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Code cleaning

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This commit is contained in:
Carles Fernandez 2015-03-16 21:43:19 +01:00
parent 37884afd0d
commit 078260d83f
5 changed files with 71 additions and 88 deletions
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30
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -137,7 +137,7 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
{
//record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
if (current_gnss_synchro[i].System=='G')
if (current_gnss_synchro[i].System == 'G')
{
current_gnss_synchro_map_gps_only.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
@ -147,7 +147,7 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
/*
* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
*/
DLOG(INFO)<<"gnss_synchro set size="<<current_gnss_synchro_map.size()<<std::endl;
DLOG(INFO) << "gnss_synchro set size=" << current_gnss_synchro_map.size();
if(current_gnss_synchro_map.size() > 0)// and current_gnss_synchro_map_gps_only.size()>0)
{
@ -159,10 +159,10 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
//gnss_synchro_iter = max_element(current_gnss_synchro_map_gps_only.begin(), current_gnss_synchro_map_gps_only.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol;
char ref_sat_system=gnss_synchro_iter->second.System;
DLOG(INFO)<<"d_TOW_hybrid_reference [ms] = "<< d_TOW_reference*1000 <<std::endl;
char ref_sat_system = gnss_synchro_iter->second.System;
DLOG(INFO) << "d_TOW_hybrid_reference [ms] = " << d_TOW_reference * 1000;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
DLOG(INFO)<<"ref_PRN_rx_time_ms [ms] = "<< d_ref_PRN_rx_time_ms <<std::endl;
DLOG(INFO) << "ref_PRN_rx_time_ms [ms] = " << d_ref_PRN_rx_time_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
@ -170,30 +170,30 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
double pseudorange_m;
double delta_rx_time_ms;
double delta_TOW_ms;
//std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{
// check and correct synchronization in cross-system pseudoranges!
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000.0;
//std::cout<<"delta_rx_time_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_rx_time_ms<<std::endl;
//std::cout<<"delta_TOW_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_TOW_ms<<std::endl;
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000.0;
//compute the pseudorange
traveltime_ms = delta_TOW_ms + delta_rx_time_ms + GALILEO_STARTOFFSET_ms;
pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m]
DLOG(INFO)<<"CH "<<gnss_synchro_iter->second.Channel_ID<<" tracking GNSS System "<<gnss_synchro_iter->second.System<<" has PRN start at= "<<gnss_synchro_iter->second.Prn_timestamp_ms<<" [ms], d_TOW_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000<<" [ms], d_TOW_hybrid_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000<<"[ms], delta_rx_time_ms = "<< delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms << ", pseudorange[m] = "<< pseudorange_m << std::endl;
DLOG(INFO) << "CH " << gnss_synchro_iter->second.Channel_ID << " tracking GNSS System "
<< gnss_synchro_iter->second.System << " has PRN start at= " << gnss_synchro_iter->second.Prn_timestamp_ms
<< " [ms], d_TOW_at_current_symbol = " << (gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000
<< " [ms], d_TOW_hybrid_at_current_symbol = "<< (gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000
<< "[ms], delta_rx_time_ms = " << delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms
<< ", pseudorange[m] = "<< pseudorange_m;
// update the pseudorange object
//current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference*1000)/1000 + GALILEO_STARTOFFSET_ms/1000.0;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference * 1000) / 1000 + GALILEO_STARTOFFSET_ms / 1000.0;
}
//std::cout<<std::endl;
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file

71
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
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@ -231,7 +231,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
else
{
std::cout << "Galileo CRC error on channel " << d_channel << std::endl;
LOG(INFO)<< "Galileo CRC error on channel " << d_channel;
LOG(INFO) << "Galileo CRC error on channel " << d_channel;
}
flag_even_word_arrived = 0;
}
@ -262,19 +262,19 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
//std::cout<<"New Galileo UTC model received for SV "<<d_satellite.get_PRN()<<std::endl;
d_utc_model_queue->push(utc_model);
}
if (d_nav.have_new_almanac()==true)
if (d_nav.have_new_almanac() == true)
{
Galileo_Almanac almanac=d_nav.get_almanac();
Galileo_Almanac almanac = d_nav.get_almanac();
d_almanac_queue->push(almanac);
//debug
std::cout << "Almanac received!" << std::endl;
std::cout << "Galileo almanac received!" << std::endl;
LOG(INFO) << "GPS_to_Galileo time conversion:";
LOG(INFO) << "A0G=" << almanac.A_0G_10;
LOG(INFO) << "A1G=" << almanac.A_1G_10;
LOG(INFO) << "T0G=" << almanac.t_0G_10;
LOG(INFO) << "WN_0G_10=" << almanac.WN_0G_10;
LOG(INFO) << "Current parameters:";
LOG(INFO) << "d_TOW_at_current_symbol="<< d_TOW_at_current_symbol;
LOG(INFO) << "d_TOW_at_current_symbol=" << d_TOW_at_current_symbol;
LOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
delta_t = almanac.A_0G_10 + almanac.A_1G_10 * (d_TOW_at_current_symbol - almanac.t_0G_10 + 604800 * (fmod((d_nav.WN_0 - almanac.WN_0G_10), 64)));
LOG(INFO) << "delta_t=" << delta_t << "[s]";
@ -317,7 +317,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
if (abs(corr_value) >= d_symbols_per_preamble)
{
d_preamble_index = d_sample_counter;//record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
LOG(INFO) << "Preamble detection for Galileo SAT " << this->d_satellite;
d_stat = 1; // enter into frame pre-detection status
}
}
@ -330,7 +330,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
{
//try to decode frame
LOG(INFO) << "Starting page decoder for Galileo SAT " << this->d_satellite << std::endl;
LOG(INFO) << "Starting page decoder for Galileo SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2;
}
@ -345,7 +345,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
}
else if (d_stat == 2)
{
if (d_sample_counter == d_preamble_index+GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
if (d_sample_counter == d_preamble_index + GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
{
// NEW Galileo page part is received
// 0. fetch the symbols into an array
@ -364,20 +364,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
page_part_symbols[i] = -in[0][i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
}
}
//debug
//std::cout<<"ch["<<d_channel<<"] Decoder call at preamble index "<<d_sample_counter<<std::endl;
// std::cout<<"ch["<<d_channel<<"] frame symbols: ";
// for (int j=0;j<frame_length;j++)
// {
// if (page_part_symbols[j]>0)
// {
// std::cout<<"1";
// }else{
// std::cout<<"0";
// }
// }
// std::cout<<std::endl;
//end debug
//call the decoder
decode_word(page_part_symbols, frame_length);
if (d_nav.flag_CRC_test == true)
@ -389,7 +376,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
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]";
LOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
}
}
else
@ -416,55 +403,53 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
// JAVI: 30/06/2014
// TOW, in Galileo, is referred to the START of the PAGE PART, that is, THE FIRST SYMBOL OF THAT PAGE, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_page_start.
// Sice we detected the preable, then, we are in the last symbol of that preable, or just at the start of the first page symbol.
//flag preamble is true after the all page (even and odd) is recevived. I/NAV page period is 2 SECONDS
// Since we detected the preamble, then, we are in the last symbol of that preamble, or just at the start of the first page symbol.
//flag preamble is true after the all page (even and odd) is received. I/NAV page period is 2 SECONDS
{
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
//std::cout<< "Using TOW_5 for timestamping" << std::endl;
d_TOW_at_Preamble = d_nav.TOW_5+GALILEO_INAV_PAGE_PART_SECONDS; //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the begining of the last page part
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
d_TOW_at_current_symbol=d_TOW_at_Preamble;//-GALIELO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_TOW_at_Preamble = d_nav.TOW_5 + GALILEO_INAV_PAGE_PART_SECONDS; //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the beginning of the last page part
* (GNU Radio history keeps in a buffer the rest of the incoming frame part)*/
d_TOW_at_current_symbol = d_TOW_at_Preamble;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_5 = false;
}
else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
//std::cout<< "Using TOW_6 for timestamping" << std::endl;
d_TOW_at_Preamble = d_nav.TOW_6+GALILEO_INAV_PAGE_PART_SECONDS;
d_TOW_at_Preamble = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS;
//TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the begining of the last page part
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
d_TOW_at_current_symbol=d_TOW_at_Preamble;//-GALIELO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the beginning of the last page part
* (GNU Radio history keeps in a buffer the rest of the incoming frame part)*/
d_TOW_at_current_symbol = d_TOW_at_Preamble;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_6 = false;
}
else
{
//this page has no timing information
d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_INAV_PAGE_SECONDS;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
}
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;
}
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
{
delta_t=d_nav.A_0G_10+d_nav.A_1G_10*(d_TOW_at_current_symbol-d_nav.t_0G_10+604800.0*(fmod((d_nav.WN_0-d_nav.WN_0G_10),64)));
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
}
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
{
current_synchro_data.Flag_valid_word = true;
@ -474,12 +459,11 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
current_synchro_data.Flag_valid_word = false;
}
DLOG(INFO) << "delta_t = " << delta_t;
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 - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t
DLOG(INFO)<< "delta_t = " << delta_t << std::endl;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t
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;
@ -505,7 +489,6 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
//std::cout<<"Galileo TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
return 1;
}

5
src/core/receiver/control_thread.cc
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@ -645,10 +645,9 @@ void ControlThread::gps_ephemeris_data_collector()
global_gps_ephemeris_queue.wait_and_pop(gps_eph);
// DEBUG MESSAGE
std::cout << "Ephemeris record has arrived from SAT ID "
LOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< gps_eph.i_satellite_PRN << " (Block "
<< gps_eph.satelliteBlock[gps_eph.i_satellite_PRN]
<< ")" << std::endl;
<< gps_eph.satelliteBlock[gps_eph.i_satellite_PRN] << ")";
// insert new ephemeris record to the global ephemeris map
if (global_gps_ephemeris_map.read(gps_eph.i_satellite_PRN, gps_eph_old))
{

3
src/core/system_parameters/Galileo_E1.h
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@ -78,7 +78,8 @@ const int GALILEO_PAGE_TYPE_BITS = 6;
const int GALILEO_DATA_JK_BITS = 128;
const int GALILEO_DATA_FRAME_BITS = 196;
const int GALILEO_DATA_FRAME_BYTES = 25;
const double GALIELO_E1_CODE_PERIOD = 0.004;
//const double GALIELO_E1_CODE_PERIOD = 0.004;
const double GALILEO_E1_CODE_PERIOD = 0.004;
const std::vector<std::pair<int,int>> type({{1,6}});
const std::vector<std::pair<int,int>> PAGE_TYPE_bit({{1,6}});;