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Merge branch 'next' into testing

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Unknown 2017-10-17 11:10:00 +02:00
commit 0aa178b3ab
12 changed files with 455 additions and 434 deletions
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8
src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt
View File

@ -17,7 +17,7 @@
# #
set(INPUT_FILTER_GR_BLOCKS_SOURCES set(INPUT_FILTER_GR_BLOCKS_SOURCES
beamformer.cc beamformer.cc
pulse_blanking_cc.cc pulse_blanking_cc.cc
notch_cc.cc notch_cc.cc
@ -29,6 +29,8 @@ include_directories(
${GNURADIO_RUNTIME_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS} ${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS} ${VOLK_GNSSSDR_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
) )
file(GLOB INPUT_FILTER_GR_BLOCKS_HEADERS "*.h") file(GLOB INPUT_FILTER_GR_BLOCKS_HEADERS "*.h")
@ -39,5 +41,7 @@ source_group(Headers FILES ${INPUT_FILTER_GR_BLOCKS_HEADERS})
target_link_libraries(input_filter_gr_blocks ${GNURADIO_FILTER_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${LOG4CPP_LIBRARIES}) target_link_libraries(input_filter_gr_blocks ${GNURADIO_FILTER_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${LOG4CPP_LIBRARIES})
if(NOT VOLK_GNSSSDR_FOUND) if(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(input_filter_gr_blocks volk_gnsssdr_module) add_dependencies(input_filter_gr_blocks volk_gnsssdr_module glog-${glog_RELEASE})
else(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(input_filter_gr_blocks glog-${glog_RELEASE})
endif(NOT VOLK_GNSSSDR_FOUND) endif(NOT VOLK_GNSSSDR_FOUND)

89
src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc
View File

@ -43,14 +43,15 @@
using google::LogMessage; using google::LogMessage;
notch_sptr make_notch_filter(float pfa, float p_c_factor, notch_sptr make_notch_filter(float pfa, float p_c_factor,
int length_, int n_segments_est, int n_segments_reset) int length_, int n_segments_est, int n_segments_reset)
{ {
return notch_sptr(new Notch(pfa, p_c_factor, length_, n_segments_est, n_segments_reset)); return notch_sptr(new Notch(pfa, p_c_factor, length_, n_segments_est, n_segments_reset));
} }
Notch::Notch(float pfa, float p_c_factor, int length_, int n_segments_est, int n_segments_reset) : gr::block("Notch", Notch::Notch(float pfa, float p_c_factor, int length_, int n_segments_est, int n_segments_reset) : gr::block("Notch",
gr::io_signature::make (1, 1, sizeof(gr_complex)), gr::io_signature::make (1, 1, sizeof(gr_complex)),
gr::io_signature::make (1, 1, sizeof(gr_complex))) gr::io_signature::make (1, 1, sizeof(gr_complex)))
{ {
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple)); set_alignment(std::max(1, alignment_multiple));
@ -73,6 +74,7 @@ Notch::Notch(float pfa, float p_c_factor, int length_, int n_segments_est, int n
last_out = gr_complex(0,0); last_out = gr_complex(0,0);
} }
Notch::~Notch() Notch::~Notch()
{ {
volk_free(c_samples); volk_free(c_samples);
@ -95,57 +97,58 @@ int Notch::general_work(int noutput_items __attribute__((unused)), gr_vector_int
float sig2dB = 0.0; float sig2dB = 0.0;
float sig2lin = 0.0; float sig2lin = 0.0;
lv_32fc_t dot_prod_; lv_32fc_t dot_prod_;
gr_complex* in = (gr_complex *) input_items[0]; const gr_complex* in = reinterpret_cast<const gr_complex *>(input_items[0]);
gr_complex* out = (gr_complex *) output_items[0]; gr_complex* out = reinterpret_cast<gr_complex *>(output_items[0]);
in++; in++;
arma::cx_fvec signal_segment; arma::cx_fvec signal_segment;
arma::cx_fvec signal_segment_fft; arma::cx_fvec signal_segment_fft;
while((index_out + length_) < noutput_items) while((index_out + length_) < noutput_items)
{
if((n_segments < n_segments_est) && (filter_state_ == false))
{ {
signal_segment = arma::cx_fvec(in, length_, false, false); if((n_segments < n_segments_est) && (filter_state_ == false))
signal_segment_fft = arma::fft(signal_segment);
volk_32fc_s32f_power_spectrum_32f(power_spect, signal_segment_fft.memptr(), 1.0, length_);
volk_32f_s32f_calc_spectral_noise_floor_32f(&sig2dB, power_spect, 15.0, length_);
sig2lin = std::pow(10.0, (sig2dB / 10.0)) / ((float) n_deg_fred);
noise_pow_est = (((float) n_segments) * noise_pow_est + sig2lin) / ((float)(n_segments + 1));
memcpy(out, in, sizeof(gr_complex) * length_);
}
else
{
volk_32fc_x2_conjugate_dot_prod_32fc(&dot_prod_, in, in, length_);
if( (lv_creal(dot_prod_) / noise_pow_est) > thres_)
{
if(filter_state_ == false)
{ {
filter_state_ = true; signal_segment = arma::cx_fvec(in, length_);
last_out = gr_complex(0,0); signal_segment_fft = arma::fft(signal_segment);
volk_32fc_s32f_power_spectrum_32f(power_spect, signal_segment_fft.memptr(), 1.0, length_);
volk_32f_s32f_calc_spectral_noise_floor_32f(&sig2dB, power_spect, 15.0, length_);
sig2lin = std::pow(10.0, (sig2dB / 10.0)) / (static_cast<float>(n_deg_fred) );
noise_pow_est = (static_cast<float>(n_segments) * noise_pow_est + sig2lin) / (static_cast<float>(n_segments + 1));
memcpy(out, in, sizeof(gr_complex) * length_);
} }
volk_32fc_x2_multiply_conjugate_32fc(c_samples, in, (in - 1), length_);
volk_32fc_s32f_atan2_32f(angle_, c_samples, ((float)1.0), length_);
for(int aux = 0; aux < length_; aux++)
{
z_0 = std::exp(gr_complex(0,1) * (*(angle_ + aux)));
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;
last_out = *(out + aux);
}
}
else else
{
if (n_segments > n_segments_reset)
{ {
n_segments = 0; volk_32fc_x2_conjugate_dot_prod_32fc(&dot_prod_, in, in, length_);
if( (lv_creal(dot_prod_) / noise_pow_est) > thres_)
{
if(filter_state_ == false)
{
filter_state_ = true;
last_out = gr_complex(0,0);
}
volk_32fc_x2_multiply_conjugate_32fc(c_samples, in, (in - 1), length_);
volk_32fc_s32f_atan2_32f(angle_, c_samples, static_cast<float>(1.0), length_);
for(int aux = 0; aux < length_; aux++)
{
z_0 = std::exp(gr_complex(0,1) * (*(angle_ + aux)));
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;
last_out = *(out + aux);
}
}
else
{
if (n_segments > n_segments_reset)
{
n_segments = 0;
}
filter_state_ = false;
memcpy(out, in, sizeof(gr_complex) * length_);
}
} }
filter_state_ = false; index_out += length_;
memcpy(out, in, sizeof(gr_complex) * length_); n_segments++;
} in += length_;
out += length_;
} }
index_out += length_;
n_segments++;
in += length_;
out += length_;
}
consume_each(index_out); consume_each(index_out);
return index_out; return index_out;
} }

109
src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc
View File

@ -47,9 +47,10 @@ notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_,
return notch_lite_sptr(new NotchLite(p_c_factor, pfa, length_, n_segments_est, n_segments_reset, n_segments_coeff)); return notch_lite_sptr(new NotchLite(p_c_factor, pfa, length_, n_segments_est, n_segments_reset, n_segments_coeff));
} }
NotchLite::NotchLite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff) : gr::block("NotchLite", NotchLite::NotchLite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff) : gr::block("NotchLite",
gr::io_signature::make (1, 1, sizeof(gr_complex)), gr::io_signature::make (1, 1, sizeof(gr_complex)),
gr::io_signature::make (1, 1, sizeof(gr_complex))) gr::io_signature::make (1, 1, sizeof(gr_complex)))
{ {
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple)); set_alignment(std::max(1, alignment_multiple));
@ -75,82 +76,84 @@ NotchLite::NotchLite(float p_c_factor, float pfa, int length_, int n_segments_es
angle1 = 0.0; angle1 = 0.0;
angle2 = 0.0; angle2 = 0.0;
power_spect = static_cast<float *>(volk_malloc(length_ * sizeof(float), volk_get_alignment())); power_spect = static_cast<float *>(volk_malloc(length_ * sizeof(float), volk_get_alignment()));
} }
NotchLite::~NotchLite() NotchLite::~NotchLite()
{ {
volk_free(power_spect); volk_free(power_spect);
} }
int NotchLite::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), int NotchLite::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
int index_out = 0; int index_out = 0;
float sig2dB = 0.0; float sig2dB = 0.0;
float sig2lin = 0.0; float sig2lin = 0.0;
lv_32fc_t dot_prod_; lv_32fc_t dot_prod_;
gr_complex* in = (gr_complex *) input_items[0]; const gr_complex* in = reinterpret_cast<const gr_complex *>(input_items[0]);
gr_complex* out = (gr_complex *) output_items[0]; gr_complex* out = reinterpret_cast<gr_complex *>(output_items[0]);
in++; in++;
arma::cx_fvec signal_segment; arma::cx_fvec signal_segment;
arma::cx_fvec signal_segment_fft; arma::cx_fvec signal_segment_fft;
while((index_out + length_) < noutput_items) while((index_out + length_) < noutput_items)
{
if((n_segments < n_segments_est) && (filter_state_ == false))
{ {
signal_segment = arma::cx_fvec(in, length_, false, false); if((n_segments < n_segments_est) && (filter_state_ == false))
signal_segment_fft = arma::fft(signal_segment);
volk_32fc_s32f_power_spectrum_32f(power_spect, signal_segment_fft.memptr(), 1.0, length_);
volk_32f_s32f_calc_spectral_noise_floor_32f(&sig2dB, power_spect, 15.0, length_);
sig2lin = std::pow(10.0, (sig2dB / 10.0)) / ((float) n_deg_fred);
noise_pow_est = (((float) n_segments) * noise_pow_est + sig2lin) / ((float)(n_segments + 1));
memcpy(out, in, sizeof(gr_complex) * length_);
}
else
{
volk_32fc_x2_conjugate_dot_prod_32fc(&dot_prod_, in, in, length_);
if( (lv_creal(dot_prod_) / noise_pow_est) > thres_)
{
if(filter_state_ == false)
{ {
filter_state_ = true; signal_segment = arma::cx_fvec(in, length_);
last_out = gr_complex(0,0); signal_segment_fft = arma::fft(signal_segment);
n_segments_coeff = 0; volk_32fc_s32f_power_spectrum_32f(power_spect, signal_segment_fft.memptr(), 1.0, length_);
volk_32f_s32f_calc_spectral_noise_floor_32f(&sig2dB, power_spect, 15.0, length_);
sig2lin = std::pow(10.0, (sig2dB / 10.0)) / static_cast<float>(n_deg_fred);
noise_pow_est = (static_cast<float>(n_segments) * noise_pow_est + sig2lin) / static_cast<float>(n_segments + 1);
memcpy(out, in, sizeof(gr_complex) * length_);
} }
if(n_segments_coeff == 0)
{
volk_32fc_x2_multiply_conjugate_32fc(&c_samples1, (in + 1), in, 1);
volk_32fc_s32f_atan2_32f(&angle1, &c_samples1, ((float)1.0), 1);
volk_32fc_x2_multiply_conjugate_32fc(&c_samples2, (in + length_ - 1), (in + length_ - 2), 1);
volk_32fc_s32f_atan2_32f(&angle2, &c_samples2, ((float)1.0), 1);
float angle_ = (angle1 + angle2) / 2.0;
z_0 = std::exp(gr_complex(0,1) * angle_);
}
for(int aux = 0; aux < length_; aux++)
{
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;
last_out = *(out + aux);
}
n_segments_coeff++;
n_segments_coeff = n_segments_coeff % n_segments_coeff_reset;
}
else else
{
if (n_segments > n_segments_reset)
{ {
n_segments = 0; volk_32fc_x2_conjugate_dot_prod_32fc(&dot_prod_, in, in, length_);
if( (lv_creal(dot_prod_) / noise_pow_est) > thres_)
{
if(filter_state_ == false)
{
filter_state_ = true;
last_out = gr_complex(0,0);
n_segments_coeff = 0;
}
if(n_segments_coeff == 0)
{
volk_32fc_x2_multiply_conjugate_32fc(&c_samples1, (in + 1), in, 1);
volk_32fc_s32f_atan2_32f(&angle1, &c_samples1, static_cast<float>(1.0), 1);
volk_32fc_x2_multiply_conjugate_32fc(&c_samples2, (in + length_ - 1), (in + length_ - 2), 1);
volk_32fc_s32f_atan2_32f(&angle2, &c_samples2, static_cast<float>(1.0), 1);
float angle_ = (angle1 + angle2) / 2.0;
z_0 = std::exp(gr_complex(0,1) * angle_);
}
for(int aux = 0; aux < length_; aux++)
{
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;
last_out = *(out + aux);
}
n_segments_coeff++;
n_segments_coeff = n_segments_coeff % n_segments_coeff_reset;
}
else
{
if (n_segments > n_segments_reset)
{
n_segments = 0;
}
filter_state_ = false;
memcpy(out, in, sizeof(gr_complex) * length_);
}
} }
filter_state_ = false; index_out += length_;
memcpy(out, in, sizeof(gr_complex) * length_); n_segments++;
} in += length_;
out += length_;
} }
index_out += length_;
n_segments++;
in += length_;
out += length_;
}
consume_each(index_out); consume_each(index_out);
return index_out; return index_out;
} }

70
src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc
View File

@ -39,14 +39,15 @@
using google::LogMessage; using google::LogMessage;
pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int length_, pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int length_,
int n_segments_est, int n_segments_reset) int n_segments_est, int n_segments_reset)
{ {
return pulse_blanking_cc_sptr(new pulse_blanking_cc(pfa, length_, n_segments_est, n_segments_reset)); return pulse_blanking_cc_sptr(new pulse_blanking_cc(pfa, length_, n_segments_est, n_segments_reset));
} }
pulse_blanking_cc::pulse_blanking_cc(float pfa, int length_, int n_segments_est, int n_segments_reset) : gr::block("pulse_blanking_cc", pulse_blanking_cc::pulse_blanking_cc(float pfa, int length_, int n_segments_est, int n_segments_reset) : gr::block("pulse_blanking_cc",
gr::io_signature::make (1, 1, sizeof(gr_complex)), gr::io_signature::make (1, 1, sizeof(gr_complex)),
gr::io_signature::make (1, 1, sizeof(gr_complex))) gr::io_signature::make (1, 1, sizeof(gr_complex)))
{ {
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple)); set_alignment(std::max(1, alignment_multiple));
@ -57,16 +58,17 @@ pulse_blanking_cc::pulse_blanking_cc(float pfa, int length_, int n_segments_est,
this->n_segments_est = n_segments_est; this->n_segments_est = n_segments_est;
this->n_segments_reset = n_segments_reset; this->n_segments_reset = n_segments_reset;
noise_power_estimation = 0.0; noise_power_estimation = 0.0;
n_deg_fred = 2*length_; n_deg_fred = 2 * length_;
boost::math::chi_squared_distribution<float> my_dist_(n_deg_fred); boost::math::chi_squared_distribution<float> my_dist_(n_deg_fred);
thres_ = boost::math::quantile(boost::math::complement(my_dist_, pfa)); thres_ = boost::math::quantile(boost::math::complement(my_dist_, pfa));
zeros_ = static_cast<gr_complex *>(volk_malloc(length_ * sizeof(gr_complex), volk_get_alignment())); zeros_ = static_cast<gr_complex *>(volk_malloc(length_ * sizeof(gr_complex), volk_get_alignment()));
for (int aux = 0; aux < length_; aux++) for (int aux = 0; aux < length_; aux++)
{ {
zeros_[aux] = gr_complex(0, 0); zeros_[aux] = gr_complex(0, 0);
} }
} }
pulse_blanking_cc::~pulse_blanking_cc() pulse_blanking_cc::~pulse_blanking_cc()
{ {
volk_free(zeros_); volk_free(zeros_);
@ -83,42 +85,42 @@ void pulse_blanking_cc::forecast(int noutput_items __attribute__((unused)), gr_v
int pulse_blanking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), int pulse_blanking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
gr_complex *in = (gr_complex *) input_items[0]; const gr_complex* in = reinterpret_cast<const gr_complex *>(input_items[0]);
gr_complex *out = (gr_complex *) output_items[0]; gr_complex* out = reinterpret_cast<gr_complex *>(output_items[0]);
float* magnitude = static_cast<float *>(volk_malloc(noutput_items * sizeof(float), volk_get_alignment())); float* magnitude = static_cast<float *>(volk_malloc(noutput_items * sizeof(float), volk_get_alignment()));
volk_32fc_magnitude_squared_32f(magnitude, in, noutput_items); volk_32fc_magnitude_squared_32f(magnitude, in, noutput_items);
int sample_index = 0; int sample_index = 0;
float segment_energy; float segment_energy;
while((sample_index + length_) < noutput_items) while((sample_index + length_) < noutput_items)
{
volk_32f_accumulator_s32f(&segment_energy, (magnitude + sample_index), length_);
if((n_segments < n_segments_est) && (last_filtered == false))
{ {
noise_power_estimation = (((float) n_segments) * noise_power_estimation + segment_energy / ((float)n_deg_fred)) / ((float)(n_segments + 1)); volk_32f_accumulator_s32f(&segment_energy, (magnitude + sample_index), length_);
memcpy(out, in, sizeof(gr_complex)*length_); if((n_segments < n_segments_est) && (last_filtered == false))
}
else
{
if((segment_energy/noise_power_estimation) > thres_)
{
memcpy(out, zeros_, sizeof(gr_complex)*length_);
last_filtered = true;
}
else
{
memcpy(out, in, sizeof(gr_complex)*length_);
last_filtered = false;
if (n_segments > n_segments_reset)
{ {
n_segments = 0; noise_power_estimation = ( static_cast<float>(n_segments) * noise_power_estimation + segment_energy / static_cast<float>(n_deg_fred) ) / static_cast<float>(n_segments + 1);
memcpy(out, in, sizeof(gr_complex) * length_);
} }
} else
{
if((segment_energy / noise_power_estimation) > thres_)
{
memcpy(out, zeros_, sizeof(gr_complex) * length_);
last_filtered = true;
}
else
{
memcpy(out, in, sizeof(gr_complex) * length_);
last_filtered = false;
if (n_segments > n_segments_reset)
{
n_segments = 0;
}
}
}
in += length_;
out += length_;
sample_index += length_;
n_segments++;
} }
in+=length_;
out+=length_;
sample_index+=length_;
n_segments++;
}
volk_free(magnitude); volk_free(magnitude);
consume_each(sample_index); consume_each(sample_index);
return sample_index; return sample_index;

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
View File

@ -192,7 +192,9 @@ install(FILES
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_prefs.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_prefs.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_complex.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_complex.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_common.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_common.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/saturation_arithmetic.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_avx_intrinsics.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_avx_intrinsics.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_sse_intrinsics.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_sse3_intrinsics.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_sse3_intrinsics.h
${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_neon_intrinsics.h ${PROJECT_SOURCE_DIR}/include/volk_gnsssdr/volk_gnsssdr_neon_intrinsics.h
${PROJECT_BINARY_DIR}/include/volk_gnsssdr/volk_gnsssdr.h ${PROJECT_BINARY_DIR}/include/volk_gnsssdr/volk_gnsssdr.h

6
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include/volk_gnsssdr/volk_gnsssdr_common.h
View File

@ -49,6 +49,8 @@
# define __VOLK_ATTR_UNUSED __attribute__((unused)) # define __VOLK_ATTR_UNUSED __attribute__((unused))
# define __VOLK_ATTR_INLINE __attribute__((always_inline)) # define __VOLK_ATTR_INLINE __attribute__((always_inline))
# define __VOLK_ATTR_DEPRECATED __attribute__((deprecated)) # define __VOLK_ATTR_DEPRECATED __attribute__((deprecated))
# define __VOLK_ASM __asm__
# define __VOLK_VOLATILE __volatile__
# if __GNUC__ >= 4 # if __GNUC__ >= 4
# define __VOLK_ATTR_EXPORT __attribute__((visibility("default"))) # define __VOLK_ATTR_EXPORT __attribute__((visibility("default")))
# define __VOLK_ATTR_IMPORT __attribute__((visibility("default"))) # define __VOLK_ATTR_IMPORT __attribute__((visibility("default")))
@ -63,6 +65,8 @@
# define __VOLK_ATTR_DEPRECATED __declspec(deprecated) # define __VOLK_ATTR_DEPRECATED __declspec(deprecated)
# define __VOLK_ATTR_EXPORT __declspec(dllexport) # define __VOLK_ATTR_EXPORT __declspec(dllexport)
# define __VOLK_ATTR_IMPORT __declspec(dllimport) # define __VOLK_ATTR_IMPORT __declspec(dllimport)
# define __VOLK_ASM __asm
# define __VOLK_VOLATILE
#else #else
# define __VOLK_ATTR_ALIGNED(x) # define __VOLK_ATTR_ALIGNED(x)
# define __VOLK_ATTR_UNUSED # define __VOLK_ATTR_UNUSED
@ -70,6 +74,8 @@
# define __VOLK_ATTR_DEPRECATED # define __VOLK_ATTR_DEPRECATED
# define __VOLK_ATTR_EXPORT # define __VOLK_ATTR_EXPORT
# define __VOLK_ATTR_IMPORT # define __VOLK_ATTR_IMPORT
# define __VOLK_ASM __asm__
# define __VOLK_VOLATILE __volatile__
#endif #endif
//////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////

4
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/qa_utils.cc
View File

@ -717,11 +717,11 @@ bool run_volk_gnsssdr_tests(volk_gnsssdr_func_desc_t desc,
{ {
if(both_sigs[j].is_signed) if(both_sigs[j].is_signed)
{ {
fail = icompare((int16_t *) test_data[generic_offset][j], (int16_t *) test_data[i][j], vlen*(both_sigs[j].is_complex ? 2 : 1), tol_i); fail = icompare((int8_t *) test_data[generic_offset][j], (int8_t *) test_data[i][j], vlen*(both_sigs[j].is_complex ? 2 : 1), tol_i);
} }
else else
{ {
fail = icompare((uint16_t *) test_data[generic_offset][j], (uint16_t *) test_data[i][j], vlen*(both_sigs[j].is_complex ? 2 : 1), tol_i); fail = icompare((uint8_t *) test_data[generic_offset][j], (uint8_t *) test_data[i][j], vlen*(both_sigs[j].is_complex ? 2 : 1), tol_i);
} }
} }
else else

4
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/qa_utils.h
View File

@ -19,6 +19,10 @@
#ifndef GNSS_SDR_VOLK_QA_UTILS_H #ifndef GNSS_SDR_VOLK_QA_UTILS_H
#define GNSS_SDR_VOLK_QA_UTILS_H #define GNSS_SDR_VOLK_QA_UTILS_H
#ifdef __APPLE__
#define _DARWIN_C_SOURCE
#endif
#include <string> #include <string>
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c
View File

@ -42,7 +42,7 @@ struct VOLK_CPU volk_gnsssdr_cpu;
#if ((__GNUC__ > 4 || __GNUC__ == 4 && __GNUC_MINOR__ >= 2) || (__clang_major__ >= 3)) && defined(HAVE_XGETBV) #if ((__GNUC__ > 4 || __GNUC__ == 4 && __GNUC_MINOR__ >= 2) || (__clang_major__ >= 3)) && defined(HAVE_XGETBV)
static inline unsigned long long _xgetbv(unsigned int index){ static inline unsigned long long _xgetbv(unsigned int index){
unsigned int eax, edx; unsigned int eax, edx;
__asm__ __volatile__("xgetbv" : "=a"(eax), "=d"(edx) : "c"(index)); __VOLK_ASM __VOLK_VOLATILE ("xgetbv" : "=a"(eax), "=d"(edx) : "c"(index));
return ((unsigned long long)edx << 32) | eax; return ((unsigned long long)edx << 32) | eax;
} }
#define __xgetbv() _xgetbv(0) #define __xgetbv() _xgetbv(0)

553
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -46,345 +46,342 @@ using google::LogMessage;
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
{ {
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history)); return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
} }
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) : hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro))) gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{ {
// initialize internal vars // initialize internal vars
d_dump = dump; d_dump = dump;
d_nchannels = nchannels; d_nchannels = nchannels;
d_dump_filename = dump_filename; d_dump_filename = dump_filename;
history_deep = deep_history; history_deep = deep_history;
T_rx_s = 0.0; T_rx_s = 0.0;
T_rx_step_s = 1e-3;// todo: move to gnss-sdr config T_rx_step_s = 1e-3; // todo: move to gnss-sdr config
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{
d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
}
//todo: this is a gnuradio scheduler hack.
// Migrate the queues to gnuradio set_history to see if the scheduler can handle
// the multiple output flow
d_max_noutputs = 100;
this->set_min_noutput_items(100);
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{ {
try d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
{ }
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit ); // todo: this is a gnuradio scheduler hack.
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); // Migrate the queues to gnuradio set_history to see if the scheduler can handle
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str(); // the multiple output flow
} d_max_noutputs = 100;
catch (const std::ifstream::failure & e) this->set_min_noutput_items(100);
{
LOG(WARNING) << "Exception opening observables dump file " << e.what(); // ############# ENABLE DATA FILE LOG #################
} if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
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) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
}
}
} }
}
} }
hybrid_observables_cc::~hybrid_observables_cc() hybrid_observables_cc::~hybrid_observables_cc()
{ {
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
try try
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch(const std::exception & ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
} }
} }
bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b) bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{ {
return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter); return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
} }
bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro& a, unsigned long int b) bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro& a, unsigned long int b)
{ {
return (a.Tracking_sample_counter) < (b); return (a.Tracking_sample_counter) < (b);
} }
bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro& a, double b) bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro& a, double b)
{ {
return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(double)a.fs) < (b); return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(double)a.fs) < (b);
} }
bool Hybrid_pairCompare_gnss_synchro_d_TOW(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b) bool Hybrid_pairCompare_gnss_synchro_d_TOW(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{ {
return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s); return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s);
} }
bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b) bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b)
{ {
return (a.TOW_at_current_symbol_s) < (b); return (a.TOW_at_current_symbol_s) < (b);
} }
int hybrid_observables_cc::general_work (int noutput_items, int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items) gr_vector_void_star &output_items)
{ {
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
int n_outputs = 0; int n_outputs = 0;
int n_consume[d_nchannels]; int n_consume[d_nchannels];
double past_history_s = 100e-3; double past_history_s = 100e-3;
Gnss_Synchro current_gnss_synchro[d_nchannels]; Gnss_Synchro current_gnss_synchro[d_nchannels];
/* /*
* 1. Read the GNSS SYNCHRO objects from available channels. * 1. Read the GNSS SYNCHRO objects from available channels.
* Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel * Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel
* Record all synchronization data into queues * Record all synchronization data into queues
*/ */
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{
n_consume[i] = ninput_items[i];// full throttle
for (int j = 0; j < n_consume[i]; j++)
{ {
d_gnss_synchro_history_queue[i].push_back(in[i][j]); n_consume[i] = ninput_items[i];// full throttle
} for (int j = 0; j < n_consume[i]; j++)
//std::cout<<"push["<<i<<"] items "<<n_consume[i]
/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
// <<" [s] q size: "
// <<d_gnss_synchro_history_queue[i].size()
// <<std::endl;
}
bool channel_history_ok;
do
{
channel_history_ok = true;
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history_queue[i].size() < history_deep)
{
channel_history_ok = false;
}
}
if (channel_history_ok == true)
{
std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
std::deque<Gnss_Synchro>::iterator gnss_synchro_deque_iter;
//1. If the RX time is not set, set the Rx time
if (T_rx_s == 0)
{
//0. Read a gnss_synchro snapshot from the queue and store it in a map
std::map<int,Gnss_Synchro> gnss_synchro_map;
for (unsigned int i = 0; i < d_nchannels; i++)
{ {
gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>( d_gnss_synchro_history_queue[i].push_back(in[i][j]);
d_gnss_synchro_history_queue[i].front().Channel_ID,
d_gnss_synchro_history_queue[i].front()));
} }
gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(), //std::cout<<"push["<<i<<"] items "<<n_consume[i]
gnss_synchro_map.end(), /// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
Hybrid_pairCompare_gnss_synchro_sample_counter); // <<" [s] q size: "
T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / (double)gnss_synchro_map_iter->second.fs; // <<d_gnss_synchro_history_queue[i].size()
T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms // <<std::endl;
T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate }
}
//2. Realign RX time in all valid channels bool channel_history_ok;
std::map<int,Gnss_Synchro> realigned_gnss_synchro_map; //container for the aligned set of observables for the selected T_rx do
std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; //container for the previous observable values to interpolate {
//shift channels history to match the reference TOW channel_history_ok = true;
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
d_gnss_synchro_history_queue[i].end(),
T_rx_s,
Hybrid_valueCompare_gnss_synchro_receiver_time);
if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
{ {
if (gnss_synchro_deque_iter->Flag_valid_word == true) if (d_gnss_synchro_history_queue[i].size() < history_deep)
{
double T_rx_channel = (double)gnss_synchro_deque_iter->Tracking_sample_counter / (double)gnss_synchro_deque_iter->fs;
double delta_T_rx_s = T_rx_channel - T_rx_s;
//check that T_rx difference is less than a threshold (the correlation interval)
if (delta_T_rx_s * 1000.0 < (double)gnss_synchro_deque_iter->correlation_length_ms)
{ {
//record the word structure in a map for pseudorange computation channel_history_ok = false;
//save the previous observable }
int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
if (distance > 0) }
{ if (channel_history_ok == true)
if (d_gnss_synchro_history_queue[i].at(distance-1).Flag_valid_word) {
std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
std::deque<Gnss_Synchro>::iterator gnss_synchro_deque_iter;
// 1. If the RX time is not set, set the Rx time
if (T_rx_s == 0)
{
// 0. Read a gnss_synchro snapshot from the queue and store it in a map
std::map<int,Gnss_Synchro> gnss_synchro_map;
for (unsigned int i = 0; i < d_nchannels; i++)
{ {
double T_rx_channel_prev = (double)d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter / (double)gnss_synchro_deque_iter->fs; gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s; d_gnss_synchro_history_queue[i].front()));
if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s)) }
gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
gnss_synchro_map.end(),
Hybrid_pairCompare_gnss_synchro_sample_counter);
T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
}
// 2. Realign RX time in all valid channels
std::map<int,Gnss_Synchro> realigned_gnss_synchro_map; // container for the aligned set of observables for the selected T_rx
std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; // container for the previous observable values to interpolate
// shift channels history to match the reference TOW
for (unsigned int i = 0; i < d_nchannels; i++)
{
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
d_gnss_synchro_history_queue[i].end(),
T_rx_s,
Hybrid_valueCompare_gnss_synchro_receiver_time);
if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
{
if (gnss_synchro_deque_iter->Flag_valid_word == true)
{
double T_rx_channel = static_cast<double>(gnss_synchro_deque_iter->Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s = T_rx_channel - T_rx_s;
// check that T_rx difference is less than a threshold (the correlation interval)
if (delta_T_rx_s * 1000.0 < static_cast<double>(gnss_synchro_deque_iter->correlation_length_ms))
{
// record the word structure in a map for pseudorange computation
// save the previous observable
int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
if (distance > 0)
{
if (d_gnss_synchro_history_queue[i].at(distance-1).Flag_valid_word)
{
double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
}
else
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
}
}
}
else
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
}
}
else
{
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
}
}
}
}
if(!realigned_gnss_synchro_map.empty())
{
/*
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.begin(),
realigned_gnss_synchro_map.end(),
Hybrid_pairCompare_gnss_synchro_d_TOW);
double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
// compute interpolated TOW value at T_rx_s
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
double ref_adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
double d_ref_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
double selected_T_rx_s = T_rx_s;
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s +
(selected_T_rx_s - ref_adj_T_rx_s) * (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
double pseudorange_m;
double channel_T_rx_s;
double channel_fs_hz;
double channel_TOW_s;
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
{
channel_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
channel_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
// compute interpolated observation values
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
// TOW at the selected receiver time T_rx_s
int element_key = gnss_synchro_map_iter->second.Channel_ID;
adj_obs = adjacent_gnss_synchro_map.at(element_key);
double adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s);
// Doppler and Accumulated carrier phase
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
// compute the pseudorange (no rx time offset correction)
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
// convert to meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// Save the estimated RX time (no RX clock offset correction yet!)
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{ {
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>( double tmp_double;
d_gnss_synchro_history_queue[i].at(distance-1).Channel_ID, for (unsigned int i = 0; i < d_nchannels; i++)
d_gnss_synchro_history_queue[i].at(distance-1))); {
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter)); tmp_double = current_gnss_synchro[i].RX_time;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
}
} }
else catch (const std::ifstream::failure& e)
{ {
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter)); LOG(WARNING) << "Exception writing observables dump file " << e.what();
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
d_gnss_synchro_history_queue[i].at(distance-1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance-1)));
} }
} }
}
else
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
}
for (unsigned int i = 0; i < d_nchannels; i++)
{
out[i][n_outputs] = current_gnss_synchro[i];
}
n_outputs++;
} }
else
// Move RX time
T_rx_s = T_rx_s + T_rx_step_s;
// pop old elements from queue
for (unsigned int i = 0; i < d_nchannels; i++)
{ {
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl; while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
{
d_gnss_synchro_history_queue[i].pop_front();
}
} }
}
} }
} } while(channel_history_ok == true && d_max_noutputs > n_outputs);
if(!realigned_gnss_synchro_map.empty()) // Multi-rate consume!
{ for (unsigned int i = 0; i < d_nchannels; i++)
/* {
* 2.1 Use CURRENT set of measurements and find the nearest satellite consume(i, n_consume[i]); // which input, how many items
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.begin(),
realigned_gnss_synchro_map.end(),
Hybrid_pairCompare_gnss_synchro_d_TOW);
double ref_fs_hz = (double)gnss_synchro_map_iter->second.fs;
// compute interpolated TOW value at T_rx_s
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
double ref_adj_T_rx_s = (double)adj_obs.Tracking_sample_counter / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
double d_ref_T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
double selected_T_rx_s = T_rx_s;
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - ref_adj_T_rx_s)
* (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
double pseudorange_m;
double channel_T_rx_s;
double channel_fs_hz;
double channel_TOW_s;
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
{
channel_fs_hz = (double)gnss_synchro_map_iter->second.fs;
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
channel_T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
// compute interpolated observation values
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
// TOW at the selected receiver time T_rx_s
int element_key = gnss_synchro_map_iter->second.Channel_ID;
adj_obs = adjacent_gnss_synchro_map.at(element_key);
double adj_T_rx_s = (double)adj_obs.Tracking_sample_counter / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s);
//Doppler and Accumulated carrier phase
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
//compute the pseudorange (no rx time offset correction)
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
//convert to meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// Save the estimated RX time (no RX clock offset correction yet!)
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = current_gnss_synchro[i].RX_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
for (unsigned int i = 0; i < d_nchannels; i++)
{
out[i][n_outputs] = current_gnss_synchro[i];
}
n_outputs++;
}
//Move RX time
T_rx_s = T_rx_s + T_rx_step_s;
//pop old elements from queue
for (unsigned int i = 0; i < d_nchannels; i++)
{
while (d_gnss_synchro_history_queue[i].front().Tracking_sample_counter / (double)d_gnss_synchro_history_queue[i].front().fs < (T_rx_s - past_history_s))
{
d_gnss_synchro_history_queue[i].pop_front();
}
}
} }
}while(channel_history_ok == true && d_max_noutputs>n_outputs);
//Multi-rate consume! return n_outputs;
for (unsigned int i = 0; i < d_nchannels; i++)
{
consume(i, n_consume[i]); //which input, how many items
}
return n_outputs;
} }

32
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -52,26 +52,26 @@ hybrid_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_
class hybrid_observables_cc : public gr::block class hybrid_observables_cc : public gr::block
{ {
public: public:
~hybrid_observables_cc (); ~hybrid_observables_cc ();
int general_work (int noutput_items, gr_vector_int &ninput_items, int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
private: private:
friend hybrid_observables_cc_sptr friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
//Tracking observable history //Tracking observable history
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue; std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue;
double T_rx_s; double T_rx_s;
double T_rx_step_s; double T_rx_step_s;
int d_max_noutputs; int d_max_noutputs;
bool d_dump; bool d_dump;
unsigned int d_nchannels; unsigned int d_nchannels;
unsigned int history_deep; unsigned int history_deep;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
}; };
#endif #endif

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -237,7 +237,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
if (d_stat == 1) if (d_stat == 1)
{ {
preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0); preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
if (preamble_diff_ms > GPS_SUBFRAME_MS+1) if (preamble_diff_ms > GPS_SUBFRAME_MS + 1)
{ {
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms; DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
d_stat = 0; //lost of frame sync d_stat = 0; //lost of frame sync
@ -344,16 +344,16 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
} }
//2. Add the telemetry decoder information //2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_flag_new_tow_available==true) if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
{ {
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter) //double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs; // /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency) // update TOW at the preamble instant (account with decoder latency)
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2*GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S; d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble*1000.0)/1000.0; d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
flag_TOW_set = true; flag_TOW_set = true;
d_flag_new_tow_available=false; d_flag_new_tow_available = false;
} }
else else
{ {