = GPS_L2_M_CODE_LENGTH_CHIPS / GPS_L2_M_CODE_RATE_HZ; - double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); - double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; - double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; - double corrected_acq_phase_samples, delay_correction_samples; - corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(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; - d_carrier_phase_step_rad = GPS_L2_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - - // DLL/PLL filter initialization - d_carrier_loop_filter.initialize(); // initialize the carrier filter - d_code_loop_filter.initialize(); // initialize the code filter - - // generate local reference ALWAYS starting at chip 1 (1 sample per chip) - gps_l2c_m_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN); - - multicorrelator_cpu.set_local_code_and_taps(static_cast(GPS_L2_M_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - - d_carrier_lock_fail_counter = 0; - d_rem_code_phase_samples = 0; - d_rem_carr_phase_rad = 0.0; - d_rem_code_phase_chips = 0.0; - d_acc_carrier_phase_rad = 0.0; - - 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 of GPS L2CM signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting GPS L2CM tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - - // enable tracking - d_pull_in = true; - d_enable_tracking = true; - - LOG(INFO) << "GPS L2CM 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; -} - - -int gps_l2_m_dll_pll_tracking_cc::save_matfile() -{ - // READ DUMP FILE - std::ifstream::pos_type size; - int number_of_double_vars = 11; - int number_of_float_vars = 5; - int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(unsigned int); - std::ifstream dump_file; - dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - try - { - dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem opening dump file:" << e.what() << std::endl; - return 1; - } - // count number of epochs and rewind - long int num_epoch = 0; - if (dump_file.is_open()) - { - size = dump_file.tellg(); - num_epoch = static_cast(size) / static_cast(epoch_size_bytes); - dump_file.seekg(0, std::ios::beg); - } - else - { - return 1; - } - float *abs_E = new float[num_epoch]; - float *abs_P = new float[num_epoch]; - float *abs_L = new float[num_epoch]; - float *Prompt_I = new float[num_epoch]; - float *Prompt_Q = new float[num_epoch]; - unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch]; - double *acc_carrier_phase_rad = new double[num_epoch]; - double *carrier_doppler_hz = new double[num_epoch]; - double *code_freq_chips = new double[num_epoch]; - double *carr_error_hz = new double[num_epoch]; - double *carr_error_filt_hz = new double[num_epoch]; - double *code_error_chips = new double[num_epoch]; - double *code_error_filt_chips = new double[num_epoch]; - double *CN0_SNV_dB_Hz = new double[num_epoch]; - double *carrier_lock_test = new double[num_epoch]; - double *aux1 = new double[num_epoch]; - double *aux2 = new double[num_epoch]; - unsigned int *PRN = new unsigned int[num_epoch]; - - try - { - if (dump_file.is_open()) - { - for (long int i = 0; i < num_epoch; i++) - { - dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_P[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_L[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_I[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_Q[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&PRN_start_sample_count[i]), sizeof(unsigned long int)); - dump_file.read(reinterpret_cast(&acc_carrier_phase_rad[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_doppler_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_freq_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_filt_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_filt_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&CN0_SNV_dB_Hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_lock_test[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux1[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux2[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&PRN[i]), sizeof(unsigned int)); - } - } - dump_file.close(); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 1; - } - - // WRITE MAT FILE - mat_t *matfp; - matvar_t *matvar; - std::string filename = d_dump_filename; - filename.erase(filename.length() - 4, 4); - filename.append(".mat"); - matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); - if (reinterpret_cast(matfp) != NULL) - { - size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - } - Mat_Close(matfp); - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 0; -} - - -gps_l2_m_dll_pll_tracking_cc::~gps_l2_m_dll_pll_tracking_cc() -{ - if (d_dump_file.is_open()) - { - try - { - d_dump_file.close(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } - } - if (d_dump) - { - if (d_channel == 0) - { - std::cout << "Writing .mat files ..."; - } - gps_l2_m_dll_pll_tracking_cc::save_matfile(); - if (d_channel == 0) - { - std::cout << " done." << std::endl; - } - } - try - { - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_correlator_outs); - volk_gnsssdr_free(d_ca_code); - delete[] d_Prompt_buffer; - multicorrelator_cpu.free(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } -} - - -int gps_l2_m_dll_pll_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) -{ - // process vars - double carr_error_hz = 0; - double carr_error_filt_hz = 0; - double code_error_chips = 0; - double code_error_filt_chips = 0; - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro current_synchro_data = Gnss_Synchro(); - - // Block input data and block output stream pointers - const gr_complex *in = reinterpret_cast(input_items[0]); - Gnss_Synchro **out = reinterpret_cast(&output_items[0]); - - if (d_enable_tracking == true) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Receiver signal alignment - if (d_pull_in == true) - { - int samples_offset; - double 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_current_prn_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset; - d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples - d_pull_in = false; - // take into account the carrier cycles accumulated in the pull in signal alignment - d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.fs = d_fs_in; - current_synchro_data.correlation_length_ms = 20; - consume_each(samples_offset); // shift input to perform alignment with local replica - return 0; - } - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in); - multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad, - d_carrier_phase_step_rad, - d_rem_code_phase_chips, - d_code_phase_step_chips, - d_current_prn_length_samples); - - // ################## PLL ########################################################## - // PLL discriminator - // Update PLL discriminator [rads/Ti -> Secs/Ti] - carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_L2_TWO_PI; - // Carrier discriminator filter - carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); - // New carrier Doppler frequency estimation - d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; - // New code Doppler frequency estimation - d_code_freq_chips = GPS_L2_M_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L2_M_CODE_RATE_HZ) / GPS_L2_FREQ_HZ); - - // ################## DLL ########################################################## - // DLL discriminator - code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] - // Code discriminator filter - code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second] - double T_chip_seconds = 1.0 / static_cast(d_code_freq_chips); - double T_prn_seconds = T_chip_seconds * GPS_L2_M_CODE_LENGTH_CHIPS; - double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds] - //double code_error_filt_secs = (GPS_L2_M_PERIOD * code_error_filt_chips) / GPS_L2_M_CODE_RATE_HZ; //[seconds] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); - d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples - - //################### PLL COMMANDS ################################################# - // carrier phase step (NCO phase increment per sample) [rads/sample] - d_carrier_phase_step_rad = GPS_L2_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples; - d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_L2_TWO_PI); - // carrier phase accumulator - d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples; - - //################### DLL COMMANDS ################################################# - // code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - // remnant code phase [chips] - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample - d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast(d_fs_in)); - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L2_M_CODE_LENGTH_CHIPS); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; - } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - // ########### Output the tracking data to navigation and PVT ########## - current_synchro_data.Prompt_I = static_cast(d_correlator_outs[1].real()); - current_synchro_data.Prompt_Q = static_cast(d_correlator_outs[1].imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_symbol_output = true; - current_synchro_data.correlation_length_ms = 20; - } - else - { - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; - current_synchro_data.correlation_length_ms = 20; - } - //assign the GNURadio block output data - current_synchro_data.fs = d_fs_in; - *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; - double tmp_double; - prompt_I = d_correlator_outs[1].real(); - prompt_Q = d_correlator_outs[1].imag(); - tmp_E = std::abs(d_correlator_outs[0]); - tmp_P = std::abs(d_correlator_outs[1]); - tmp_L = std::abs(d_correlator_outs[2]); - try - { - // EPR - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - //tmp_float=(float)d_sample_counter; - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); - // accumulated carrier phase - d_dump_file.write(reinterpret_cast(&d_acc_carrier_phase_rad), sizeof(double)); - - // carrier and code frequency - d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_code_freq_chips), sizeof(double)); - - //PLL commands - d_dump_file.write(reinterpret_cast(&carr_error_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); - - //DLL commands - d_dump_file.write(reinterpret_cast(&code_error_chips), sizeof(double)); - d_dump_file.write(reinterpret_cast(&code_error_filt_chips), sizeof(double)); - - // CN0 and carrier lock test - d_dump_file.write(reinterpret_cast(&d_CN0_SNV_dB_Hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_carrier_lock_test), sizeof(double)); - - // AUX vars (for debug purposes) - tmp_double = d_rem_code_phase_samples; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - - // PRN - unsigned int prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); - } - catch (std::ifstream::failure &e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } - } - consume_each(d_current_prn_length_samples); - d_sample_counter += d_current_prn_length_samples; - if (current_synchro_data.Flag_valid_symbol_output) - { - return 1; - } - else - { - return 0; - } -} - - -void gps_l2_m_dll_pll_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(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(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); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void gps_l2_m_dll_pll_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h deleted file mode 100644 index 37b49c924..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h +++ /dev/null @@ -1,165 +0,0 @@ -/*! - * \file gps_l2_m_dll_pll_tracking_cc.h - * \brief Interface of a code DLL + carrier PLL tracking block for GPS L2C - * \author Javier Arribas, 2015. jarribas(at)cttc.es - * - * Code DLL + carrier PLL according to the algorithms described in: - * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, - * A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach, - * Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#ifndef GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H -#define GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H - -#include "gnss_synchro.h" -#include "tracking_2nd_DLL_filter.h" -#include "tracking_2nd_PLL_filter.h" -#include "cpu_multicorrelator.h" -#include -#include -#include -#include - -class gps_l2_m_dll_pll_tracking_cc; - -typedef boost::shared_ptr - gps_l2_m_dll_pll_tracking_cc_sptr; - -gps_l2_m_dll_pll_tracking_cc_sptr -gps_l2_m_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - -/*! - * \brief This class implements a DLL + PLL tracking loop block - */ -class gps_l2_m_dll_pll_tracking_cc : public gr::block -{ -public: - ~gps_l2_m_dll_pll_tracking_cc(); - - void set_channel(unsigned int channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); - void start_tracking(); - - 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_l2_m_dll_pll_tracking_cc_sptr - gps_l2_m_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - gps_l2_m_dll_pll_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - // tracking configuration vars - unsigned int d_vector_length; - bool d_dump; - - Gnss_Synchro* d_acquisition_gnss_synchro; - unsigned int d_channel; - long d_if_freq; - long d_fs_in; - - double d_early_late_spc_chips; - - // remaining code phase and carrier phase between tracking loops - double d_rem_code_phase_samples; - double d_rem_code_phase_chips; - double 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 - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - // correlator - int d_n_correlator_taps; - gr_complex* d_ca_code; - float* d_local_code_shift_chips; - gr_complex* d_correlator_outs; - cpu_multicorrelator multicorrelator_cpu; - - // tracking vars - double d_code_freq_chips; - double d_code_phase_step_chips; - double d_carrier_doppler_hz; - double d_carrier_phase_step_rad; - double d_acc_carrier_phase_rad; - double d_code_phase_samples; - - // PRN period in samples - int d_current_prn_length_samples; - - // 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; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double 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 systemName; - std::string sys; - - int save_matfile(); -}; - -#endif //GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H From c1eccf1a27890aa7706c30b039e8d7065032d988 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 21:24:01 +0200 Subject: [PATCH 5/7] Delete unused member --- src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h index 4717d0f5f..a18a82c6e 100644 --- a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h @@ -98,7 +98,6 @@ private: std::string role_; unsigned int in_streams_; unsigned int out_streams_; - bool unified_; }; #endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_H_ From 32cfe3e228d456a97e9eafc96b668ca7f9a8cf10 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 21:35:01 +0200 Subject: [PATCH 6/7] Use dll_pll_veml_tracking tracking block for Galileo E5a --- .../adapters/galileo_e5a_dll_pll_tracking.cc | 66 +- .../adapters/galileo_e5a_dll_pll_tracking.h | 5 +- .../tracking/gnuradio_blocks/CMakeLists.txt | 1 - .../galileo_e5a_dll_pll_tracking_cc.cc | 977 ------------------ .../galileo_e5a_dll_pll_tracking_cc.h | 207 ---- 5 files changed, 23 insertions(+), 1233 deletions(-) delete mode 100644 src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc delete mode 100644 src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h diff --git a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc index 5a61f2007..7efce405a 100644 --- a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc @@ -56,7 +56,6 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking( int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); bool dump = configuration->property(role + ".dump", false); - unified_ = configuration->property(role + ".unified", false); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast(FLAGS_pll_bw_hz); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0); @@ -89,29 +88,18 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking( if (item_type.compare("gr_complex") == 0) { item_size_ = sizeof(gr_complex); - if (unified_) - { - char sig_[3] = "5X"; - item_size_ = sizeof(gr_complex); - tracking_unified_ = dll_pll_veml_make_tracking( - fs_in, vector_length, dump, dump_filename, - pll_bw_hz, dll_bw_hz, - pll_bw_narrow_hz, dll_bw_narrow_hz, - early_late_space_chips, - early_late_space_chips, - early_late_space_narrow_chips, - early_late_space_narrow_chips, - extend_correlation_symbols, - track_pilot, 'E', sig_); - } - else - { - tracking_ = galileo_e5a_dll_pll_make_tracking_cc( - 0, fs_in, vector_length, dump, dump_filename, - pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, - dll_bw_narrow_hz, ti_ms, - early_late_space_chips); - } + char sig_[3] = "5X"; + item_size_ = sizeof(gr_complex); + tracking_ = dll_pll_veml_make_tracking( + fs_in, vector_length, dump, dump_filename, + pll_bw_hz, dll_bw_hz, + pll_bw_narrow_hz, dll_bw_narrow_hz, + early_late_space_chips, + early_late_space_chips, + early_late_space_narrow_chips, + early_late_space_narrow_chips, + extend_correlation_symbols, + track_pilot, 'E', sig_); } else { @@ -130,33 +118,26 @@ GalileoE5aDllPllTracking::~GalileoE5aDllPllTracking() void GalileoE5aDllPllTracking::start_tracking() { - if (unified_) - tracking_unified_->start_tracking(); - else - tracking_->start_tracking(); + tracking_->start_tracking(); } + /* * Set tracking channel unique ID */ void GalileoE5aDllPllTracking::set_channel(unsigned int channel) { channel_ = channel; - if (unified_) - tracking_unified_->set_channel(channel); - else - tracking_->set_channel(channel); + tracking_->set_channel(channel); } void GalileoE5aDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) { - if (unified_) - tracking_unified_->set_gnss_synchro(p_gnss_synchro); - else - tracking_->set_gnss_synchro(p_gnss_synchro); + tracking_->set_gnss_synchro(p_gnss_synchro); } + void GalileoE5aDllPllTracking::connect(gr::top_block_sptr top_block) { if (top_block) @@ -165,6 +146,7 @@ void GalileoE5aDllPllTracking::connect(gr::top_block_sptr top_block) //nothing to connect, now the tracking uses gr_sync_decimator } + void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block) { if (top_block) @@ -173,18 +155,14 @@ void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block) //nothing to disconnect, now the tracking uses gr_sync_decimator } + gr::basic_block_sptr GalileoE5aDllPllTracking::get_left_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } + gr::basic_block_sptr GalileoE5aDllPllTracking::get_right_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } diff --git a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h index 69d5600e4..7f7767784 100644 --- a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h @@ -40,7 +40,6 @@ #define GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ #include "tracking_interface.h" -#include "galileo_e5a_dll_pll_tracking_cc.h" #include "dll_pll_veml_tracking.h" #include @@ -94,14 +93,12 @@ public: void start_tracking() override; private: - galileo_e5a_dll_pll_tracking_cc_sptr tracking_; - dll_pll_veml_tracking_sptr tracking_unified_; + dll_pll_veml_tracking_sptr tracking_; size_t item_size_; unsigned int channel_; std::string role_; unsigned int in_streams_; unsigned int out_streams_; - bool unified_; }; #endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ */ diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt index c30beee68..4ab29bc5d 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -29,7 +29,6 @@ endif(ENABLE_FPGA) set(TRACKING_GR_BLOCKS_SOURCES galileo_e1_tcp_connector_tracking_cc.cc gps_l1_ca_tcp_connector_tracking_cc.cc - galileo_e5a_dll_pll_tracking_cc.cc gps_l5i_dll_pll_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_sc.cc diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc deleted file mode 100644 index b1ab64db2..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc +++ /dev/null @@ -1,977 +0,0 @@ -/*! - * \file galileo_e5a_dll_pll_tracking_cc.h - * \brief Implementation of a code DLL + carrier PLL - * tracking block for Galileo E5a signals - * \author Marc Sales, 2014. marcsales92(at)gmail.com - * \based on work from: - *
    - *
  • Javier Arribas, 2011. jarribas(at)cttc.es - *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com - *
- * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#include "galileo_e5a_dll_pll_tracking_cc.h" -#include "galileo_e5_signal_processing.h" -#include "tracking_discriminators.h" -#include "lock_detectors.h" -#include "Galileo_E5a.h" -#include "Galileo_E1.h" -#include "control_message_factory.h" -#include "gnss_sdr_flags.h" -#include -#include -#include -#include -#include -#include -#include -#include - - -using google::LogMessage; - -galileo_e5a_dll_pll_tracking_cc_sptr -galileo_e5a_dll_pll_make_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int ti_ms, - float early_late_space_chips) -{ - return galileo_e5a_dll_pll_tracking_cc_sptr(new Galileo_E5a_Dll_Pll_Tracking_cc(if_freq, - fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, ti_ms, early_late_space_chips)); -} - - -void Galileo_E5a_Dll_Pll_Tracking_cc::forecast(int noutput_items, gr_vector_int &ninput_items_required) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call - } -} - - -Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int ti_ms, - float early_late_space_chips) : gr::block("Galileo_E5a_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) -{ - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); - this->message_port_register_out(pmt::mp("events")); - this->set_relative_rate(1.0 / vector_length); - // initialize internal vars - d_dump = dump; - d_if_freq = if_freq; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_dump_filename = dump_filename; - d_code_loop_filter = Tracking_2nd_DLL_filter(GALILEO_E5a_CODE_PERIOD); - d_carrier_loop_filter = Tracking_2nd_PLL_filter(GALILEO_E5a_CODE_PERIOD); - d_current_ti_ms = 1; // initializes with 1ms of integration time until secondary code lock - d_ti_ms = ti_ms; - d_dll_bw_hz = dll_bw_hz; - d_pll_bw_hz = pll_bw_hz; - d_dll_bw_narrow_hz = dll_bw_narrow_hz; - d_pll_bw_narrow_hz = pll_bw_narrow_hz; - - // Initialize tracking ========================================== - d_code_loop_filter.set_DLL_BW(d_dll_bw_hz); - d_carrier_loop_filter.set_PLL_BW(d_pll_bw_hz); - - //--- DLL variables -------------------------------------------------------- - d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) - - // Initialization of local code replica - // Get space for a vector with the E5a primary code replicas sampled 1x/chip - d_codeQ = static_cast(volk_gnsssdr_malloc(Galileo_E5a_CODE_LENGTH_CHIPS * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_codeI = static_cast(volk_gnsssdr_malloc(Galileo_E5a_CODE_LENGTH_CHIPS * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - // correlator Q outputs (scalar) - d_n_correlator_taps = 3; // Early, Prompt, Late - d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - - // map memory pointers of correlator outputs - d_Single_Early = &d_correlator_outs[0]; - d_Single_Prompt = &d_correlator_outs[1]; - d_Single_Late = &d_correlator_outs[2]; - - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = -d_early_late_spc_chips; - d_local_code_shift_chips[1] = 0.0; - d_local_code_shift_chips[2] = d_early_late_spc_chips; - - multicorrelator_cpu_Q.init(2 * d_vector_length, d_n_correlator_taps); - - // correlator I single output for data (scalar) - d_Single_Prompt_data = static_cast(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - *d_Single_Prompt_data = gr_complex(0, 0); - multicorrelator_cpu_I.init(2 * d_vector_length, 1); // single correlator for data channel - - //--- Perform initializations ------------------------------ - // define initial code frequency basis of NCO - d_code_freq_chips = Galileo_E5a_CODE_CHIP_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; - //Filter error vars - d_code_error_filt_secs = 0.0; - // sample synchronization - d_sample_counter = 0; - d_acq_sample_stamp = 0; - d_first_transition = false; - - d_secondary_lock = false; - d_secondary_delay = 0; - d_integration_counter = 0; - - d_current_prn_length_samples = static_cast(d_vector_length); - - // CN0 estimation and lock detector buffers - d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[static_cast(FLAGS_cn0_samples)]; - d_carrier_lock_test = 1; - d_CN0_SNV_dB_Hz = 0; - d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; - - d_acquisition_gnss_synchro = 0; - d_channel = 0; - tmp_E = 0; - tmp_P = 0; - tmp_L = 0; - d_acq_code_phase_samples = 0; - d_acq_carrier_doppler_hz = 0; - d_carrier_doppler_hz = 0; - d_acc_carrier_phase_rad = 0; - d_code_phase_samples = 0; - d_acc_code_phase_secs = 0; - d_state = 0; - - d_rem_code_phase_chips = 0.0; - d_code_phase_step_chips = 0.0; - d_carrier_phase_step_rad = 0.0; - - systemName["E"] = std::string("Galileo"); -} - - -Galileo_E5a_Dll_Pll_Tracking_cc::~Galileo_E5a_Dll_Pll_Tracking_cc() -{ - if (d_dump_file.is_open()) - { - try - { - d_dump_file.close(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } - } - - if (d_dump) - { - if (d_channel == 0) - { - std::cout << "Writing .mat files ..."; - } - Galileo_E5a_Dll_Pll_Tracking_cc::save_matfile(); - if (d_channel == 0) - { - std::cout << " done." << std::endl; - } - } - - try - { - delete[] d_codeI; - delete[] d_codeQ; - delete[] d_Prompt_buffer; - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_correlator_outs); - volk_gnsssdr_free(d_Single_Prompt_data); - multicorrelator_cpu_Q.free(); - multicorrelator_cpu_I.free(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } -} - - -void Galileo_E5a_Dll_Pll_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; - - long int acq_trk_diff_samples; - double acq_trk_diff_seconds; - acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; - LOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples; - acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); - //doppler effect - // Fd=(C/(C+Vr))*F - double radial_velocity; - radial_velocity = (Galileo_E5a_FREQ_HZ + d_acq_carrier_doppler_hz) / Galileo_E5a_FREQ_HZ; - // new chip and prn sequence periods based on acq Doppler - double T_chip_mod_seconds; - double T_prn_mod_seconds; - double T_prn_mod_samples; - d_code_freq_chips = radial_velocity * Galileo_E5a_CODE_CHIP_RATE_HZ; - T_chip_mod_seconds = 1 / d_code_freq_chips; - T_prn_mod_seconds = T_chip_mod_seconds * Galileo_E5a_CODE_LENGTH_CHIPS; - T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); - - d_current_prn_length_samples = round(T_prn_mod_samples); - - double T_prn_true_seconds = Galileo_E5a_CODE_LENGTH_CHIPS / Galileo_E5a_CODE_CHIP_RATE_HZ; - double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); - double T_prn_diff_seconds; - T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; - double N_prn_diff; - N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; - double corrected_acq_phase_samples, delay_correction_samples; - corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(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(); // initialize the carrier filter - d_code_loop_filter.initialize(); // initialize the code filter - - // generate local reference ALWAYS starting at chip 1 (1 sample per chip) - char sig[3]; - strcpy(sig, "5Q"); - galileo_e5_a_code_gen_complex_primary(d_codeQ, d_acquisition_gnss_synchro->PRN, sig); - - strcpy(sig, "5I"); - galileo_e5_a_code_gen_complex_primary(d_codeI, d_acquisition_gnss_synchro->PRN, sig); - - d_carrier_lock_fail_counter = 0; - d_rem_code_phase_samples = 0; - d_rem_carr_phase_rad = 0; - d_acc_carrier_phase_rad = 0; - d_acc_code_phase_secs = 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 of Galileo E5a signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Galileo E5a starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - - // enable tracking - d_state = 1; - - LOG(INFO) << "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; -} - - -void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary() -{ - // 1. Transform replica to 1 and -1 - int sec_code_signed[Galileo_E5a_Q_SECONDARY_CODE_LENGTH]; - for (unsigned int i = 0; i < Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++) - { - if (Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1].at(i) == '0') - { - sec_code_signed[i] = 1; - } - else - { - sec_code_signed[i] = -1; - } - } - // 2. Transform buffer to 1 and -1 - int in_corr[static_cast(FLAGS_cn0_samples)]; - for (unsigned int i = 0; i < static_cast(FLAGS_cn0_samples); i++) - { - if (d_Prompt_buffer[i].real() > 0) - { - in_corr[i] = 1; - } - else - { - in_corr[i] = -1; - } - } - // 3. Serial search - int out_corr; - int current_best_ = 0; - for (unsigned int i = 0; i < Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++) - { - out_corr = 0; - for (unsigned int j = 0; j < static_cast(FLAGS_cn0_samples); j++) - { - //reverse replica sign since i*i=-1 (conjugated complex) - out_corr += in_corr[j] * -sec_code_signed[(j + i) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH]; - } - if (abs(out_corr) > current_best_) - { - current_best_ = abs(out_corr); - d_secondary_delay = i; - } - } - if (current_best_ == FLAGS_cn0_samples) // all bits correlate - { - d_secondary_lock = true; - d_secondary_delay = (d_secondary_delay + static_cast(FLAGS_cn0_samples) - 1) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH; - } -} - - -int Galileo_E5a_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) -{ - // process vars - double carr_error_hz; - double carr_error_filt_hz; - double code_error_chips; - double code_error_filt_chips; - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro **out = reinterpret_cast(&output_items[0]); //block output streams pointer - - // 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; - - /* States: 0 Tracking not enabled - * 1 Pull-in of primary code (alignment). - * 3 Tracking algorithm. Correlates EPL each loop and accumulates the result - * until it reaches integration time. - */ - switch (d_state) - { - case 0: - { - d_Early = gr_complex(0, 0); - d_Prompt = gr_complex(0, 0); - d_Late = gr_complex(0, 0); - d_Prompt_data = gr_complex(0, 0); - current_synchro_data.Tracking_sample_counter = d_sample_counter; - break; - } - case 1: - { - int samples_offset; - double 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_current_prn_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples - DLOG(INFO) << " samples_offset=" << samples_offset; - d_state = 2; // start in Ti = 1 code, until secondary code lock. - - // 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_sample_counter = d_sample_counter; - current_synchro_data.Carrier_phase_rads = 0.0; - current_synchro_data.CN0_dB_hz = 0.0; - current_synchro_data.fs = d_fs_in; - consume_each(samples_offset); //shift input to perform alignment with local replica - return 0; - break; - } - case 2: - { - // Block input data and block output stream pointers - const gr_complex *in = reinterpret_cast(input_items[0]); //PRN start block alignment - gr_complex sec_sign_Q; - gr_complex sec_sign_I; - // Secondary code Chip - if (d_secondary_lock) - { - sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1].at(d_secondary_delay) == '0' ? -1 : 1), 0); - sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == '0' ? -1 : 1), 0); - } - else - { - sec_sign_Q = gr_complex(1.0, 0.0); - sec_sign_I = gr_complex(1.0, 0.0); - } - // Reset integration counter - if (d_integration_counter == d_current_ti_ms) - { - d_integration_counter = 0; - } - //Generate local code and carrier replicas (using \hat{f}_d(k-1)) - if (d_integration_counter == 0) - { - // Reset accumulated values - d_Early = gr_complex(0, 0); - d_Prompt = gr_complex(0, 0); - d_Late = gr_complex(0, 0); - } - - // perform carrier wipe-off and compute Early, Prompt and Late - // correlation of 1 primary code - - multicorrelator_cpu_Q.set_local_code_and_taps(Galileo_E5a_CODE_LENGTH_CHIPS, d_codeQ, d_local_code_shift_chips); - multicorrelator_cpu_I.set_local_code_and_taps(Galileo_E5a_CODE_LENGTH_CHIPS, d_codeI, &d_local_code_shift_chips[1]); - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu_Q.set_input_output_vectors(d_correlator_outs, in); - multicorrelator_cpu_I.set_input_output_vectors(d_Single_Prompt_data, in); - - double carr_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - double code_phase_step_chips = d_code_freq_chips / (static_cast(d_fs_in)); - double rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in); - multicorrelator_cpu_Q.Carrier_wipeoff_multicorrelator_resampler( - d_rem_carr_phase_rad, - carr_phase_step_rad, - rem_code_phase_chips, - code_phase_step_chips, - d_current_prn_length_samples); - - multicorrelator_cpu_I.Carrier_wipeoff_multicorrelator_resampler( - d_rem_carr_phase_rad, - carr_phase_step_rad, - rem_code_phase_chips, - code_phase_step_chips, - d_current_prn_length_samples); - - // Accumulate results (coherent integration since there are no bit transitions in pilot signal) - d_Early += (*d_Single_Early) * sec_sign_Q; - d_Prompt += (*d_Single_Prompt) * sec_sign_Q; - d_Late += (*d_Single_Late) * sec_sign_Q; - d_Prompt_data = (*d_Single_Prompt_data); - d_Prompt_data *= sec_sign_I; - d_integration_counter++; - - // ################## PLL ########################################################## - // PLL discriminator - if (d_integration_counter == d_current_ti_ms) - { - if (d_secondary_lock == true) - { - carr_error_hz = pll_four_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0; - } - else - { - carr_error_hz = pll_cloop_two_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0; - } - - // Carrier discriminator filter - carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); - // New carrier Doppler frequency estimation - d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; - // New code Doppler frequency estimation - d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ); - } - // carrier phase accumulator for (K) doppler estimation - d_acc_carrier_phase_rad -= 2.0 * GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD; - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + 2.0 * GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD; - d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2.0 * GALILEO_PI); - - // ################## DLL ########################################################## - if (d_integration_counter == d_current_ti_ms) - { - // DLL discriminator - code_error_chips = dll_nc_e_minus_l_normalized(d_Early, d_Late); //[chips/Ti] - // Code discriminator filter - code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second] - //Code phase accumulator - d_code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD * code_error_filt_chips) / Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds] - } - d_acc_code_phase_secs = d_acc_code_phase_secs + d_code_error_filt_secs; - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - double T_chip_seconds; - double T_prn_seconds; - double T_prn_samples; - double K_blk_samples; - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - T_chip_seconds = 1.0 / d_code_freq_chips; - T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS; - T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - K_blk_samples = T_prn_samples + d_rem_code_phase_samples + d_code_error_filt_secs * static_cast(d_fs_in); - d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### - if (d_cn0_estimation_counter < FLAGS_cn0_samples - 1) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt; - d_cn0_estimation_counter++; - } - else - { - d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt; - // ATTEMPT SECONDARY CODE ACQUISITION - if (d_secondary_lock == false) - { - acquire_secondary(); // changes d_secondary_lock and d_secondary_delay - if (d_secondary_lock == true) - { - std::cout << "Galileo E5a secondary code locked for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - d_current_ti_ms = d_ti_ms; - // Change loop parameters ========================================== - d_code_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD); - d_carrier_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD); - d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz); - d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz); - } - else - { - //std::cout << "Secondary code delay couldn't be resolved." << std::endl; - d_carrier_lock_fail_counter++; - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_state = 0; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - } - else // Secondary lock achieved, monitor carrier lock. - { - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, static_cast(FLAGS_cn0_samples), d_fs_in, d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, static_cast(FLAGS_cn0_samples)); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; - - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_state = 0; - } - } - } - d_cn0_estimation_counter = 0; - } - if (d_secondary_lock && (d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == 0) - { - d_first_transition = true; - } - // ########### Output the tracking data to navigation and PVT ########## - // The first Prompt output not equal to 0 is synchronized with the transition of a navigation data bit. - if (d_secondary_lock && d_first_transition) - { - current_synchro_data.Prompt_I = static_cast(d_Prompt_data.real()); - current_synchro_data.Prompt_Q = static_cast(d_Prompt_data.imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_symbol_output = true; - } - else - { - // 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_sample_counter = d_sample_counter; - current_synchro_data.Carrier_phase_rads = 0.0; - current_synchro_data.CN0_dB_hz = 0.0; - current_synchro_data.Flag_valid_symbol_output = false; - } - - break; - } - } - - current_synchro_data.fs = d_fs_in; - current_synchro_data.correlation_length_ms = GALILEO_E5a_CODE_PERIOD_MS; - if (current_synchro_data.Flag_valid_symbol_output) - { - *out[0] = current_synchro_data; - } - - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - float prompt_I; - float prompt_Q; - double tmp_double; - prompt_I = (d_Prompt_data).real(); - prompt_Q = (d_Prompt_data).imag(); - if (d_integration_counter == d_current_ti_ms) - { - tmp_E = std::abs(d_Early); - tmp_P = std::abs(d_Prompt); - tmp_L = std::abs(d_Late); - } - try - { - // EPR - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - //tmp_float=(float)d_sample_counter; - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); - // accumulated carrier phase - d_dump_file.write(reinterpret_cast(&d_acc_carrier_phase_rad), sizeof(double)); - - // carrier and code frequency - d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_code_freq_chips), sizeof(double)); - - //PLL commands - d_dump_file.write(reinterpret_cast(&carr_error_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&carr_error_filt_hz), sizeof(double)); - - //DLL commands - d_dump_file.write(reinterpret_cast(&code_error_chips), sizeof(double)); - d_dump_file.write(reinterpret_cast(&code_error_filt_chips), sizeof(double)); - - // CN0 and carrier lock test - d_dump_file.write(reinterpret_cast(&d_CN0_SNV_dB_Hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_carrier_lock_test), sizeof(double)); - - // AUX vars (for debug purposes) - tmp_double = d_rem_code_phase_samples; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - - // PRN - unsigned int prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } - } - - d_secondary_delay = (d_secondary_delay + 1) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH; - d_sample_counter += d_current_prn_length_samples; - consume_each(d_current_prn_length_samples); - - if (current_synchro_data.Flag_valid_symbol_output) - { - return 1; - } - else - { - return 0; - } -} - - -void Galileo_E5a_Dll_Pll_Tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(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(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); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -int Galileo_E5a_Dll_Pll_Tracking_cc::save_matfile() -{ - // READ DUMP FILE - std::ifstream::pos_type size; - int number_of_double_vars = 11; - int number_of_float_vars = 5; - int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(unsigned int); - std::ifstream dump_file; - dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - try - { - dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem opening dump file:" << e.what() << std::endl; - return 1; - } - // count number of epochs and rewind - long int num_epoch = 0; - if (dump_file.is_open()) - { - size = dump_file.tellg(); - num_epoch = static_cast(size) / static_cast(epoch_size_bytes); - dump_file.seekg(0, std::ios::beg); - } - else - { - return 1; - } - float *abs_E = new float[num_epoch]; - float *abs_P = new float[num_epoch]; - float *abs_L = new float[num_epoch]; - float *Prompt_I = new float[num_epoch]; - float *Prompt_Q = new float[num_epoch]; - unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch]; - double *acc_carrier_phase_rad = new double[num_epoch]; - double *carrier_doppler_hz = new double[num_epoch]; - double *code_freq_chips = new double[num_epoch]; - double *carr_error_hz = new double[num_epoch]; - double *carr_error_filt_hz = new double[num_epoch]; - double *code_error_chips = new double[num_epoch]; - double *code_error_filt_chips = new double[num_epoch]; - double *CN0_SNV_dB_Hz = new double[num_epoch]; - double *carrier_lock_test = new double[num_epoch]; - double *aux1 = new double[num_epoch]; - double *aux2 = new double[num_epoch]; - unsigned int *PRN = new unsigned int[num_epoch]; - - try - { - if (dump_file.is_open()) - { - for (long int i = 0; i < num_epoch; i++) - { - dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_P[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_L[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_I[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_Q[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&PRN_start_sample_count[i]), sizeof(unsigned long int)); - dump_file.read(reinterpret_cast(&acc_carrier_phase_rad[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_doppler_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_freq_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_filt_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_filt_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&CN0_SNV_dB_Hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_lock_test[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux1[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux2[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&PRN[i]), sizeof(unsigned int)); - } - } - dump_file.close(); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 1; - } - - // WRITE MAT FILE - mat_t *matfp; - matvar_t *matvar; - std::string filename = d_dump_filename; - filename.erase(filename.length() - 4, 4); - filename.append(".mat"); - matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); - if (reinterpret_cast(matfp) != NULL) - { - size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - } - Mat_Close(matfp); - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 0; -} - - -void Galileo_E5a_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h deleted file mode 100644 index af9ea31fb..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h +++ /dev/null @@ -1,207 +0,0 @@ -/*! - * \file galileo_e5a_dll_pll_tracking_cc.h - * \brief Implementation of a code DLL + carrier PLL - * tracking block for Galileo E5a signals - * \author Marc Sales, 2014. marcsales92(at)gmail.com - * \based on work from: - *
    - *
  • Javier Arribas, 2011. jarribas(at)cttc.es - *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com - *
- * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#ifndef GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_ -#define GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_ - -#include "gnss_synchro.h" -#include "tracking_2nd_DLL_filter.h" -#include "tracking_2nd_PLL_filter.h" -#include "cpu_multicorrelator.h" -#include -#include -#include -#include - -class Galileo_E5a_Dll_Pll_Tracking_cc; - -typedef boost::shared_ptr - galileo_e5a_dll_pll_tracking_cc_sptr; - -galileo_e5a_dll_pll_tracking_cc_sptr -galileo_e5a_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_narrowhz, - float dll_bw_narrow_hz, - int ti_ms, - float early_late_space_chips); - - -/*! - * \brief This class implements a DLL + PLL tracking loop block - */ -class Galileo_E5a_Dll_Pll_Tracking_cc : public gr::block -{ -public: - ~Galileo_E5a_Dll_Pll_Tracking_cc(); - - void set_channel(unsigned int channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); - void start_tracking(); - - 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 galileo_e5a_dll_pll_tracking_cc_sptr - galileo_e5a_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int ti_ms, - float early_late_space_chips); - - Galileo_E5a_Dll_Pll_Tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int ti_ms, - float early_late_space_chips); - void acquire_secondary(); - // tracking configuration vars - unsigned int d_vector_length; - int d_current_ti_ms; - int d_ti_ms; - bool d_dump; - - - Gnss_Synchro* d_acquisition_gnss_synchro; - unsigned int d_channel; - long d_if_freq; - long d_fs_in; - - double d_early_late_spc_chips; - double d_dll_bw_hz; - double d_pll_bw_hz; - double d_dll_bw_narrow_hz; - double d_pll_bw_narrow_hz; - - gr_complex* d_codeQ; - gr_complex* d_codeI; - - gr_complex d_Early; - gr_complex d_Prompt; - gr_complex d_Late; - gr_complex d_Prompt_data; - - gr_complex* d_Single_Early; - gr_complex* d_Single_Prompt; - gr_complex* d_Single_Late; - gr_complex* d_Single_Prompt_data; - - - float tmp_E; - float tmp_P; - float tmp_L; - // remaining code phase and carrier phase between tracking loops - double d_rem_code_phase_samples; - double d_rem_code_phase_chips; - double 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 - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - // correlator - int d_n_correlator_taps; - float* d_local_code_shift_chips; - gr_complex* d_correlator_outs; - cpu_multicorrelator multicorrelator_cpu_I; - cpu_multicorrelator multicorrelator_cpu_Q; - - // tracking vars - double d_code_freq_chips; - double d_carrier_doppler_hz; - double d_acc_carrier_phase_rad; - double d_code_phase_samples; - double d_acc_code_phase_secs; - double d_code_error_filt_secs; - double d_code_phase_step_chips; - double d_carrier_phase_step_rad; - - - //PRN period in samples - int d_current_prn_length_samples; - - //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; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double d_carrier_lock_threshold; - int d_carrier_lock_fail_counter; - - // control vars - int d_state; - bool d_first_transition; - - // Secondary code acquisition - bool d_secondary_lock; - int d_secondary_delay; - int d_integration_counter; - - // file dump - std::string d_dump_filename; - std::ofstream d_dump_file; - - std::map systemName; - std::string sys; - - int save_matfile(); -}; - -#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_ */ From a31f4fc7cc9372ad4eb40aeee53d4034fadf379a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 5 Apr 2018 21:49:32 +0200 Subject: [PATCH 7/7] Use dll_pll_veml_tracking tracking block for GPS L5 --- .../adapters/gps_l5i_dll_pll_tracking.cc | 65 +- .../adapters/gps_l5i_dll_pll_tracking.h | 5 +- .../tracking/gnuradio_blocks/CMakeLists.txt | 1 - .../gps_l5i_dll_pll_tracking_cc.cc | 762 ------------------ .../gps_l5i_dll_pll_tracking_cc.h | 165 ---- 5 files changed, 23 insertions(+), 975 deletions(-) delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.cc delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.h diff --git a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc index d28255416..3ae4c85df 100644 --- a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc @@ -56,7 +56,6 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking( int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); bool dump = configuration->property(role + ".dump", false); - unified_ = configuration->property(role + ".unified", false); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast(FLAGS_pll_bw_hz); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); @@ -88,28 +87,18 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking( if (item_type.compare("gr_complex") == 0) { item_size_ = sizeof(gr_complex); - if (unified_) - { - char sig_[3] = "L5"; - item_size_ = sizeof(gr_complex); - tracking_unified_ = dll_pll_veml_make_tracking( - fs_in, vector_length, dump, dump_filename, - pll_bw_hz, dll_bw_hz, - pll_bw_narrow_hz, dll_bw_narrow_hz, - early_late_space_chips, - early_late_space_chips, - early_late_space_narrow_chips, - early_late_space_narrow_chips, - extend_correlation_symbols, - track_pilot, 'G', sig_); - } - else - { - tracking_ = gps_l5i_dll_pll_make_tracking_cc( - 0, fs_in, vector_length, dump, - dump_filename, pll_bw_hz, dll_bw_hz, - early_late_space_chips); - } + char sig_[3] = "L5"; + item_size_ = sizeof(gr_complex); + tracking_ = dll_pll_veml_make_tracking( + fs_in, vector_length, dump, dump_filename, + pll_bw_hz, dll_bw_hz, + pll_bw_narrow_hz, dll_bw_narrow_hz, + early_late_space_chips, + early_late_space_chips, + early_late_space_narrow_chips, + early_late_space_narrow_chips, + extend_correlation_symbols, + track_pilot, 'G', sig_); } else { @@ -128,33 +117,26 @@ GpsL5iDllPllTracking::~GpsL5iDllPllTracking() void GpsL5iDllPllTracking::start_tracking() { - if (unified_) - tracking_unified_->start_tracking(); - else - tracking_->start_tracking(); + tracking_->start_tracking(); } + /* * Set tracking channel unique ID */ void GpsL5iDllPllTracking::set_channel(unsigned int channel) { channel_ = channel; - if (unified_) - tracking_unified_->set_channel(channel); - else - tracking_->set_channel(channel); + tracking_->set_channel(channel); } void GpsL5iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) { - if (unified_) - tracking_unified_->set_gnss_synchro(p_gnss_synchro); - else - tracking_->set_gnss_synchro(p_gnss_synchro); + tracking_->set_gnss_synchro(p_gnss_synchro); } + void GpsL5iDllPllTracking::connect(gr::top_block_sptr top_block) { if (top_block) @@ -163,6 +145,7 @@ void GpsL5iDllPllTracking::connect(gr::top_block_sptr top_block) //nothing to connect, now the tracking uses gr_sync_decimator } + void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block) { if (top_block) @@ -171,18 +154,14 @@ void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block) //nothing to disconnect, now the tracking uses gr_sync_decimator } + gr::basic_block_sptr GpsL5iDllPllTracking::get_left_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } + gr::basic_block_sptr GpsL5iDllPllTracking::get_right_block() { - if (unified_) - return tracking_unified_; - else - return tracking_; + return tracking_; } diff --git a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h b/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h index 472de2466..31a6d41f9 100644 --- a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h @@ -38,7 +38,6 @@ #define GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_ #include "tracking_interface.h" -#include "gps_l5i_dll_pll_tracking_cc.h" #include "dll_pll_veml_tracking.h" #include @@ -92,14 +91,12 @@ public: void start_tracking() override; private: - gps_l5i_dll_pll_tracking_cc_sptr tracking_; - dll_pll_veml_tracking_sptr tracking_unified_; + dll_pll_veml_tracking_sptr tracking_; size_t item_size_; unsigned int channel_; std::string role_; unsigned int in_streams_; unsigned int out_streams_; - bool unified_; }; #endif // GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_ diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt index 4ab29bc5d..535a38663 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -29,7 +29,6 @@ endif(ENABLE_FPGA) set(TRACKING_GR_BLOCKS_SOURCES galileo_e1_tcp_connector_tracking_cc.cc gps_l1_ca_tcp_connector_tracking_cc.cc - gps_l5i_dll_pll_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_cc.cc gps_l1_ca_dll_pll_c_aid_tracking_sc.cc glonass_l1_ca_dll_pll_tracking_cc.cc diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.cc deleted file mode 100644 index ad18db9cd..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.cc +++ /dev/null @@ -1,762 +0,0 @@ -/*! - * \file gps_l5i_dll_pll_tracking_cc.cc - * \brief Implementation of a code DLL + carrier PLL tracking block for GPS L2C - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#include "gps_l5i_dll_pll_tracking_cc.h" -#include "gps_l5_signal.h" -#include "tracking_discriminators.h" -#include "lock_detectors.h" -#include "GPS_L5.h" -#include "control_message_factory.h" -#include "gnss_sdr_flags.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -using google::LogMessage; - -gps_l5i_dll_pll_tracking_cc_sptr -gps_l5i_dll_pll_make_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips) -{ - return gps_l5i_dll_pll_tracking_cc_sptr(new gps_l5i_dll_pll_tracking_cc(if_freq, - fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips)); -} - - -void gps_l5i_dll_pll_tracking_cc::forecast(int noutput_items, - gr_vector_int &ninput_items_required) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call - } -} - - -gps_l5i_dll_pll_tracking_cc::gps_l5i_dll_pll_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips) : gr::block("gps_l5i_dll_pll_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) -{ - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); - this->message_port_register_out(pmt::mp("events")); - // initialize internal vars - d_dump = dump; - d_if_freq = if_freq; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_dump_filename = dump_filename; - - d_current_prn_length_samples = static_cast(d_vector_length); - - // DLL/PLL filter initialization - d_carrier_loop_filter = Tracking_2nd_PLL_filter(GPS_L5i_PERIOD); - d_code_loop_filter = Tracking_2nd_DLL_filter(GPS_L5i_PERIOD); - - // Initialize tracking ========================================== - d_code_loop_filter.set_DLL_BW(dll_bw_hz); - d_carrier_loop_filter.set_PLL_BW(pll_bw_hz); - - //--- DLL variables -------------------------------------------------------- - d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) - - // Initialization of local code replica - // Get space for a vector with the C/A code replica sampled 1x/chip - d_ca_code = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L5i_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - // correlator outputs (scalar) - d_n_correlator_taps = 3; // Early, Prompt, and Late - d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = -d_early_late_spc_chips; - d_local_code_shift_chips[1] = 0.0; - d_local_code_shift_chips[2] = d_early_late_spc_chips; - - multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps); - - //--- Perform initializations ------------------------------ - // define initial code frequency basis of NCO - d_code_freq_chips = GPS_L5i_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; - - // CN0 estimation and lock detector buffers - d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; - d_carrier_lock_test = 1; - d_CN0_SNV_dB_Hz = 0; - d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; - - systemName["G"] = std::string("GPS"); - - //set_min_output_buffer((long int)300); - - d_acquisition_gnss_synchro = 0; - d_channel = 0; - d_acq_code_phase_samples = 0.0; - d_acq_carrier_doppler_hz = 0.0; - d_carrier_doppler_hz = 0.0; - d_acc_carrier_phase_rad = 0.0; - d_code_phase_samples = 0.0; - - d_rem_code_phase_chips = 0.0; - d_code_phase_step_chips = 0.0; - d_carrier_phase_step_rad = 0.0; - - set_relative_rate(1.0 / static_cast(d_vector_length)); -} - - -void gps_l5i_dll_pll_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; - - long int acq_trk_diff_samples; - double acq_trk_diff_seconds; - acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; - DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples; - acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); - // Doppler effect - // Fd=(C/(C+Vr))*F - double radial_velocity = (GPS_L5_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L5_FREQ_HZ; - // new chip and prn sequence periods based on acq Doppler - double T_chip_mod_seconds; - double T_prn_mod_seconds; - double T_prn_mod_samples; - d_code_freq_chips = radial_velocity * GPS_L5i_CODE_RATE_HZ; - d_code_phase_step_chips = static_cast(d_code_freq_chips) / static_cast(d_fs_in); - T_chip_mod_seconds = 1 / d_code_freq_chips; - T_prn_mod_seconds = T_chip_mod_seconds * GPS_L5i_CODE_LENGTH_CHIPS; - T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); - - d_current_prn_length_samples = round(T_prn_mod_samples); - - double T_prn_true_seconds = GPS_L5i_CODE_LENGTH_CHIPS / GPS_L5i_CODE_RATE_HZ; - double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); - double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; - double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; - double corrected_acq_phase_samples, delay_correction_samples; - corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(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; - d_carrier_phase_step_rad = GPS_L5_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - - // DLL/PLL filter initialization - d_carrier_loop_filter.initialize(); // initialize the carrier filter - d_code_loop_filter.initialize(); // initialize the code filter - - // generate local reference ALWAYS starting at chip 1 (1 sample per chip) - gps_l5i_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN); - - multicorrelator_cpu.set_local_code_and_taps(static_cast(GPS_L5i_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - - d_carrier_lock_fail_counter = 0; - d_rem_code_phase_samples = 0; - d_rem_carr_phase_rad = 0.0; - d_rem_code_phase_chips = 0.0; - d_acc_carrier_phase_rad = 0.0; - - 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 of GPS L5i signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting GPS L5i tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - - // enable tracking - d_pull_in = true; - d_enable_tracking = true; - - LOG(INFO) << "GPS L5i 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; -} - - -int gps_l5i_dll_pll_tracking_cc::save_matfile() -{ - // READ DUMP FILE - std::ifstream::pos_type size; - int number_of_double_vars = 11; - int number_of_float_vars = 5; - int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(unsigned int); - std::ifstream dump_file; - dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - try - { - dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem opening dump file:" << e.what() << std::endl; - return 1; - } - // count number of epochs and rewind - long int num_epoch = 0; - if (dump_file.is_open()) - { - size = dump_file.tellg(); - num_epoch = static_cast(size) / static_cast(epoch_size_bytes); - dump_file.seekg(0, std::ios::beg); - } - else - { - return 1; - } - float *abs_E = new float[num_epoch]; - float *abs_P = new float[num_epoch]; - float *abs_L = new float[num_epoch]; - float *Prompt_I = new float[num_epoch]; - float *Prompt_Q = new float[num_epoch]; - unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch]; - double *acc_carrier_phase_rad = new double[num_epoch]; - double *carrier_doppler_hz = new double[num_epoch]; - double *code_freq_chips = new double[num_epoch]; - double *carr_error_hz = new double[num_epoch]; - double *carr_error_filt_hz = new double[num_epoch]; - double *code_error_chips = new double[num_epoch]; - double *code_error_filt_chips = new double[num_epoch]; - double *CN0_SNV_dB_Hz = new double[num_epoch]; - double *carrier_lock_test = new double[num_epoch]; - double *aux1 = new double[num_epoch]; - double *aux2 = new double[num_epoch]; - unsigned int *PRN = new unsigned int[num_epoch]; - - try - { - if (dump_file.is_open()) - { - for (long int i = 0; i < num_epoch; i++) - { - dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_P[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_L[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_I[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_Q[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&PRN_start_sample_count[i]), sizeof(unsigned long int)); - dump_file.read(reinterpret_cast(&acc_carrier_phase_rad[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_doppler_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_freq_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_filt_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_filt_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&CN0_SNV_dB_Hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_lock_test[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux1[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux2[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&PRN[i]), sizeof(unsigned int)); - } - } - dump_file.close(); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 1; - } - - // WRITE MAT FILE - mat_t *matfp; - matvar_t *matvar; - std::string filename = d_dump_filename; - filename.erase(filename.length() - 4, 4); - filename.append(".mat"); - matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); - if (reinterpret_cast(matfp) != NULL) - { - size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - } - Mat_Close(matfp); - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 0; -} - - -gps_l5i_dll_pll_tracking_cc::~gps_l5i_dll_pll_tracking_cc() -{ - if (d_dump_file.is_open()) - { - try - { - d_dump_file.close(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } - } - if (d_dump) - { - if (d_channel == 0) - { - std::cout << "Writing .mat files ..."; - } - gps_l5i_dll_pll_tracking_cc::save_matfile(); - if (d_channel == 0) - { - std::cout << " done." << std::endl; - } - } - try - { - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_correlator_outs); - volk_gnsssdr_free(d_ca_code); - delete[] d_Prompt_buffer; - multicorrelator_cpu.free(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } -} - - -int gps_l5i_dll_pll_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) -{ - // process vars - double carr_error_hz = 0; - double carr_error_filt_hz = 0; - double code_error_chips = 0; - double code_error_filt_chips = 0; - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro current_synchro_data = Gnss_Synchro(); - - // Block input data and block output stream pointers - const gr_complex *in = reinterpret_cast(input_items[0]); - Gnss_Synchro **out = reinterpret_cast(&output_items[0]); - - if (d_enable_tracking == true) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Receiver signal alignment - if (d_pull_in == true) - { - int samples_offset; - double 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_current_prn_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset; - d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples - d_pull_in = false; - // take into account the carrier cycles accumulated in the pull in signal alignment - d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.fs = d_fs_in; - current_synchro_data.correlation_length_ms = 1; - consume_each(samples_offset); // shift input to perform alignment with local replica - return 0; - } - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in); - multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad, - d_carrier_phase_step_rad, - d_rem_code_phase_chips, - d_code_phase_step_chips, - d_current_prn_length_samples); - - // ################## PLL ########################################################## - // PLL discriminator - // Update PLL discriminator [rads/Ti -> Secs/Ti] - carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_L5_TWO_PI; - // Carrier discriminator filter - carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); - // New carrier Doppler frequency estimation - d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; - // New code Doppler frequency estimation - d_code_freq_chips = GPS_L5i_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L5i_CODE_RATE_HZ) / GPS_L5_FREQ_HZ); - - // ################## DLL ########################################################## - // DLL discriminator - code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] - // Code discriminator filter - code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second] - double T_chip_seconds = 1.0 / static_cast(d_code_freq_chips); - double T_prn_seconds = T_chip_seconds * GPS_L5i_CODE_LENGTH_CHIPS; - double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds] - //double code_error_filt_secs = (GPS_L5i_PERIOD * code_error_filt_chips) / GPS_L5i_CODE_RATE_HZ; //[seconds] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); - d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples - - //################### PLL COMMANDS ################################################# - // carrier phase step (NCO phase increment per sample) [rads/sample] - d_carrier_phase_step_rad = GPS_L5_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples; - d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_L5_TWO_PI); - // carrier phase accumulator - d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples; - - //################### DLL COMMANDS ################################################# - // code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - // remnant code phase [chips] - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample - d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast(d_fs_in)); - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L5i_CODE_LENGTH_CHIPS); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; - } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - // ########### Output the tracking data to navigation and PVT ########## - current_synchro_data.Prompt_I = static_cast(d_correlator_outs[1].real()); - current_synchro_data.Prompt_Q = static_cast(d_correlator_outs[1].imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_symbol_output = true; - current_synchro_data.correlation_length_ms = 1; - } - else - { - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; - current_synchro_data.correlation_length_ms = 1; - } - //assign the GNURadio block output data - current_synchro_data.fs = d_fs_in; - *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; - double tmp_double; - prompt_I = d_correlator_outs[1].real(); - prompt_Q = d_correlator_outs[1].imag(); - tmp_E = std::abs(d_correlator_outs[0]); - tmp_P = std::abs(d_correlator_outs[1]); - tmp_L = std::abs(d_correlator_outs[2]); - try - { - // EPR - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - //tmp_float=(float)d_sample_counter; - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); - // accumulated carrier phase - d_dump_file.write(reinterpret_cast(&d_acc_carrier_phase_rad), sizeof(double)); - - // carrier and code frequency - d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_code_freq_chips), sizeof(double)); - - //PLL commands - d_dump_file.write(reinterpret_cast(&carr_error_hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); - - //DLL commands - d_dump_file.write(reinterpret_cast(&code_error_chips), sizeof(double)); - d_dump_file.write(reinterpret_cast(&code_error_filt_chips), sizeof(double)); - - // CN0 and carrier lock test - d_dump_file.write(reinterpret_cast(&d_CN0_SNV_dB_Hz), sizeof(double)); - d_dump_file.write(reinterpret_cast(&d_carrier_lock_test), sizeof(double)); - - // AUX vars (for debug purposes) - tmp_double = d_rem_code_phase_samples; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - - // PRN - unsigned int prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); - } - catch (std::ifstream::failure &e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } - } - consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates - d_sample_counter += d_current_prn_length_samples; // count for the processed samples - if (current_synchro_data.Flag_valid_symbol_output) - { - return 1; - } - else - { - return 0; - } -} - - -void gps_l5i_dll_pll_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(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(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); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void gps_l5i_dll_pll_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.h deleted file mode 100644 index cfe4b06f3..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.h +++ /dev/null @@ -1,165 +0,0 @@ -/*! - * \file gps_l5i_dll_pll_tracking_cc.h - * \brief Interface of a code DLL + carrier PLL tracking block for GPS L2C - * \author Javier Arribas, 2015. jarribas(at)cttc.es - * - * Code DLL + carrier PLL according to the algorithms described in: - * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, - * A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach, - * Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (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 . - * - * ------------------------------------------------------------------------- - */ - -#ifndef GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_CC_H -#define GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_CC_H - -#include "gnss_synchro.h" -#include "tracking_2nd_DLL_filter.h" -#include "tracking_2nd_PLL_filter.h" -#include "cpu_multicorrelator.h" -#include -#include -#include -#include - -class gps_l5i_dll_pll_tracking_cc; - -typedef boost::shared_ptr - gps_l5i_dll_pll_tracking_cc_sptr; - -gps_l5i_dll_pll_tracking_cc_sptr -gps_l5i_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - -/*! - * \brief This class implements a DLL + PLL tracking loop block - */ -class gps_l5i_dll_pll_tracking_cc : public gr::block -{ -public: - ~gps_l5i_dll_pll_tracking_cc(); - - void set_channel(unsigned int channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); - void start_tracking(); - - 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_l5i_dll_pll_tracking_cc_sptr - gps_l5i_dll_pll_make_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - gps_l5i_dll_pll_tracking_cc(long if_freq, - long fs_in, unsigned int vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips); - - // tracking configuration vars - unsigned int d_vector_length; - bool d_dump; - - Gnss_Synchro* d_acquisition_gnss_synchro; - unsigned int d_channel; - long d_if_freq; - long d_fs_in; - - double d_early_late_spc_chips; - - // remaining code phase and carrier phase between tracking loops - double d_rem_code_phase_samples; - double d_rem_code_phase_chips; - double 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 - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - // correlator - int d_n_correlator_taps; - gr_complex* d_ca_code; - float* d_local_code_shift_chips; - gr_complex* d_correlator_outs; - cpu_multicorrelator multicorrelator_cpu; - - // tracking vars - double d_code_freq_chips; - double d_code_phase_step_chips; - double d_carrier_doppler_hz; - double d_carrier_phase_step_rad; - double d_acc_carrier_phase_rad; - double d_code_phase_samples; - - // PRN period in samples - int d_current_prn_length_samples; - - // 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; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double 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 systemName; - std::string sys; - - int save_matfile(); -}; - -#endif //GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_CC_H