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bds_b1i: Adding new tel dec block structure

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This commit is contained in:
Damian Miralles
2018-12-23 12:51:28 -06:00
parent 9e9b272fb2
commit 0c4b8b25f1
8 changed files with 272 additions and 115 deletions
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src/algorithms/PVT/libs/rtklib_solver.cc
+1 -1
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@@ -775,7 +775,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356,
0);
valid_obs++;
}
src/algorithms/libs/rtklib/rtklib_conversions.cc
+10 -8
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@@ -75,14 +75,16 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
// Mote that BeiDou week numbers do not need adjustment for foreseeable future. Consider change
// to more elegant solution
if(gnss_synchro.System == 'C')
{
rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
}
else
{
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
}
// if(gnss_synchro.System == 'C')
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// else
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
//
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1;
return rtklib_obs;
}
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc
+110 -33
View File
@@ -76,21 +76,21 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
// preamble symbols to samples
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS - BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_samples[i] = 1;
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_samples[i] = -1;
d_secondary_code_symbols[i] = -1;
}
}
@@ -103,7 +103,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_samples[m];
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
@@ -113,7 +113,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_samples[m];
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
@@ -122,7 +122,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol;
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
d_sample_counter = 0;
d_stat = 0;
d_preamble_index = 0;
@@ -134,7 +134,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_CRC_error_counter = 0;
d_flag_preamble = false;
d_channel = 0;
flag_TOW_set = false;
flag_SOW_set = false;
}
@@ -142,7 +142,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
{
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true)
@@ -159,14 +159,95 @@ beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
}
void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t *decbits)
{
int bit, err, reg[4] = {1, 1, 1, 1};
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (unsigned int i = 0; i < 15; i++)
{
decbits[i] = bits[i];
}
for (unsigned int i = 0; i < 15; i++)
{
bit = reg[3];
reg[3] = reg[2];
reg[2] = reg[1];
reg[1] = reg[0];
reg[0] = bits[i] * bit;
reg[1] *= bit;
}
err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8];
if (err > 0)
{
decbits[err - 1] *= -1;
}
}
void beidou_b1i_telemetry_decoder_cc::decode_word(
int32_t word_counter,
double* enc_word_symbols,
int32_t* dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1)
{
for (unsigned int j = 0; j < 30; j++)
{
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
else
{
for (unsigned int r = 0; r < 2; r++)
{
for (unsigned int c = 0; c < 15; c++)
{
bitsbch[r*15 + c] = (int32_t)(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
}
}
decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch);
for (unsigned int j = 0; j < 11; j++)
{
dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j];
}
for (unsigned int j = 0; j < 4; j++)
{
dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j];
}
}
}
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length)
{
// 1. Transform from symbols to bits
// 1. Transform from symbols to bits
std::string data_bits;
int32_t dec_word_bits[30];
// we want data_bits = frame_symbols[24:24+288]
for (uint32_t ii = 0; ii < (BEIDOU_DNAV_DATA_BITS); ii++) {
data_bits.push_back( (frame_symbols[ii] > 0) ? ('1') : ('0') );
// Decode each word in subframe
for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word
decode_word((ii+1), &frame_symbols[ii*30], dec_word_bits);
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
{
data_bits.push_back( (dec_word_bits[jj] > 0) ? ('1') : ('0') );
}
}
d_nav.subframe_decoder(data_bits);
@@ -207,10 +288,10 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
}
if (d_nav.have_new_almanac() == true)
{
unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " in slot number " << slot_nbr;
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
}
}
@@ -335,7 +416,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m);
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
@@ -351,7 +432,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m);
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
@@ -359,7 +440,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
//call the decoder
decode_subframe(d_frame_symbols, d_subframe_length_symbols);
decode_subframe(d_subframe_symbols, d_subframe_length_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
@@ -380,6 +461,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
}
}
}
@@ -387,27 +469,22 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
// UPDATE GNSS SYNCHRO DATA
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
//update TOW at the preamble instant
{
if (d_nav.flag_SOW == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.d_SOW * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
d_nav.flag_SOW = false;
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);;
}
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);;
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
}
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
if (d_flag_frame_sync == true and flag_SOW_set == true)
{
current_symbol.Flag_valid_word = true;
}
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h
+7 -3
View File
@@ -2,7 +2,8 @@
* \file beidou_b1i_telemetry_decoder_cc.h
* \brief Implementation of an adapter of a BEIDOU BI1 DNAV data decoder block
* to a TelemetryDecoderInterface
* \note Code added as part of GSoC 2018 program
* \details Code added as part of GSoC 2018 program. However new modifications included to mimic
* decoding of existing signals
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.es
*
@@ -78,11 +79,14 @@ private:
beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols, int32_t frame_length);
void decode_word(int32_t word_counter, double* enc_word_symbols, int32_t* dec_word_symbols);
void decode_bch15_11_01(int32_t *bits, int32_t *decbits);
//!< Preamble decoding
unsigned short int d_preambles_symbols[BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS];
int32_t *d_preamble_samples;
int32_t *d_secondary_code_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble;
@@ -101,7 +105,7 @@ private:
bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved
bool d_flag_preamble; //!< Flag indicating when preamble was found
int32_t d_CRC_error_counter; //!< Number of failed CRC operations
bool flag_TOW_set; //!< Indicates when time of week is set
bool flag_SOW_set; //!< Indicates when time of week is set
//!< Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav;