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Merge branch 'next' into multisignals

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# Conflicts:
#	src/core/receiver/gnss_block_factory.cc
This commit is contained in:
Carles Fernandez
2015-05-06 18:10:11 +02:00
parent f31122a4c8 f03336d82b
commit 04b6507267
37 changed files with 4715 additions and 73 deletions
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4
CMakeLists.txt
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@@ -1027,11 +1027,11 @@ if(ENABLE_GPERFTOOLS)
endif(ENABLE_GPERFTOOLS)
if(ENABLE_GPROF)
if(CMAKE_COMPILER_IS_GNUCXX)
#if(CMAKE_COMPILER_IS_GNUCXX)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -pg")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg")
endif(CMAKE_COMPILER_IS_GNUCXX)
#endif(CMAKE_COMPILER_IS_GNUCXX)
endif(ENABLE_GPROF)

16
conf/gnss-sdr.conf
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@@ -33,8 +33,8 @@ SignalSource.implementation=File_Signal_Source
SignalSource.filename=../../../Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
;SignalSource.item_type=short
SignalSource.item_type=byte
SignalSource.item_type=short
;SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000
@@ -77,10 +77,10 @@ SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
;DataTypeAdapter.implementation=Ishort_To_Complex
DataTypeAdapter.implementation=Ishort_To_Complex
;DataTypeAdapter.implementation=Ibyte_To_Cbyte
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=byte
;DataTypeAdapter.implementation=Pass_Through
;DataTypeAdapter.item_type=byte
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
@@ -91,8 +91,8 @@ DataTypeAdapter.item_type=byte
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
;InputFilter.implementation=Fir_Filter
InputFilter.implementation=Freq_Xlating_Fir_Filter
;InputFilter.implementation=Pass_Through
;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
@@ -105,7 +105,7 @@ InputFilter.dump_filename=../data/input_filter.dat
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=byte
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex

6
conf/gnss-sdr_GPS_L1_gr_complex.conf
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@@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=../data/agilent_cap2.dat
SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
@@ -210,7 +210,7 @@ Acquisition_GPS.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition_GPS.threshold=0.008
Acquisition_GPS.threshold=0.005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_GPS.pfa=0.01
;#doppler_max: Maximum expected Doppler shift [Hz]
@@ -289,7 +289,7 @@ PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true;
PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4

477
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1a.conf Normal file
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@@ -0,0 +1,477 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=5000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SUPL RRLP GPS assistance configuration #####
GNSS-SDR.SUPL_gps_enabled=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true
;SignalSource.signal_file=/datalogger/captures/eclipse/eclipse_IIIa_2.bin
SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2
;#frontend channels gain. Not usable yet!
SignalSource.gain1=0
SignalSource.gain2=0
SignalSource.gain3=0
;#frontend channels AGC
SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128
;######################################################
;######### RF CHANNEL 0 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner0.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 0 CONFIG ############
DataTypeAdapter0.implementation=Pass_Through
DataTypeAdapter0.item_type=gr_complex
;######### INPUT_FILTER 0 CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter0.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter0.dump=true
;#dump_filename: Log path and filename.
InputFilter0.dump_filename=../data/input_filter_ch0.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter0.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter0.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter0.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.45
InputFilter0.band2_begin=0.55
InputFilter0.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter0.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter0.IF=-205000
;# Decimation factor after the frequency tranaslating block
InputFilter0.decimation_factor=4
;######### RESAMPLER CONFIG 0 ############
;## Resamples the input data.
Resampler0.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 1 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 1 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner1.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 1 CONFIG ############
DataTypeAdapter1.implementation=Pass_Through
DataTypeAdapter1.item_type=gr_complex
;######### INPUT_FILTER 0 CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter1.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter1.dump=true
;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter1.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter1.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter1.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.45
InputFilter1.band2_begin=0.55
InputFilter1.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter1.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter1.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter1.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter1.IF=-100000
;# Decimation factor after the frequency tranaslating block
InputFilter1.decimation_factor=4
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler1.implementation=Pass_Through
;######### SIGNAL_CONDITIONER 2 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner2.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER 2 CONFIG ############
DataTypeAdapter2.implementation=Pass_Through
DataTypeAdapter2.item_type=gr_complex
;######### INPUT_FILTER 2 CONFIG ############
InputFilter2.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter2.dump=false
;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############
;## Resamples the input data.
Resampler2.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_GPS.count=2
;#count: Number of available Galileo satellite channels.
Channels_Galileo.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS
Channel.system=GPS, GPS L2C M
;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0
Channel0.system=GPS
Channel0.signal=1C
Channel1.RF_channel_ID=1
Channel1.system=GPS L2C M
Channel1.signal=2S
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel7.RF_channel_ID=0
;#signal:
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_GPS0.dump=false
;#filename: Log path and filename
Acquisition_GPS0.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_GPS0.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_GPS0.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_GPS0.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel:
Acquisition_GPS0.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_GPS0.threshold=0.002
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_GPS0.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_GPS0.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_GPS0.doppler_step=250
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition]
;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition_GPS0.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_GPS0.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_GPS1.dump=false
;#filename: Log path and filename
Acquisition_GPS1.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_GPS1.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_GPS1.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_GPS1.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel:
Acquisition_GPS1.implementation=GPS_L2_M_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_GPS1.threshold=0.0005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_GPS1.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_GPS1.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_GPS1.doppler_step=100
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition]
;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition_GPS1.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_GPS1.max_dwells=1
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_GPS.dump=true
;#filename: Log path and filename
Acquisition_GPS.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_GPS.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_GPS.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_GPS.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel:
Acquisition_GPS.implementation=GPS_L2_M_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_GPS.threshold=0.001
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_GPS.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_GPS.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_GPS.doppler_step=100
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition]
;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition_GPS.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_GPS.max_dwells=1
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking_GPS.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_GPS.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_GPS.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_GPS.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_GPS.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_GPS.dll_bw_hz=3.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_GPS.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_GPS.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_GPS.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS.dump=false
;#decimation factor
TelemetryDecoder_GPS.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=GPS_L1_CA_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500
;# RINEX, KML, and NMEA output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

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; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=5000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SUPL RRLP GPS assistance configuration #####
GNSS-SDR.SUPL_gps_enabled=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true
SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2
;#frontend channels gain. Not usable yet!
SignalSource.gain1=0
SignalSource.gain2=0
SignalSource.gain3=0
;#frontend channels AGC
SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128
;######################################################
;######### RF CHANNEL 0 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner0.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 0 CONFIG ############
DataTypeAdapter0.implementation=Pass_Through
DataTypeAdapter0.item_type=gr_complex
;######### INPUT_FILTER 0 CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter0.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter0.dump=false
;#dump_filename: Log path and filename.
InputFilter0.dump_filename=../data/input_filter_ch0.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter0.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter0.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter0.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.45
InputFilter0.band2_begin=0.55
InputFilter0.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter0.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
;# WARNING: Fraunhofer front-end hardwareconfigurations can difer. Signals available on http://www.iis.fraunhofer.de/de/ff/lok/leist/test/flexiband.html are centered on 0 Hz, ALL BANDS.
:#InputFilter0.IF=-205000
InputFilter0.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter0.decimation_factor=4
;######### RESAMPLER CONFIG 0 ############
;## Resamples the input data.
Resampler0.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 1 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 1 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner1.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 1 CONFIG ############
DataTypeAdapter1.implementation=Pass_Through
DataTypeAdapter1.item_type=gr_complex
;######### INPUT_FILTER 0 CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter1.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter1.dump=false
;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter1.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter1.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter1.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.45
InputFilter1.band2_begin=0.55
InputFilter1.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter1.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter1.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter1.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter1.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter1.decimation_factor=4
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler1.implementation=Pass_Through
;######### SIGNAL_CONDITIONER 2 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner2.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER 2 CONFIG ############
DataTypeAdapter2.implementation=Pass_Through
DataTypeAdapter2.item_type=gr_complex
;######### INPUT_FILTER 2 CONFIG ############
InputFilter2.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter2.dump=false
;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############
;## Resamples the input data.
Resampler2.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_GPS.count=16
;#count: Number of available Galileo satellite channels.
Channels_Galileo.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=2
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS
Channel.system=GPS, GPS L2C M
;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0
Channel0.system=GPS
Channel0.signal=1C
Channel1.RF_channel_ID=0
Channel1.system=GPS
Channel1.signal=1C
Channel2.RF_channel_ID=0
Channel2.system=GPS
Channel2.signal=1C
Channel3.RF_channel_ID=0
Channel3.system=GPS
Channel3.signal=1C
Channel4.RF_channel_ID=0
Channel4.system=GPS
Channel4.signal=1C
Channel5.RF_channel_ID=0
Channel5.system=GPS
Channel5.signal=1C
Channel6.RF_channel_ID=0
Channel6.system=GPS
Channel6.signal=1C
Channel7.RF_channel_ID=0
Channel7.system=GPS
Channel7.signal=1C
Channel8.RF_channel_ID=1
Channel8.system=GPS L2C M
Channel8.signal=2S
Channel9.RF_channel_ID=1
Channel9.system=GPS L2C M
Channel9.signal=2S
Channel10.RF_channel_ID=1
Channel10.system=GPS L2C M
Channel10.signal=2S
Channel11.RF_channel_ID=1
Channel11.system=GPS L2C M
Channel11.signal=2S
Channel12.RF_channel_ID=1
Channel12.system=GPS L2C M
Channel12.signal=2S
Channel13.RF_channel_ID=1
Channel13.system=GPS L2C M
Channel13.signal=2S
Channel14.RF_channel_ID=1
Channel14.system=GPS L2C M
Channel14.signal=2S
Channel15.RF_channel_ID=1
Channel15.system=GPS L2C M
Channel15.signal=2S
;#signal:
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;# GPS L1 C/A
Acquisition_GPS0.dump=false
Acquisition_GPS0.dump_filename=./acq_dump.dat
Acquisition_GPS0.item_type=gr_complex
Acquisition_GPS0.if=0
Acquisition_GPS0.sampled_ms=1
Acquisition_GPS0.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS0.threshold=0.015
;Acquisition_GPS0.pfa=0.0001
Acquisition_GPS0.doppler_max=5000
Acquisition_GPS0.doppler_min=-5000
Acquisition_GPS0.doppler_step=250
Acquisition_GPS0.max_dwells=2
Acquisition_GPS1.dump=false
Acquisition_GPS1.dump_filename=./acq_dump.dat
Acquisition_GPS1.item_type=gr_complex
Acquisition_GPS1.if=0
Acquisition_GPS1.sampled_ms=1
Acquisition_GPS1.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS1.threshold=0.015
;Acquisition_GPS1.pfa=0.0001
Acquisition_GPS1.doppler_max=5000
Acquisition_GPS1.doppler_min=-5000
Acquisition_GPS1.doppler_step=250
Acquisition_GPS1.max_dwells=2
Acquisition_GPS2.dump=false
Acquisition_GPS2.dump_filename=./acq_dump.dat
Acquisition_GPS2.item_type=gr_complex
Acquisition_GPS2.if=0
Acquisition_GPS2.sampled_ms=1
Acquisition_GPS2.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS2.threshold=0.015
;Acquisition_GPS2.pfa=0.0001
Acquisition_GPS2.doppler_max=5000
Acquisition_GPS2.doppler_min=-5000
Acquisition_GPS2.doppler_step=250
Acquisition_GPS2.max_dwells=2
Acquisition_GPS3.dump=false
Acquisition_GPS3.dump_filename=./acq_dump.dat
Acquisition_GPS3.item_type=gr_complex
Acquisition_GPS3.if=0
Acquisition_GPS3.sampled_ms=1
Acquisition_GPS3.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS3.threshold=0.015
;Acquisition_GPS3.pfa=0.0001
Acquisition_GPS3.doppler_max=5000
Acquisition_GPS3.doppler_min=-5000
Acquisition_GPS3.doppler_step=250
Acquisition_GPS3.max_dwells=2
Acquisition_GPS4.dump=false
Acquisition_GPS4.dump_filename=./acq_dump.dat
Acquisition_GPS4.item_type=gr_complex
Acquisition_GPS4.if=0
Acquisition_GPS4.sampled_ms=1
Acquisition_GPS4.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS4.threshold=0.015
;Acquisition_GPS4.pfa=0.0001
Acquisition_GPS4.doppler_max=5000
Acquisition_GPS4.doppler_min=-5000
Acquisition_GPS4.doppler_step=250
Acquisition_GPS4.max_dwells=2
Acquisition_GPS5.dump=false
Acquisition_GPS5.dump_filename=./acq_dump.dat
Acquisition_GPS5.item_type=gr_complex
Acquisition_GPS5.if=0
Acquisition_GPS5.sampled_ms=1
Acquisition_GPS5.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS5.threshold=0.015
;Acquisition_GPS5.pfa=0.0001
Acquisition_GPS5.doppler_max=5000
Acquisition_GPS5.doppler_min=-5000
Acquisition_GPS5.doppler_step=250
Acquisition_GPS5.max_dwells=2
Acquisition_GPS6.dump=false
Acquisition_GPS6.dump_filename=./acq_dump.dat
Acquisition_GPS6.item_type=gr_complex
Acquisition_GPS6.if=0
Acquisition_GPS6.sampled_ms=1
Acquisition_GPS6.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS6.threshold=0.015
;Acquisition_GPS6.pfa=0.0001
Acquisition_GPS6.doppler_max=5000
Acquisition_GPS6.doppler_min=-5000
Acquisition_GPS6.doppler_step=250
Acquisition_GPS6.max_dwells=2
Acquisition_GPS7.dump=false
Acquisition_GPS7.dump_filename=./acq_dump.dat
Acquisition_GPS7.item_type=gr_complex
Acquisition_GPS7.if=0
Acquisition_GPS7.sampled_ms=1
Acquisition_GPS7.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_GPS7.threshold=0.015
;Acquisition_GPS7.pfa=0.0001
Acquisition_GPS7.doppler_max=5000
Acquisition_GPS7.doppler_min=-5000
Acquisition_GPS7.doppler_step=250
Acquisition_GPS7.max_dwells=2
;# GPS L2C M
Acquisition_GPS8.dump=false
Acquisition_GPS8.dump_filename=./acq_dump.dat
Acquisition_GPS8.item_type=gr_complex
Acquisition_GPS8.if=0
Acquisition_GPS8.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS8.threshold=0.0005
;Acquisition_GPS8.pfa=0.001
Acquisition_GPS8.doppler_max=5000
Acquisition_GPS8.doppler_min=-5000
Acquisition_GPS8.doppler_step=100
Acquisition_GPS8.max_dwells=1
Acquisition_GPS9.dump=false
Acquisition_GPS9.dump_filename=./acq_dump.dat
Acquisition_GPS9.item_type=gr_complex
Acquisition_GPS9.if=0
Acquisition_GPS9.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS9.threshold=0.0005
;Acquisition_GPS9.pfa=0.001
Acquisition_GPS9.doppler_max=5000
Acquisition_GPS9.doppler_min=-5000
Acquisition_GPS9.doppler_step=100
Acquisition_GPS9.max_dwells=1
Acquisition_GPS10.dump=false
Acquisition_GPS10.dump_filename=./acq_dump.dat
Acquisition_GPS10.item_type=gr_complex
Acquisition_GPS10.if=0
Acquisition_GPS10.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS10.threshold=0.0005
;Acquisition_GPS10.pfa=0.001
Acquisition_GPS10.doppler_max=5000
Acquisition_GPS10.doppler_min=-5000
Acquisition_GPS10.doppler_step=100
Acquisition_GPS10.max_dwells=1
Acquisition_GPS11.dump=false
Acquisition_GPS11.dump_filename=./acq_dump.dat
Acquisition_GPS11.item_type=gr_complex
Acquisition_GPS11.if=0
Acquisition_GPS11.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS11.threshold=0.0005
;Acquisition_GPS11.pfa=0.001
Acquisition_GPS11.doppler_max=5000
Acquisition_GPS11.doppler_min=-5000
Acquisition_GPS11.doppler_step=100
Acquisition_GPS11.max_dwells=1
Acquisition_GPS12.dump=false
Acquisition_GPS12.dump_filename=./acq_dump.dat
Acquisition_GPS12.item_type=gr_complex
Acquisition_GPS12.if=0
Acquisition_GPS12.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS12.threshold=0.0005
;Acquisition_GPS12.pfa=0.001
Acquisition_GPS12.doppler_max=5000
Acquisition_GPS12.doppler_min=-5000
Acquisition_GPS12.doppler_step=100
Acquisition_GPS12.max_dwells=1
Acquisition_GPS13.dump=false
Acquisition_GPS13.dump_filename=./acq_dump.dat
Acquisition_GPS13.item_type=gr_complex
Acquisition_GPS13.if=0
Acquisition_GPS13.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS13.threshold=0.0005
;Acquisition_GPS13.pfa=0.001
Acquisition_GPS13.doppler_max=5000
Acquisition_GPS13.doppler_min=-5000
Acquisition_GPS13.doppler_step=100
Acquisition_GPS13.max_dwells=1
Acquisition_GPS14.dump=false
Acquisition_GPS14.dump_filename=./acq_dump.dat
Acquisition_GPS14.item_type=gr_complex
Acquisition_GPS14.if=0
Acquisition_GPS14.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS14.threshold=0.0005
;Acquisition_GPS14.pfa=0.001
Acquisition_GPS14.doppler_max=5000
Acquisition_GPS14.doppler_min=-5000
Acquisition_GPS14.doppler_step=100
Acquisition_GPS14.max_dwells=1
Acquisition_GPS15.dump=false
Acquisition_GPS15.dump_filename=./acq_dump.dat
Acquisition_GPS15.item_type=gr_complex
Acquisition_GPS15.if=0
Acquisition_GPS15.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_GPS15.threshold=0.0005
;Acquisition_GPS15.pfa=0.001
Acquisition_GPS15.doppler_max=5000
Acquisition_GPS15.doppler_min=-5000
Acquisition_GPS15.doppler_step=100
Acquisition_GPS15.max_dwells=1
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_GPS.dump=true
;#filename: Log path and filename
Acquisition_GPS.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_GPS.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_GPS.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_GPS.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel:
Acquisition_GPS.implementation=GPS_L2_M_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_GPS.threshold=0.003
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_GPS.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_GPS.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_GPS.doppler_step=100
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition]
;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition_GPS.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_GPS.max_dwells=1
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### TRACKING CHANNEL 0 CONFIG ############
Tracking_GPS0.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS0.item_type=gr_complex
Tracking_GPS0.if=0
Tracking_GPS0.dump=false
Tracking_GPS0.dump_filename=./tracking_ch_
Tracking_GPS0.pll_bw_hz=40.0;
Tracking_GPS0.dll_bw_hz=3.0;
Tracking_GPS0.fll_bw_hz=10.0;
Tracking_GPS0.order=3;
Tracking_GPS0.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 1 CONFIG ############
Tracking_GPS1.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS1.item_type=gr_complex
Tracking_GPS1.if=0
Tracking_GPS1.dump=false
Tracking_GPS1.dump_filename=./tracking_ch_
Tracking_GPS1.pll_bw_hz=40.0;
Tracking_GPS1.dll_bw_hz=3.0;
Tracking_GPS1.fll_bw_hz=10.0;
Tracking_GPS1.order=3;
Tracking_GPS1.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 2 CONFIG ############
Tracking_GPS2.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS2.item_type=gr_complex
Tracking_GPS2.if=0
Tracking_GPS2.dump=false
Tracking_GPS2.dump_filename=./tracking_ch_
Tracking_GPS2.pll_bw_hz=40.0;
Tracking_GPS2.dll_bw_hz=3.0;
Tracking_GPS2.fll_bw_hz=10.0;
Tracking_GPS2.order=3;
Tracking_GPS2.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 3 CONFIG ############
Tracking_GPS3.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS3.item_type=gr_complex
Tracking_GPS3.if=0
Tracking_GPS3.dump=false
Tracking_GPS3.dump_filename=./tracking_ch_
Tracking_GPS3.pll_bw_hz=40.0;
Tracking_GPS3.dll_bw_hz=3.0;
Tracking_GPS3.fll_bw_hz=10.0;
Tracking_GPS3.order=3;
Tracking_GPS3.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 4 CONFIG ############
Tracking_GPS4.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS4.item_type=gr_complex
Tracking_GPS4.if=0
Tracking_GPS4.dump=false
Tracking_GPS4.dump_filename=./tracking_ch_
Tracking_GPS4.pll_bw_hz=40.0;
Tracking_GPS4.dll_bw_hz=3.0;
Tracking_GPS4.fll_bw_hz=10.0;
Tracking_GPS4.order=3;
Tracking_GPS4.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 5 CONFIG ############
Tracking_GPS5.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS5.item_type=gr_complex
Tracking_GPS5.if=0
Tracking_GPS5.dump=false
Tracking_GPS5.dump_filename=./tracking_ch_
Tracking_GPS5.pll_bw_hz=40.0;
Tracking_GPS5.dll_bw_hz=3.0;
Tracking_GPS5.fll_bw_hz=10.0;
Tracking_GPS5.order=3;
Tracking_GPS5.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 6 CONFIG ############
Tracking_GPS6.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS6.item_type=gr_complex
Tracking_GPS6.if=0
Tracking_GPS6.dump=false
Tracking_GPS6.dump_filename=./tracking_ch_
Tracking_GPS6.pll_bw_hz=40.0;
Tracking_GPS6.dll_bw_hz=3.0;
Tracking_GPS6.fll_bw_hz=10.0;
Tracking_GPS6.order=3;
Tracking_GPS6.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 7 CONFIG ############
Tracking_GPS7.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_GPS7.item_type=gr_complex
Tracking_GPS7.if=0
Tracking_GPS7.dump=false
Tracking_GPS7.dump_filename=./tracking_ch_
Tracking_GPS7.pll_bw_hz=40.0;
Tracking_GPS7.dll_bw_hz=3.0;
Tracking_GPS7.fll_bw_hz=10.0;
Tracking_GPS7.order=3;
Tracking_GPS7.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 8 CONFIG ############
Tracking_GPS8.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS8.item_type=gr_complex
Tracking_GPS8.if=0
Tracking_GPS8.dump=false
Tracking_GPS8.dump_filename=./tracking_ch_
Tracking_GPS8.pll_bw_hz=2.0;
Tracking_GPS8.dll_bw_hz=0.5;
Tracking_GPS8.fll_bw_hz=2.0;
Tracking_GPS8.order=2;
Tracking_GPS8.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 9 CONFIG ############
Tracking_GPS9.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS9.item_type=gr_complex
Tracking_GPS9.if=0
Tracking_GPS9.dump=false
Tracking_GPS9.dump_filename=./tracking_ch_
Tracking_GPS9.pll_bw_hz=2.0;
Tracking_GPS9.dll_bw_hz=0.5;
Tracking_GPS9.fll_bw_hz=2.0;
Tracking_GPS9.order=2;
Tracking_GPS9.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 10 CONFIG ############
Tracking_GPS10.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS10.item_type=gr_complex
Tracking_GPS10.if=0
Tracking_GPS10.dump=false
Tracking_GPS10.dump_filename=./tracking_ch_
Tracking_GPS10.pll_bw_hz=2.0;
Tracking_GPS10.dll_bw_hz=0.5;
Tracking_GPS10.fll_bw_hz=2.0;
Tracking_GPS10.order=2;
Tracking_GPS10.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 11 CONFIG ############
Tracking_GPS11.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS11.item_type=gr_complex
Tracking_GPS11.if=0
Tracking_GPS11.dump=false
Tracking_GPS11.dump_filename=./tracking_ch_
Tracking_GPS11.pll_bw_hz=2.0;
Tracking_GPS11.dll_bw_hz=0.5;
Tracking_GPS11.fll_bw_hz=2.0;
Tracking_GPS11.order=2;
Tracking_GPS11.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 12 CONFIG ############
Tracking_GPS12.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS12.item_type=gr_complex
Tracking_GPS12.if=0
Tracking_GPS12.dump=false
Tracking_GPS12.dump_filename=./tracking_ch_
Tracking_GPS12.pll_bw_hz=2.0;
Tracking_GPS12.dll_bw_hz=0.5;
Tracking_GPS12.fll_bw_hz=2.0;
Tracking_GPS12.order=2;
Tracking_GPS12.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 13 CONFIG ############
Tracking_GPS13.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS13.item_type=gr_complex
Tracking_GPS13.if=0
Tracking_GPS13.dump=false
Tracking_GPS13.dump_filename=./tracking_ch_
Tracking_GPS13.pll_bw_hz=2.0;
Tracking_GPS13.dll_bw_hz=0.5;
Tracking_GPS13.fll_bw_hz=2.0;
Tracking_GPS13.order=2;
Tracking_GPS13.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 14 CONFIG ############
Tracking_GPS14.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS14.item_type=gr_complex
Tracking_GPS14.if=0
Tracking_GPS14.dump=false
Tracking_GPS14.dump_filename=./tracking_ch_
Tracking_GPS14.pll_bw_hz=2.0;
Tracking_GPS14.dll_bw_hz=0.5;
Tracking_GPS14.fll_bw_hz=2.0;
Tracking_GPS14.order=2;
Tracking_GPS14.early_late_space_chips=0.5;
;######### TRACKING CHANNEL 15 CONFIG ############
Tracking_GPS15.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_GPS15.item_type=gr_complex
Tracking_GPS15.if=0
Tracking_GPS15.dump=false
Tracking_GPS15.dump_filename=./tracking_ch_
Tracking_GPS15.pll_bw_hz=2.0;
Tracking_GPS15.dll_bw_hz=0.5;
Tracking_GPS15.fll_bw_hz=2.0;
Tracking_GPS15.order=2;
Tracking_GPS15.early_late_space_chips=0.5;
;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking_GPS.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_GPS.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_GPS.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_GPS.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_GPS.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_GPS.dll_bw_hz=3.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_GPS.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_GPS.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_GPS.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS.dump=false
;#decimation factor
TelemetryDecoder_GPS.decimation_factor=1;
TelemetryDecoder_GPS0.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS0.dump=false
TelemetryDecoder_GPS0.decimation_factor=20;
TelemetryDecoder_GPS1.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS1.dump=false
TelemetryDecoder_GPS1.decimation_factor=20;
TelemetryDecoder_GPS2.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS2.dump=false
TelemetryDecoder_GPS2.decimation_factor=20;
TelemetryDecoder_GPS3.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS3.dump=false
TelemetryDecoder_GPS3.decimation_factor=20;
TelemetryDecoder_GPS4.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS4.dump=false
TelemetryDecoder_GPS4.decimation_factor=20;
TelemetryDecoder_GPS5.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS5.dump=false
TelemetryDecoder_GPS5.decimation_factor=20;
TelemetryDecoder_GPS6.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS6.dump=false
TelemetryDecoder_GPS6.decimation_factor=20;
TelemetryDecoder_GPS7.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS7.dump=false
TelemetryDecoder_GPS7.decimation_factor=20;
TelemetryDecoder_GPS8.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS8.dump=false
TelemetryDecoder_GPS8.decimation_factor=1;
TelemetryDecoder_GPS9.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS9.dump=false
TelemetryDecoder_GPS9.decimation_factor=1;
TelemetryDecoder_GPS10.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS10.dump=false
TelemetryDecoder_GPS10.decimation_factor=1;
TelemetryDecoder_GPS11.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS11.dump=false
TelemetryDecoder_GPS11.decimation_factor=1;
TelemetryDecoder_GPS12.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS12.dump=false
TelemetryDecoder_GPS12.decimation_factor=1;
TelemetryDecoder_GPS13.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS13.dump=false
TelemetryDecoder_GPS13.decimation_factor=1;
TelemetryDecoder_GPS14.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS14.dump=false
TelemetryDecoder_GPS14.decimation_factor=1;
TelemetryDecoder_GPS15.implementation=GPS_L2_M_Telemetry_Decoder
TelemetryDecoder_GPS15.dump=false
TelemetryDecoder_GPS15.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=GPS_L1_CA_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500
;# RINEX, KML, and NMEA output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

1
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@@ -24,6 +24,7 @@ set(ACQ_ADAPTER_SOURCES
gps_l1_ca_pcps_acquisition_fine_doppler.cc
gps_l1_ca_pcps_tong_acquisition.cc
gps_l1_ca_pcps_quicksync_acquisition.cc
gps_l2_m_pcps_acquisition.cc
galileo_e1_pcps_ambiguous_acquisition.cc
galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

12
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@@ -90,6 +90,11 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
code_= new gr_complex[vector_length_];
std::complex<float>* code = new std::complex<float>[code_length_];
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
// if (item_type_.compare("gr_complex") == 0 )
// {
item_size_ = sizeof(gr_complex);
@@ -145,10 +150,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
if(pfa == 0.0)
{
pfa = configuration_->property(role_+".pfa", 0.0);
}
if(pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
threshold_ = threshold;
}
else
@@ -156,7 +158,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
// if (item_type_.compare("gr_complex") == 0)
// {

372
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc Normal file
View File

@@ -0,0 +1,372 @@
/*!
* \file gps_l1_ca_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L1 C/A signals
* \authors <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_pcps_acquisition.h"
#include <iostream>
#include <fstream>
#include <stdexcept>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/msg_queue.h>
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include "configuration_interface.h"
using google::LogMessage;
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr::msg_queue::sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
if_ = configuration_->property(role + ".ifreq", 0);
dump_ = configuration_->property(role + ".dump", false);
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
if (!bit_transition_flag_)
{
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
}
else
{
max_dwells_ = 2;
}
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
//--- Find number of samples per spreading code -------------------------
code_length_ = round((double)fs_in_
/ (GPS_L2_M_CODE_RATE_HZ / (double)GPS_L2_M_CODE_LENGTH_CHIPS));
vector_length_ = code_length_;
code_= new gr_complex[vector_length_];
// if (item_type_.compare("gr_complex") == 0 )
// {
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_cc(1, max_dwells_,
shift_resolution_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, queue_, dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
// }
if (item_type_.compare("cshort") == 0)
{
cshort_to_float_x2_ = make_cshort_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
}
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
}
//}
//else
// {
// LOG(WARNING) << item_type_
// << " unknown acquisition item type";
// }
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition()
{
delete[] code_;
}
void GpsL2MPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
//if (item_type_.compare("gr_complex") == 0)
//{
acquisition_cc_->set_channel(channel_);
//}
}
void GpsL2MPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0)
{
pfa = configuration_->property(role_+".pfa", 0.0);
}
if(pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_threshold(threshold_);
// }
}
void GpsL2MPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_doppler_max(doppler_max_);
// }
}
void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_doppler_step(doppler_step_);
// }
}
void GpsL2MPcpsAcquisition::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_channel_queue(channel_internal_queue_);
// }
}
void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
// }
}
signed int GpsL2MPcpsAcquisition::mag()
{
// // if (item_type_.compare("gr_complex") == 0)
// {
return acquisition_cc_->mag();
// }
// else
// {
// return 0;
// }
}
void GpsL2MPcpsAcquisition::init()
{
acquisition_cc_->init();
set_local_code();
}
void GpsL2MPcpsAcquisition::set_local_code()
{
// if (item_type_.compare("gr_complex") == 0)
// {
gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
acquisition_cc_->set_local_code(code_);
// //debug
// std::ofstream d_dump_file;
// std::stringstream filename;
// std::streamsize n = 2 * sizeof(float) * (code_length_); // complex file write
// filename.str("");
// filename << "../data/local_prn_sampled.dat";
// d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
// d_dump_file.write((char*)code_, n);
// d_dump_file.close();
// }
}
void GpsL2MPcpsAcquisition::reset()
{
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_active(true);
// }
}
void GpsL2MPcpsAcquisition::set_state(int state)
{
// if (item_type_.compare("gr_complex") == 0)
// {
acquisition_cc_->set_state(state);
// }
}
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda);
float threshold = (float)quantile(mydist,val);
return threshold;
}
void GpsL2MPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(cshort_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cshort_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else if (item_type_.compare("cbyte") == 0)
{
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
}
void GpsL2MPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else if (item_type_.compare("cshort") == 0)
{
// Since a short-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cshort_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cshort_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
}
gr::basic_block_sptr GpsL2MPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
}
else if (item_type_.compare("cshort") == 0)
{
return cshort_to_float_x2_;
}
else if (item_type_.compare("cbyte") == 0)
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{
return acquisition_cc_;
}

176
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h Normal file
View File

@@ -0,0 +1,176 @@
/*!
* \file gps_l2_m_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include "cshort_to_float_x2.h"
#include "complex_byte_to_float_x2.h"
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals
*/
class GpsL2MPcpsAcquisition: public AcquisitionInterface
{
public:
GpsL2MPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL2MPcpsAcquisition();
std::string role()
{
return role_;
}
/*!
* \brief Returns "GPS_L2_M_PCPS_Acquisition"
*/
std::string implementation()
{
return "GPS_L2_M_PCPS_Acquisition";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold);
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max);
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for GPS L2/M PCPS acquisition algorithm.
*/
void set_local_code();
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag();
/*!
* \brief Restart acquisition algorithm
*/
void reset();
/*!
* \brief If state = 1, it forces the block to start acquiring from the first sample
*/
void set_state(int state);
private:
ConfigurationInterface* configuration_;
pcps_acquisition_cc_sptr acquisition_cc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
cshort_to_float_x2_sptr cshort_to_float_x2_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int shift_resolution_;
unsigned int max_dwells_;
long fs_in_;
long if_;
bool dump_;
std::string dump_filename_;
std::complex<float> * code_;
Gnss_Synchro * gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H_ */

18
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
View File

@@ -138,14 +138,15 @@ void pcps_acquisition_cc::init()
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins=ceil((static_cast<int>(d_doppler_max)-static_cast<int>(-d_doppler_max))/d_doppler_step);
// Count the number of bins
d_num_doppler_bins = 0;
for (int doppler = static_cast<int>(-d_doppler_max);
doppler <= static_cast<int>(d_doppler_max);
doppler += d_doppler_step)
{
d_num_doppler_bins++;
}
// d_num_doppler_bins = 0;
// for (int doppler = static_cast<int>(-d_doppler_max);
// doppler <= static_cast<int>(d_doppler_max);
// doppler += d_doppler_step)
// {
// d_num_doppler_bins++;
// }
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
@@ -154,7 +155,7 @@ void pcps_acquisition_cc::init()
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_malloc(d_fft_size * sizeof(gr_complex), volk_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index], d_freq + doppler, d_fs_in, d_fft_size);
complex_exp_gen(d_grid_doppler_wipeoffs[doppler_index], d_freq - doppler, d_fs_in, d_fft_size);
}
}
@@ -247,7 +248,6 @@ int pcps_acquisition_cc::general_work(int noutput_items,
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
for (unsigned int doppler_index=0; doppler_index < d_num_doppler_bins; doppler_index++)
{

1
src/algorithms/libs/CMakeLists.txt
View File

@@ -18,6 +18,7 @@
set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc
galileo_e1_signal_processing.cc
gnss_sdr_valve.cc
gnss_signal_processing.cc

128
src/algorithms/libs/gps_l2c_signal.cc Normal file
View File

@@ -0,0 +1,128 @@
/*!
* \file gps_l2c_signal.cc
* \brief This class implements signal generators for the GPS L2C signals
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "GPS_L2C.h"
#include <stdlib.h>
#include <stdint.h>
#include <cmath>
int32_t gps_l2c_m_shift(int32_t x)
{
return (int32_t)((x>>1)^((x&1)*0445112474));
}
void gps_l2c_m_code(int32_t * _dest, unsigned int _prn)
{
int32_t x;
x= GPS_L2C_M_INIT_REG[_prn-1];
for (int n=0; n<GPS_L2_M_CODE_LENGTH_CHIPS; n++)
{
_dest[n]=(int8_t)(x&1);
x= gps_l2c_m_shift(x);
}
}
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
{
int32_t _code[GPS_L2_M_CODE_LENGTH_CHIPS];
if (_prn>0 and _prn<51)
{
gps_l2c_m_code(_code, _prn);
}
for (signed int i=0; i<GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0-2.0*_code[i],0);
}
}
/*
* Generates complex GPS L2C M code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs)
{
int32_t _code[GPS_L2_M_CODE_LENGTH_CHIPS];
if (_prn>0 and _prn<51)
{
gps_l2c_m_code(_code, _prn);
}
signed int _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
const signed int _codeFreqBasis = GPS_L2_M_CODE_RATE_HZ; //Hz
const signed int _codeLength = GPS_L2_M_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = round(_fs / (_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1/(float)_fs; // Sampling period in sec
_tc = 1/(float)_codeFreqBasis; // C/A chip period in sec
for (signed int i=0; i<_samplesPerCode; i++)
{
//=== Digitizing =======================================================
//--- Make index array to read C/A code values -------------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
//TODO: Check this formula! Seems to start with an extra sample
_codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
//--- Make the digitized version of the C/A code -----------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0-2.0*_code[_codeLength - 1],0);
}
else
{
_dest[i] = std::complex<float>(1.0-2.0*_code[_codeValueIndex],0);; //repeat the chip -> upsample
}
}
}

48
src/algorithms/libs/gps_l2c_signal.h Normal file
View File

@@ -0,0 +1,48 @@
/*!
* \file gps_l2c_signal.h
* \brief This class implements signal generators for the GPS L2C signals
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_GPS_L2C_SIGNAL_H_
#define GNSS_GPS_L2C_SIGNAL_H_
#include <complex>
#include <iostream>
#include "GPS_L2C.h"
//!Generates complex GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs);
#endif /* GNSS_GPS_L2C_SIGNAL_H_ */

1
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@@ -60,6 +60,7 @@ void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, signed int _prn, uns
if(120 <= _prn && _prn <= 138)
{
prn_idx = _prn - 88; // SBAS PRNs are at array indices 31 to 50 (offset: -120+33-1 =-88)
//prn_idx = _prn - 87; // SBAS PRNs are at array indices 31 to 50 (offset: -120+33 =-87)
}
else
{

1
src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
View File

@@ -18,6 +18,7 @@
set(TELEMETRY_DECODER_ADAPTER_SOURCES
gps_l1_ca_telemetry_decoder.cc
gps_l2_m_telemetry_decoder.cc
galileo_e1b_telemetry_decoder.cc
sbas_l1_telemetry_decoder.cc
galileo_e5a_telemetry_decoder.cc

122
src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.cc Normal file
View File

@@ -0,0 +1,122 @@
/*!
* \file gps_l2_m_telemetry_decoder.cc
* \brief Implementation of an adapter of a GPS L2C M NAV data decoder block
* to a TelemetryDecoderInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_telemetry_decoder.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "gps_ephemeris.h"
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "configuration_interface.h"
extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
using google::LogMessage;
GpsL2MTelemetryDecoder::GpsL2MTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./navigation.dat";
DLOG(INFO) << "role " << role;
DLOG(INFO) << "vector length " << vector_length_;
vector_length_ = configuration->property(role + ".vector_length", 2048);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
int fs_in;
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
// make telemetry decoder object
telemetry_decoder_ = gps_l2_m_make_telemetry_decoder_cc(satellite_, 0, (long)fs_in, vector_length_, queue_, dump_); // TODO fix me
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
// set the navigation msg queue;
telemetry_decoder_->set_ephemeris_queue(&global_gps_ephemeris_queue);
telemetry_decoder_->set_iono_queue(&global_gps_iono_queue);
telemetry_decoder_->set_almanac_queue(&global_gps_almanac_queue);
telemetry_decoder_->set_utc_model_queue(&global_gps_utc_model_queue);
//decimation factor
int decimation_factor = configuration->property(role + ".decimation_factor", 1);
telemetry_decoder_->set_decimation(decimation_factor);
LOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")"<<"role "<<role;
}
GpsL2MTelemetryDecoder::~GpsL2MTelemetryDecoder()
{}
void GpsL2MTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_);
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
}
void GpsL2MTelemetryDecoder::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GpsL2MTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr GpsL2MTelemetryDecoder::get_left_block()
{
return telemetry_decoder_;
}
gr::basic_block_sptr GpsL2MTelemetryDecoder::get_right_block()
{
return telemetry_decoder_;
}

96
src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.h Normal file
View File

@@ -0,0 +1,96 @@
/*!
* \file gps_l2_m_telemetry_decoder.h
* \brief Interface of an adapter of a GPS L1 C/A NAV data decoder block
* to a TelemetryDecoderInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2_M_TELEMETRY_DECODER_H_
#define GNSS_SDR_GPS_L2_M_TELEMETRY_DECODER_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "telemetry_decoder_interface.h"
#include "gps_l2_m_telemetry_decoder_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a NAV data decoder for GPS L2 M
*/
class GpsL2MTelemetryDecoder : public TelemetryDecoderInterface
{
public:
GpsL2MTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL2MTelemetryDecoder();
std::string role()
{
return role_;
}
//! Returns "gps_l2_m_telemetry_decoder"
std::string implementation()
{
return "gps_l2_m_telemetry_decoder";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void set_satellite(Gnss_Satellite satellite);
void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
void reset()
{
return;
}
size_t item_size()
{
return 0;
}
private:
gps_l2_m_telemetry_decoder_cc_sptr telemetry_decoder_;
Gnss_Satellite satellite_;
int channel_;
unsigned int vector_length_;
std::string item_type_;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif

1
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@@ -18,6 +18,7 @@
set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
gps_l1_ca_telemetry_decoder_cc.cc
gps_l2_m_telemetry_decoder_cc.cc
galileo_e1b_telemetry_decoder_cc.cc
sbas_l1_telemetry_decoder_cc.cc
galileo_e5a_telemetry_decoder_cc.cc

3
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@@ -86,7 +86,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "TELEMETRY PROCESSING: satellite " << d_satellite;
d_vector_length = vector_length;
d_samples_per_bit = ( GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS ) / GPS_CA_TELEMETRY_RATE_BITS_SECOND;
d_fs_in = fs_in;
@@ -357,7 +356,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
d_average_count = 0;
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
//std::cout<<"GPS TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
//std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
return 1;
}
else

410
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc Normal file
View File

@@ -0,0 +1,410 @@
/*!
* \file gps_l2_m_telemetry_decoder_cc.cc
* \brief Implementation of a NAV message demodulator block based on
* Kay Borre book MATLAB-based GPS receiver
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
/*!
* \todo Clean this code and move the telemetry definitions to GPS_L1_CA system definitions file
*/
#include "gps_l2_m_telemetry_decoder_cc.h"
#include <iostream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "control_message_factory.h"
#include "gnss_synchro.h"
#ifndef _rotl
#define _rotl(X,N) ((X << N) ^ (X >> (32-N))) // Used in the parity check algorithm
#endif
using google::LogMessage;
/*!
* \todo name and move the magic numbers to GPS_L1_CA.h
*/
gps_l2_m_telemetry_decoder_cc_sptr
gps_l2_m_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
{
return gps_l2_m_telemetry_decoder_cc_sptr(new gps_l2_m_telemetry_decoder_cc(satellite, if_freq,
fs_in, vector_length, queue, dump));
}
void gps_l2_m_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
for (unsigned i = 0; i < 3; i++)
{
ninput_items_required[i] = d_samples_per_bit * 8; //set the required sample history
}
}
gps_l2_m_telemetry_decoder_cc::gps_l2_m_telemetry_decoder_cc(
Gnss_Satellite satellite,
long if_freq,
long fs_in,
unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump) :
gr::block("gps_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_vector_length = vector_length;
d_samples_per_bit = ( GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS ) / GPS_CA_TELEMETRY_RATE_BITS_SECOND;
d_fs_in = fs_in;
//d_preamble_duration_seconds = (1.0 / GPS_CA_TELEMETRY_RATE_BITS_SECOND) * GPS_CA_PREAMBLE_LENGTH_BITS;
//std::cout<<"d_preamble_duration_seconds="<<d_preamble_duration_seconds<<"\r\n";
// set the preamble
unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
// preamble bits to sampled symbols
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_BITS * d_samples_per_bit);
int n = 0;
for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
{
for (unsigned int j = 0; j < d_samples_per_bit; j++)
{
if (d_preambles_bits[i] == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
}
d_sample_counter = 0;
//d_preamble_code_phase_seconds = 0;
d_stat = 0;
d_preamble_index = 0;
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
d_frame_bit_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_GPS_frame_4bytes = 0;
d_prev_GPS_frame_4bytes = 0;
d_flag_parity = false;
d_TOW_at_Preamble = 0;
d_TOW_at_current_symbol = 0;
flag_TOW_set = false;
d_average_count = 0;
//set_history(d_samples_per_bit*8); // At least a history of 8 bits are needed to correlate with the preamble
}
gps_l2_m_telemetry_decoder_cc::~gps_l2_m_telemetry_decoder_cc()
{
delete d_preambles_symbols;
d_dump_file.close();
}
bool gps_l2_m_telemetry_decoder_cc::gps_word_parityCheck(unsigned int gpsword)
{
unsigned int d1, d2, d3, d4, d5, d6, d7, t, parity;
/* XOR as many bits in parallel as possible. The magic constants pick
up bits which are to be XOR'ed together to implement the GPS parity
check algorithm described in IS-GPS-200E. This avoids lengthy shift-
and-xor loops. */
d1 = gpsword & 0xFBFFBF00;
d2 = _rotl(gpsword,1) & 0x07FFBF01;
d3 = _rotl(gpsword,2) & 0xFC0F8100;
d4 = _rotl(gpsword,3) & 0xF81FFE02;
d5 = _rotl(gpsword,4) & 0xFC00000E;
d6 = _rotl(gpsword,5) & 0x07F00001;
d7 = _rotl(gpsword,6) & 0x00003000;
t = d1 ^ d2 ^ d3 ^ d4 ^ d5 ^ d6 ^ d7;
// Now XOR the 5 6-bit fields together to produce the 6-bit final result.
parity = t ^ _rotl(t,6) ^ _rotl(t,12) ^ _rotl(t,18) ^ _rotl(t,24);
parity = parity & 0x3F;
if (parity == (gpsword & 0x3F)) return(true);
else return(false);
}
int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int corr_value = 0;
int preamble_diff = 0;
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
d_sample_counter++; //count for the processed samples
// ########### Output the tracking data to navigation and PVT ##########
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
// TODO Optimize me!
//******* preamble correlation ********
for (unsigned int i = 0; i < d_samples_per_bit*8; i++)
{
if (in[0][i].Prompt_I < 0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
}
d_flag_preamble = false;
//******* frame sync ******************
if (abs(corr_value) >= 160)
{
//TODO: Rewrite with state machine
if (d_stat == 0)
{
d_GPS_FSM.Event_gps_word_preamble();
d_preamble_index = d_sample_counter;//record the preamble sample stamp
LOG(INFO) << "Preamble detection for SAT " << this->d_satellite;
d_symbol_accumulator = 0; //sync the symbol to bits integrator
d_symbol_accumulator_counter = 0;
d_frame_bit_index = 8;
d_stat = 1; // enter into frame pre-detection status
}
else if (d_stat == 1) //check 6 seconds of preamble separation
{
preamble_diff = d_sample_counter - d_preamble_index;
if (abs(preamble_diff - 6000) < 1)
{
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
LOG(INFO) <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
}
}
}
}
else
{
if (d_stat == 1)
{
preamble_diff = d_sample_counter - d_preamble_index;
if (preamble_diff > 6001)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff;
d_stat = 0; //lost of frame sync
d_flag_frame_sync = false;
flag_TOW_set = false;
}
}
}
//******* SYMBOL TO BIT *******
d_symbol_accumulator += in[0][d_samples_per_bit*8 - 1].Prompt_I; // accumulate the input value in d_symbol_accumulator
d_symbol_accumulator_counter++;
if (d_symbol_accumulator_counter == 20)
{
if (d_symbol_accumulator > 0)
{ //symbol to bit
d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
}
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
//******* bits to words ******
d_frame_bit_index++;
if (d_frame_bit_index == 30)
{
d_frame_bit_index = 0;
// parity check
// Each word in wordbuff is composed of:
// Bits 0 to 29 = the GPS data word
// Bits 30 to 31 = 2 LSBs of the GPS word ahead.
// prepare the extended frame [-2 -1 0 ... 30]
if (d_prev_GPS_frame_4bytes & 0x00000001)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x40000000;
}
if (d_prev_GPS_frame_4bytes & 0x00000002)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x80000000;
}
/* Check that the 2 most recently logged words pass parity. Have to first
invert the data bits according to bit 30 of the previous word. */
if(d_GPS_frame_4bytes & 0x40000000)
{
d_GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR)
}
if (gps_l2_m_telemetry_decoder_cc::gps_word_parityCheck(d_GPS_frame_4bytes))
{
memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char)*4);
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds*1000.0;
d_GPS_FSM.Event_gps_word_valid();
d_flag_parity = true;
}
else
{
d_GPS_FSM.Event_gps_word_invalid();
d_flag_parity = false;
}
d_prev_GPS_frame_4bytes = d_GPS_frame_4bytes; // save the actual frame
d_GPS_frame_4bytes = d_GPS_frame_4bytes & 0;
}
else
{
d_GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
}
}
// output the frame
consume_each(1); //one by one
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
//update TOW at the preamble instant (todo: check for valid d_TOW)
// JAVI: 30/06/2014
// TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
// Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
{
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
d_TOW_at_current_symbol = d_TOW_at_Preamble;//GPS_L1_CA_CODE_PERIOD;// + (double)GPS_CA_PREAMBLE_LENGTH_BITS/(double)GPS_CA_TELEMETRY_RATE_BITS_SECOND;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if (flag_TOW_set == false)
{
flag_TOW_set = true;
}
}
else
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
}
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol; // to be used in the hybrid configuration
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//todo: implement averaging
d_average_count++;
if (d_average_count == d_decimation_output_factor)
{
d_average_count = 0;
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
//std::cout<<"GPS L2 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
return 1;
}
else
{
return 0;
}
}
void gps_l2_m_telemetry_decoder_cc::set_decimation(int decimation)
{
d_decimation_output_factor = decimation;
}
void gps_l2_m_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void gps_l2_m_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
d_GPS_FSM.i_channel_ID = channel;
DLOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder 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();
}
}
}
}

152
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h Normal file
View File

@@ -0,0 +1,152 @@
/*!
* \file gps_l2_m_telemetry_decoder_cc.h
* \brief Interface of a NAV message demodulator block based on
* Kay Borre book MATLAB-based GPS receiver
* \author Javier Arribas, 2015. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2_M_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_GPS_L2_M_TELEMETRY_DECODER_CC_H
#include <fstream>
#include <string>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "GPS_L1_CA.h"
#include "gps_l1_ca_subframe_fsm.h"
#include "concurrent_queue.h"
#include "gnss_satellite.h"
class gps_l2_m_telemetry_decoder_cc;
typedef boost::shared_ptr<gps_l2_m_telemetry_decoder_cc> gps_l2_m_telemetry_decoder_cc_sptr;
gps_l2_m_telemetry_decoder_cc_sptr
gps_l2_m_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
/*!
* \brief This class implements a block that decodes the NAV data defined in IS-GPS-200E
*
*/
class gps_l2_m_telemetry_decoder_cc : public gr::block
{
public:
~gps_l2_m_telemetry_decoder_cc();
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
/*!
* \brief Set decimation factor to average the GPS synchronization estimation output from the tracking module.
*/
void set_decimation(int decimation);
/*!
* \brief Set the satellite data queue
*/
void set_ephemeris_queue(concurrent_queue<Gps_Ephemeris> *ephemeris_queue){d_GPS_FSM.d_ephemeris_queue = ephemeris_queue;} //!< Set the ephemeris data queue
void set_iono_queue(concurrent_queue<Gps_Iono> *iono_queue){d_GPS_FSM.d_iono_queue = iono_queue;} //!< Set the iono data queue
void set_almanac_queue(concurrent_queue<Gps_Almanac> *almanac_queue){d_GPS_FSM.d_almanac_queue = almanac_queue;} //!< Set the almanac data queue
void set_utc_model_queue(concurrent_queue<Gps_Utc_Model> *utc_model_queue){d_GPS_FSM.d_utc_model_queue = utc_model_queue;} //!< Set the UTC model data queue
/*!
* \brief This is where all signal processing takes place
*/
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
/*!
* \brief Function which tells the scheduler how many input items
* are required to produce noutput_items output items.
*/
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend gps_l2_m_telemetry_decoder_cc_sptr
gps_l2_m_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in,unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
gps_l2_m_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
bool gps_word_parityCheck(unsigned int gpsword);
// constants
unsigned short int d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS];
// class private vars
signed int *d_preambles_symbols;
unsigned int d_samples_per_bit;
long unsigned int d_sample_counter;
long unsigned int d_preamble_index;
unsigned int d_stat;
bool d_flag_frame_sync;
// symbols
double d_symbol_accumulator;
short int d_symbol_accumulator_counter;
//bits and frame
unsigned short int d_frame_bit_index;
unsigned int d_GPS_frame_4bytes;
unsigned int d_prev_GPS_frame_4bytes;
bool d_flag_parity;
bool d_flag_preamble;
int d_word_number;
// output averaging and decimation
int d_average_count;
int d_decimation_output_factor;
long d_fs_in;
//double d_preamble_duration_seconds;
// navigation message vars
Gps_Navigation_Message d_nav;
GpsL1CaSubframeFsm d_GPS_FSM;
boost::shared_ptr<gr::msg_queue> d_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Satellite d_satellite;
int d_channel;
//std::deque<double> d_prn_start_sample_history;
double d_preamble_time_seconds;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
double Prn_timestamp_at_preamble_ms;
bool flag_TOW_set;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

1
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@@ -26,6 +26,7 @@ set(TRACKING_ADAPTER_SOURCES
gps_l1_ca_dll_pll_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
)
include_directories(

154
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc Normal file
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@@ -0,0 +1,154 @@
/*!
* \file gps_l2_m_dll_pll_tracking.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_dll_pll_tracking.h"
#include <glog/logging.h>
#include "GPS_L2C.h"
#include "configuration_interface.h"
using google::LogMessage;
GpsL2MDllPllTracking::GpsL2MDllPllTracking(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
LOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l2_m_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
}
else
{
LOG(WARNING) << item_type << " unknown tracking item type.";
}
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}
GpsL2MDllPllTracking::~GpsL2MDllPllTracking()
{}
void GpsL2MDllPllTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL2MDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
/*
* Set tracking channel internal queue
*/
void GpsL2MDllPllTracking::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
tracking_->set_channel_queue(channel_internal_queue_);
}
void GpsL2MDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL2MDllPllTracking::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GpsL2MDllPllTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GpsL2MDllPllTracking::get_right_block()
{
return tracking_;
}

114
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h Normal file
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@@ -0,0 +1,114 @@
/*!
* \file gps_l2_m_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \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:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_gps_l2_m_dll_pll_tracking_H_
#define GNSS_SDR_gps_l2_m_dll_pll_tracking_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "tracking_interface.h"
#include "gps_l2_m_dll_pll_tracking_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL2MDllPllTracking : public TrackingInterface
{
public:
GpsL2MDllPllTracking(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL2MDllPllTracking();
std::string role()
{
return role_;
}
//! Returns "gps_l2_m_dll_pll_tracking"
std::string implementation()
{
return "gps_l2_m_dll_pll_tracking";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void start_tracking();
private:
gps_l2_m_dll_pll_tracking_cc_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
};
#endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_H_

3
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@@ -25,6 +25,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
gps_l1_ca_dll_pll_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
)
include_directories(
@@ -51,4 +52,4 @@ source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES} )
if(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module)
endif(NOT VOLK_GNSSSDR_FOUND)
endif(NOT VOLK_GNSSSDR_FOUND)

34
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@@ -163,6 +163,11 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
set_relative_rate(1.0/((double)d_vector_length*2));
//set_min_output_buffer((long int)300);
}
@@ -327,6 +332,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
float code_error_chips;
float code_error_filt_chips;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
if (d_enable_tracking == true)
{
// Receiver signal alignment
@@ -343,19 +356,16 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
update_local_code();
update_local_carrier();
@@ -390,7 +400,6 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
return 1;
}
@@ -503,8 +512,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
LOG(INFO) << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
}
@@ -540,10 +549,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
*d_Early = gr_complex(0,0);
*d_Prompt = gr_complex(0,0);
*d_Late = gr_complex(0,0);
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
*out[0] = *d_acquisition_gnss_synchro;
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
}
if(d_dump)

657
src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc Normal file
View File

@@ -0,0 +1,657 @@
/*!
* \file gps_l2_m_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_dll_pll_tracking_cc.h"
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "GPS_L2C.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
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,
boost::shared_ptr<gr::msg_queue> queue,
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, queue, 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)
{
ninput_items_required[0] = static_cast<int>(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,
boost::shared_ptr<gr::msg_queue> queue,
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)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
// 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<gr_complex*>(volk_malloc((GPS_L2_M_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
// Get space for the resampled early / prompt / late local replicas
d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
// space for carrier wipeoff and signal baseband vectors
d_carr_sign = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
// correlator outputs (scalar)
d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
//--- 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;
d_last_seg = 0;
d_current_prn_length_samples = static_cast<int>(d_vector_length);
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
systemName["G"] = std::string("GPS");
set_relative_rate(1.0/((double)d_vector_length*2));
//set_min_output_buffer((long int)300);
LOG(INFO)<<"d_vector_length"<<d_vector_length<<std::endl;
}
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;
float acq_trk_diff_seconds;
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(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<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
//doppler effect
// Fd=(C/(C+Vr))*F
float 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
float T_chip_mod_seconds;
float T_prn_mod_seconds;
float T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GPS_L2_M_CODE_RATE_HZ;
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<float>(d_fs_in);
d_current_prn_length_samples = round(T_prn_mod_samples);
float T_prn_true_seconds = GPS_L2_M_CODE_LENGTH_CHIPS / GPS_L2_M_CODE_RATE_HZ;
float T_prn_true_samples = T_prn_true_seconds * static_cast<float>(d_fs_in);
float T_prn_diff_seconds= T_prn_true_seconds - T_prn_mod_seconds;
float N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
float corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<float>(d_fs_in)), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // 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[1], d_acquisition_gnss_synchro->PRN);
d_ca_code[0] = d_ca_code[static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS)];
d_ca_code[static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS) + 1] = d_ca_code[1];
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 start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting 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) << "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 gps_l2_m_dll_pll_tracking_cc::update_local_code()
{
double tcode_chips;
double rem_code_phase_chips;
int associated_chip_index;
int code_length_chips = static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS);
double code_phase_step_chips;
int early_late_spc_samples;
int epl_loop_length_samples;
// unified loop for E, P, L code vectors
code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
tcode_chips = -rem_code_phase_chips;
// Alternative EPL code generation (40% of speed improvement!)
early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
epl_loop_length_samples = d_current_prn_length_samples + early_late_spc_samples * 2;
for (int i = 0; i < epl_loop_length_samples; i++)
{
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
d_early_code[i] = d_ca_code[associated_chip_index];
tcode_chips = tcode_chips + code_phase_step_chips;
}
memcpy(d_prompt_code, &d_early_code[early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
memcpy(d_late_code, &d_early_code[early_late_spc_samples * 2], d_current_prn_length_samples * sizeof(gr_complex));
}
void gps_l2_m_dll_pll_tracking_cc::update_local_carrier()
{
float phase_rad, phase_step_rad;
phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
//d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
//d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
}
gps_l2_m_dll_pll_tracking_cc::~gps_l2_m_dll_pll_tracking_cc()
{
d_dump_file.close();
volk_free(d_prompt_code);
volk_free(d_late_code);
volk_free(d_early_code);
volk_free(d_carr_sign);
volk_free(d_Early);
volk_free(d_Prompt);
volk_free(d_Late);
volk_free(d_ca_code);
delete[] d_Prompt_buffer;
}
int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// process vars
float carr_error_hz;
float carr_error_filt_hz;
float code_error_chips;
float code_error_filt_chips;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
if (d_enable_tracking == true)
{
// Receiver signal alignment
if (d_pull_in == true)
{
int samples_offset;
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast<double>(d_fs_in));
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
update_local_code();
update_local_carrier();
// perform carrier wipe-off and compute Early, Prompt and Late correlation
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
in,
d_carr_sign,
d_early_code,
d_prompt_code,
d_late_code,
d_Early,
d_Prompt,
d_Late);
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
{
const int samples_available = ninput_items[0];
d_sample_counter = d_sample_counter + samples_available;
LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
consume_each(samples_available);
// make an output to not stop the rest of the processing blocks
current_synchro_data.Prompt_I = 0.0;
current_synchro_data.Prompt_Q = 0.0;
current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.Code_phase_secs = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
return 1;
}
// ################## PLL ##########################################################
// PLL discriminator
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_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);
//carrier phase accumulator for (K) doppler estimation
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
//remanent carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// ################## DLL ##########################################################
// 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
float code_error_filt_secs;
code_error_filt_secs = (GPS_L2_M_PERIOD * code_error_filt_chips) / GPS_L2_M_CODE_RATE_HZ; //[seconds]
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// 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 / static_cast<double>(d_code_freq_chips);
T_prn_seconds = T_chip_seconds * GPS_L2_M_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(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 < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L2_M_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
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<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
// Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
//compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter)/static_cast<double>(d_fs_in);
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// debug: Second counter in channel 0
if (d_channel == 0)
{
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
std::cout << "GPS L2C M Tracking CH " << d_channel << ": Satellite "
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]"<< std::endl;
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
}
else
{
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "GPS L2C M Tracking CH " << d_channel << ": Satellite "
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]"<<std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
}
}
}
else
{
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
}
*d_Early = gr_complex(0,0);
*d_Prompt = gr_complex(0,0);
*d_Late = gr_complex(0,0);
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
}
if(d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);
try
{
// EPR
d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
// PRN start sample stamp
//tmp_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(float));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(float));
//PLL commands
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(float));
//DLL commands
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char*>(&tmp_float), sizeof(float));
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
}
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
//LOG(INFO)<<"GPS L2 tracking output end on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
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<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void gps_l2_m_dll_pll_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void gps_l2_m_dll_pll_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}

187
src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h Normal file
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@@ -0,0 +1,187 @@
/*!
* \file gps_l2_m_dll_pll_tracking_cc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H
#define GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H
#include <fstream>
#include <queue>
#include <map>
#include <string>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
class gps_l2_m_dll_pll_tracking_cc;
typedef boost::shared_ptr<gps_l2_m_dll_pll_tracking_cc>
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,
boost::shared_ptr<gr::msg_queue> queue,
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();
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
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,
boost::shared_ptr<gr::msg_queue> queue,
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,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
void update_local_code();
void update_local_carrier();
// tracking configuration vars
boost::shared_ptr<gr::msg_queue> d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;
long d_fs_in;
double d_early_late_spc_chips;
gr_complex* d_ca_code;
gr_complex* d_early_code;
gr_complex* d_late_code;
gr_complex* d_prompt_code;
gr_complex* d_carr_sign;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
Correlator d_correlator;
// tracking vars
double d_code_freq_chips;
float d_carrier_doppler_hz;
float d_acc_carrier_phase_rad;
float d_code_phase_samples;
float d_acc_code_phase_secs;
//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;
float d_carrier_lock_test;
float d_CN0_SNV_dB_Hz;
float d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
bool d_enable_tracking;
bool d_pull_in;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif //GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_CC_H

76
src/core/receiver/gnss_block_factory.cc
View File

@@ -62,6 +62,7 @@
#include "freq_xlating_fir_filter.h"
#include "beamformer_filter.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l1_ca_pcps_multithread_acquisition.h"
#include "gps_l1_ca_pcps_tong_acquisition.h"
#include "gps_l1_ca_pcps_assisted_acquisition.h"
@@ -81,7 +82,9 @@
#include "galileo_volk_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_tcp_connector_tracking.h"
#include "galileo_e5a_dll_pll_tracking.h"
#include "gps_l2_m_dll_pll_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "gps_l2_m_telemetry_decoder.h"
#include "galileo_e1b_telemetry_decoder.h"
#include "galileo_e5a_telemetry_decoder.h"
#include "sbas_l1_telemetry_decoder.h"
@@ -254,16 +257,15 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_GPS(
std::string acq, std::string trk, std::string tlm, int channel,
boost::shared_ptr<gr::msg_queue> queue)
{
std::stringstream stream;
stream << channel;
std::string id = stream.str();
LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
<< acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_GPS", acq, 1, 1, queue);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_GPS", trk, 1, 1, queue);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_GPS", tlm, 1, 1, queue);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_GPS" +boost::lexical_cast<std::string>(channel), trk, 1, 1, queue);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_GPS"+boost::lexical_cast<std::string>(channel) , tlm, 1, 1, queue);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, pass_through_.release(),
acq_.release(),
@@ -276,7 +278,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_GPS(
//********* GPS CHANNEL *****************
//********* GPS L1 C/A CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
std::shared_ptr<ConfigurationInterface> configuration,
std::string acq, std::string trk, std::string tlm, int channel,
@@ -362,7 +364,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
{
std::string default_implementation = "Pass_Through";
unsigned int channel_count;
std::string tracking;
std::string tracking_implementation;
std::string telemetry_decoder;
std::string acquisition_implementation;
@@ -379,7 +381,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
LOG(INFO) << "Getting " << channel_count << " GPS L1 C/A channels";
tracking = configuration->property("Tracking_GPS.implementation", default_implementation);
tracking_implementation = configuration->property("Tracking_GPS.implementation", default_implementation);
if (default_implementation.compare(tracking) == 0)
{
tracking = configuration->property("Tracking_1C.implementation", default_implementation);
@@ -399,6 +401,8 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
for (unsigned int i = 0; i < channel_count; i++)
{
// Search for specific implementation of that particular channel in config file
//(i.e. Acquisition_GPS0.implementation=xxxx)
std::string acquisition_implementation_specific = configuration->property(
"Acquisition_GPS" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
@@ -407,6 +411,22 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
acquisition_implementation = acquisition_implementation_specific;
}
std::string tracking_implementation_specific = configuration->property(
"Tracking_GPS" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
if(tracking_implementation_specific.compare(default_implementation) != 0)
{
tracking_implementation = tracking_implementation_specific;
}
std::string telemetry_decoder_implementation_specific = configuration->property(
"TelemetryDecoder_GPS" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
if(telemetry_decoder_implementation_specific.compare(default_implementation) != 0)
{
telemetry_decoder = telemetry_decoder_implementation_specific;
}
acquisition_implementation_specific = configuration->property(
"Acquisition_1C" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
@@ -416,7 +436,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
}
channels->push_back(std::move(GetChannel_1C(configuration,
acquisition_implementation, tracking, telemetry_decoder, channel_absolute_id, queue)));
acquisition_implementation, tracking_implementation, telemetry_decoder, channel_absolute_id, queue)));
channel_absolute_id++;
}
@@ -429,7 +449,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
LOG(INFO) << "Getting " << channel_count << " Galileo E1B channels";
tracking = configuration->property("Tracking_Galileo.implementation", default_implementation);
tracking_implementation = configuration->property("Tracking_Galileo.implementation", default_implementation);
if (default_implementation.compare(tracking) == 0)
{
tracking = configuration->property("Tracking_1B.implementation", default_implementation);
@@ -449,6 +469,8 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
for (unsigned int i = 0; i < channel_count; i++)
{
// Search for specific implementation of that particular channel in config file
//(i.e. Acquisition_Galileo0.implementation=xxxx)
std::string acquisition_implementation_specific = configuration->property(
"Acquisition_Galileo" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
@@ -457,6 +479,16 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
acquisition_implementation = acquisition_implementation_specific;
}
std::string tracking_implementation_specific = configuration->property(
"Tracking_Galileo" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
if(tracking_implementation_specific.compare(default_implementation) != 0)
{
tracking_implementation = tracking_implementation_specific;
}
acquisition_implementation_specific = configuration->property(
"Acquisition_1B" + boost::lexical_cast<std::string>(i) + ".implementation",
default_implementation);
@@ -465,7 +497,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
acquisition_implementation = acquisition_implementation_specific;
}
channels->push_back(std::move(GetChannel_1B(configuration,
acquisition_implementation, tracking, telemetry_decoder, channel_absolute_id, queue)));
acquisition_implementation, tracking_implementation, telemetry_decoder, channel_absolute_id, queue)));
channel_absolute_id++;
}
return channels;
@@ -934,6 +966,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("GPS_L2_M_PCPS_Acquisition") == 0)
{
std::unique_ptr<AcquisitionInterface> block_(new GpsL2MPcpsAcquisition(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
{
std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
@@ -1043,7 +1081,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL2MDllPllTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.
@@ -1061,6 +1104,7 @@ std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
{
std::unique_ptr<TelemetryDecoderInterface> block;
std::cout<<"implementation tlm="<<implementation<<std::endl;
// TELEMETRY DECODERS ----------------------------------------------------------
if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
{
@@ -1086,6 +1130,12 @@ std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("GPS_L2_M_Telemetry_Decoder") == 0)
{
std::unique_ptr<TelemetryDecoderInterface> block_(new GpsL2MTelemetryDecoder(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.

4
src/core/receiver/gnss_block_factory.h
View File

@@ -80,6 +80,10 @@ public:
std::string acq, std::string trk, std::string tlm, int channel,
boost::shared_ptr<gr::msg_queue> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_2S(std::shared_ptr<ConfigurationInterface> configuration,
std::string acq, std::string trk, std::string tlm, int channel,
boost::shared_ptr<gr::msg_queue> queue);
//DEPRECATED
std::unique_ptr<GNSSBlockInterface> GetChannel_Galileo(std::shared_ptr<ConfigurationInterface> configuration,
std::string acq, std::string trk, std::string tlm, int channel,

67
src/core/receiver/gnss_flowgraph.cc
View File

@@ -227,25 +227,30 @@ void GNSSFlowgraph::connect()
for (int j = 0; j < RF_Channels; j++)
{
//Connect the multichannel signal source to multiple signal conditioners
// check number of signal source output ports todo!
if (sig_source_.at(i)->get_right_block()->input_signature()->max_streams() > 1)
// GNURADIO max_streams=-1 means infinite ports!
LOG(WARNING)<<"sig_source_.at(i)->get_right_block()->output_signature()->max_streams()="<<sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
LOG(WARNING)<<"sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()="<<sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
LOG(WARNING)<<"connecting sig_source_ "<<i<<" stream "<<j<<" to conditioner "<<j;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
//std::cout<<"connect sig_source_ "<<i<<" stream "<<j<<" to conditioner "<<j<<std::endl;
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
LOG(WARNING)<<"connecting sig_source_ "<<i<<" stream "<<0<<" to conditioner "<<j<<std::endl;
top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
//std::cout<<"connect sig_source_ "<<i<<" stream "<<0<<" to conditioner "<<j<<std::endl;
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
LOG(WARNING)<<"connecting sig_source_ "<<i<<" stream "<<j<<" to conditioner "<<j<<std::endl;
top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
//std::cout<<"connect sig_source_ "<<i<<" stream "<<j<<" to conditioner "<<j<<std::endl;
}
}
@@ -299,8 +304,17 @@ void GNSSFlowgraph::connect()
}
//discriminate between systems
std::string default_system = configuration_->property("Channel.system", std::string("GPS"));
std::string default_signal = configuration_->property("Channel.signal", std::string("1C"));
std::string gnss_system = (configuration_->property("Channel"
+ boost::lexical_cast<std::string>(i) + ".system",
default_system));
std::string gnss_signal = (configuration_->property("Channel"
+ boost::lexical_cast<std::string>(i) + ".signal",
default_signal));
//TODO: add a specific string member to the channel template, and not re-use the implementation field!
while (channels_.at(i)->implementation() != available_GNSS_signals_.front().get_satellite().get_system())
while (channels_.at(i)->implementation() != available_GNSS_signals_.front().get_satellite().get_system()
or gnss_signal != available_GNSS_signals_.front().get_signal() )
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
@@ -388,10 +402,12 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
switch (what)
{
case 0:
LOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite();
LOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite()<<", Signal " << channels_.at(who)->get_signal().get_signal();
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
while (channels_.at(who)->get_signal().get_satellite().get_system() != available_GNSS_signals_.front().get_satellite().get_system())
//TODO: Optimize the channel and signal matching!
while (channels_.at(who)->get_signal().get_satellite().get_system() != available_GNSS_signals_.front().get_satellite().get_system()
or channels_.at(who)->get_signal().get_signal() != available_GNSS_signals_.front().get_signal() )
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
@@ -587,6 +603,24 @@ void GNSSFlowgraph::set_signals_list()
}
}
if (default_system.find(std::string("GPS L2C M")) != std::string::npos )
{
/*
* Loop to create GPS L2C M signals
*/
std::set<unsigned int> available_gps_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 25, 26, 27, 28,
29, 30, 31, 32 };
for (available_gnss_prn_iter = available_gps_prn.begin();
available_gnss_prn_iter != available_gps_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("GPS"),
*available_gnss_prn_iter), std::string("2S")));
}
}
if (default_system.find(std::string("SBAS")) != std::string::npos)
{
@@ -657,19 +691,20 @@ void GNSSFlowgraph::set_signals_list()
available_GNSS_signals_.remove(signal_value);
available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
// **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****
// std::cout<<"default_system="<<default_system<<std::endl;
// std::cout<<"default_signal="<<default_signal<<std::endl;
// std::list<Gnss_Signal>::iterator available_gnss_list_iter;
// for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
// != available_GNSS_signals_.end(); available_gnss_list_iter++)
// {
// std::cout << *available_gnss_list_iter << std::endl;
// }
// std::cout<<"default_system="<<default_system<<std::endl;
// std::cout<<"default_signal="<<default_signal<<std::endl;
// std::list<Gnss_Signal>::iterator available_gnss_list_iter;
// for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
// != available_GNSS_signals_.end(); available_gnss_list_iter++)
// {
// std::cout << *available_gnss_list_iter << std::endl;
// }
}

85
src/core/system_parameters/GPS_L2C.h Normal file
View File

@@ -0,0 +1,85 @@
/*!
* \file GPS_L2C.h
* \brief Defines system parameters for GPS L1 C/A signal and NAV data
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2C_H_
#define GNSS_SDR_GPS_L2C_H_
#include <complex>
#include <vector>
#include <utility> // std::pair
#include <gnss_satellite.h>
#include "MATH_CONSTANTS.h"
// carrier and code frequencies
const double GPS_L2_FREQ_HZ = 1.2276e9; //!< L2 [Hz]
const double GPS_L2_M_CODE_RATE_HZ = 0.5115e6; //!< GPS L2 M code rate [chips/s]
const int GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]
const double GPS_L2_M_PERIOD = 0.02; //!< GPS L2 M code period [seconds]
const double GPS_L2_L_CODE_RATE_HZ = 0.5115e6; //!< GPS L2 L code rate [chips/s]
const int GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chips]
const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [seconds]
const int32_t GPS_L2C_M_INIT_REG[115] =
{0742417664, 0756014035,0002747144,0066265724, // 1:4
0601403471, 0703232733, 0124510070,0617316361, // 5:8
0047541621, 0733031046, 0713512145, 0024437606,
0021264003, 0230655351, 0001314400, 0222021506,
0540264026, 0205521705, 0064022144, 0120161274,
0044023533, 0724744327, 0045743577, 0741201660,
0700274134, 0010247261, 0713433445, 0737324162,
0311627434, 0710452007, 0722462133, 0050172213,
0500653703, 0755077436, 0136717361, 0756675453,
0435506112, 0771353753, 0226107701, 0022025110,
0402466344, 0752566114, 0702011164, 0041216771,
0047457275, 0266333164, 0713167356, 0060546335,
0355173035, 0617201036, 0157465571, 0767360553,
0023127030, 0431343777, 0747317317, 0045706125,
0002744276, 0060036467, 0217744147, 0603340174,//57:60
0326616775, 0063240065, 0111460621, //61:63
0604055104, 0157065232, 0013305707, 0603552017,//159:162
0230461355, 0603653437, 0652346475, 0743107103,
0401521277, 0167335110, 0014013575, 0362051132,
0617753265, 0216363634, 0755561123, 0365304033,
0625025543, 0054420334, 0415473671, 0662364360,
0373446602, 0417564100, 0000526452, 0226631300,
0113752074, 0706134401, 0041352546, 0664630154,
0276524255, 0714720530, 0714051771, 0044526647,
0207164322, 0262120161, 0204244652, 0202133131,
0714351204, 0657127260, 0130567507, 0670517677,
0607275514, 0045413633, 0212645405, 0613700455,
0706202440, 0705056276, 0020373522, 0746013617,
0132720621, 0434015513, 0566721727, 0140633660};
#endif /* GNSS_SDR_GPS_L2C_H_ */

BIN
src/tests/data/gps_l2c_m_prn7_5msps.dat Normal file
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2
src/tests/gnss_block/galileo_e5a_tracking_test.cc
View File

@@ -105,7 +105,7 @@ TEST_F(GalileoE5aTrackingTest, ValidationOfResults)
long long int begin = 0;
long long int end = 0;
int fs_in = 32000000;
int nsamples = 32000000*1.5;
int nsamples = 32000000*5;
init();
queue = gr::msg_queue::make(0);
top_block = gr::make_top_block("Tracking test");

167
src/tests/gnss_block/gps_l2_m_dll_pll_tracking_test.cc Normal file
View File

@@ -0,0 +1,167 @@
/*!
* \file gps_l2_m_dll_pll_tracking_test.cc
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
* implementation based on some input parameters.
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2015 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <ctime>
#include <iostream>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h"
#include "in_memory_configuration.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gps_l2_m_dll_pll_tracking.h"
class GpsL2MDllPllTrackingTest: public ::testing::Test
{
protected:
GpsL2MDllPllTrackingTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
stop = false;
message = 0;
}
~GpsL2MDllPllTrackingTest()
{}
void init();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
concurrent_queue<int> channel_internal_queue;
bool stop;
int message;
};
void GpsL2MDllPllTrackingTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "2S";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 7;
config->set_property("GNSS-SDR.internal_fs_hz", "5000000");
config->set_property("Tracking_GPS.item_type", "gr_complex");
config->set_property("Tracking_GPS.dump", "true");
config->set_property("Tracking_GPS.dump_filename", "../data/L2m_tracking_ch_");
config->set_property("Tracking_GPS.implementation", "GPS_L2_M_DLL_PLL_Tracking");
config->set_property("Tracking_GPS.early_late_space_chips", "0.5");
config->set_property("Tracking_GPS.order", "2");
config->set_property("Tracking_GPS.pll_bw_hz", "2");
config->set_property("Tracking_GPS.dll_bw_hz", "0.5");
}
TEST_F(GpsL2MDllPllTrackingTest, ValidationOfResults)
{
struct timeval tv;
long long int begin = 0;
long long int end = 0;
int fs_in = 5000000;
int nsamples = fs_in*9;
init();
queue = gr::msg_queue::make(0);
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL2MDllPllTracking>(config.get(), "Tracking_GPS", 1, 1, queue);
//REAL
gnss_synchro.Acq_delay_samples = 1;
gnss_synchro.Acq_doppler_hz = 1200;//1200;
gnss_synchro.Acq_samplestamp_samples = 0;
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
ASSERT_NO_THROW( {
tracking->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue." << std::endl;
ASSERT_NO_THROW( {
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl;
ASSERT_NO_THROW( {
//gr::analog::sig_source_c::sptr source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
std::string path = std::string(TEST_PATH);
//std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
//std::string file = "/datalogger/signals/Fraunhofer/L125_III1b_210s_L2_resampled.bin";
std::string file = path + "/data/gps_l2c_m_prn7_5msps.dat";
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, valve, 0);
top_block->connect(valve, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
}) << "Failure connecting the blocks of tracking test." << std::endl;
tracking->start_tracking();
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec *1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec *1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
std::cout << "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
}

275
src/tests/gnss_block/gps_l2_m_pcps_acquisition_test.cc Normal file
View File

@@ -0,0 +1,275 @@
/*!
* \file gps_l1_ca_pcps_acquisition_test.cc
* \brief This class implements an acquisition test for
* GpsL1CaPcpsAcquisition class based on some input parameters.
* \author Javier Arribas, 2015 (jarribas@cttc.es)
*
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <ctime>
#include <cstdlib>
#include <iostream>
#include <boost/chrono.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "GPS_L2C.h"
class GpsL2MPcpsAcquisitionTest: public ::testing::Test
{
protected:
GpsL2MPcpsAcquisitionTest()
{
//queue = gr::msg_queue::make(0);
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
stop = false;
message = 0;
sampling_freqeuncy_hz = 0;
nsamples=0;
}
~GpsL2MPcpsAcquisitionTest()
{}
void init();
void start_queue();
void wait_message();
void stop_queue();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
concurrent_queue<int> channel_internal_queue;
bool stop;
int message;
boost::thread ch_thread;
int sampling_freqeuncy_hz;
int nsamples;
};
void GpsL2MPcpsAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "2S";
strcpy(gnss_synchro.Signal,signal.c_str());
gnss_synchro.PRN = 7;
sampling_freqeuncy_hz = 5000000;
nsamples=round((double)sampling_freqeuncy_hz*GPS_L2_M_PERIOD)*2;
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(sampling_freqeuncy_hz));
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.if", "0");
config->set_property("Acquisition.dump", "true");
config->set_property("Acquisition.implementation", "GPS_L2_M_PCPS_Acquisition");
config->set_property("Acquisition.threshold", "0.001");
config->set_property("Acquisition.doppler_max", "5000");
config->set_property("Acquisition.doppler_step", "10");
config->set_property("Acquisition.repeat_satellite", "false");
config->set_property("Acquisition.pfa", "0.0");
}
void GpsL2MPcpsAcquisitionTest::start_queue()
{
ch_thread = boost::thread(&GpsL2MPcpsAcquisitionTest::wait_message, this);
}
void GpsL2MPcpsAcquisitionTest::wait_message()
{
while (!stop)
{
channel_internal_queue.wait_and_pop(message);
stop_queue();
}
}
void GpsL2MPcpsAcquisitionTest::stop_queue()
{
stop = true;
}
TEST_F(GpsL2MPcpsAcquisitionTest, Instantiate)
{
init();
queue = gr::msg_queue::make(0);
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 1, queue);
}
TEST_F(GpsL2MPcpsAcquisitionTest, ConnectAndRun)
{
struct timeval tv;
long long int begin = 0;
long long int end = 0;
top_block = gr::make_top_block("Acquisition test");
queue = gr::msg_queue::make(0);
init();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 1, queue);
ASSERT_NO_THROW( {
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(sampling_freqeuncy_hz, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test." << std::endl;
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec * 1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec * 1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
}
TEST_F(GpsL2MPcpsAcquisitionTest, ValidationOfResults)
{
struct timeval tv;
long long int begin = 0;
long long int end = 0;
top_block = gr::make_top_block("Acquisition test");
queue = gr::msg_queue::make(0);
double expected_delay_samples = 1;//2004;
double expected_doppler_hz = 1200;//3000;
init();
start_queue();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 1, queue);
ASSERT_NO_THROW( {
acquisition->set_channel(1);
}) << "Failure setting channel." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_threshold(0.001);
}) << "Failure setting threshold." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_max(5000);
}) << "Failure setting doppler_max." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_step(10);
}) << "Failure setting doppler_step." << std::endl;
ASSERT_NO_THROW( {
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block." << std::endl;
ASSERT_NO_THROW( {
std::string path = std::string(TEST_PATH);
//std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
std::string file = path + "/data/gps_l2c_m_prn7_5msps.dat";
//std::string file = "/datalogger/signals/Fraunhofer/L125_III1b_210s_L2_resampled.bin";
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
//gr::blocks::interleaved_short_to_complex::sptr gr_interleaved_short_to_complex_ = gr::blocks::interleaved_short_to_complex::make();
//gr::blocks::char_to_short::sptr gr_char_to_short_ = gr::blocks::char_to_short::make();
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
//top_block->connect(file_source, 0, gr_char_to_short_, 0);
//top_block->connect(gr_char_to_short_, 0, gr_interleaved_short_to_complex_ , 0);
top_block->connect(file_source, 0, valve , 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test." << std::endl;
ASSERT_NO_THROW( {
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->init();
}) << "Failure set_state and init acquisition test" << std::endl;
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec * 1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec * 1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
stop_queue();
unsigned long int Acq_samplestamp_samples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquisition process runtime duration: " << (end - begin) << " microseconds" << std::endl;
std::cout << "gnss_synchro.Acq_doppler_hz = " << gnss_synchro.Acq_doppler_hz << " Hz" << std::endl;
std::cout << "gnss_synchro.Acq_delay_samples = " << gnss_synchro.Acq_delay_samples << " Samples" << std::endl;
ASSERT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
float delay_error_chips = (float)(delay_error_samples * 1023 / 4000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 200) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
ch_thread.join();
}

2
src/tests/test_main.cc
View File

@@ -83,6 +83,7 @@ DECLARE_string(log_dir);
#include "gnss_block/file_signal_source_test.cc"
#include "gnss_block/fir_filter_test.cc"
#include "gnss_block/gps_l1_ca_pcps_acquisition_test.cc"
#include "gnss_block/gps_l2_m_pcps_acquisition_test.cc"
#include "gnss_block/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc"
//#include "gnss_block/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc"
#if OPENCL_BLOCKS_TEST
@@ -106,6 +107,7 @@ DECLARE_string(log_dir);
//#include "gnss_block/galileo_e5a_pcps_acquisition_test_2.cc"
#include "gnss_block/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
#include "gnss_block/galileo_e5a_tracking_test.cc"
#include "gnss_block/gps_l2_m_dll_pll_tracking_test.cc"