Adding new advanced features to Galileo E1 tracking: Pilot tracking, Extended coherent correlation, narrow DLL/PLL bandwidth and narrow correlator spacings

conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf

@@ -0,0 +1,269 @@
+; 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_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
+GNSS-SDR.internal_fs_sps=20000000
+
+
+;######### SIGNAL_SOURCE CONFIG ############
+;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+SignalSource.implementation=File_Signal_Source
+
+;#filename: path to file with the captured GNSS signal samples to be processed
+;SignalSource.filename=/home/javier/signals/L125_III1b_210s_L1_2msps.bin     ; <- PUT YOUR FILE HERE
+
+SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin
+
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+SignalSource.item_type=byte
+
+;#sampling_frequency: Original Signal sampling frequency in [Hz]
+SignalSource.sampling_frequency=20000000
+
+;#freq: RF front-end center frequency in [Hz]
+SignalSource.freq=1575420000
+
+;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
+SignalSource.samples=0
+
+;#repeat: Repeat the processing file. Disable this option in this version
+SignalSource.repeat=false
+
+;#dump: Dump the Signal source data to a file. Disable this option in this version
+SignalSource.dump=false
+
+SignalSource.dump_filename=../data/signal_source.dat
+
+;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
+; it helps to not overload the CPU, but the processing time will be longer.
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+;## It holds blocks to change data type, filter and resample input data.
+
+;#implementation: Use [Pass_Through] or [Signal_Conditioner]
+;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+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=Ibyte_To_Complex
+
+;######### INPUT_FILTER CONFIG ############
+;## Filter the input data. Can be combined with frequency translation for IF signals
+
+InputFilter.implementation=Pass_Through
+
+
+;######### RESAMPLER CONFIG ############
+;## Resamples the input data.
+
+;#implementation: Use [Pass_Through] or [Direct_Resampler]
+;#[Pass_Through] disables this block
+;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
+;Resampler.implementation=Direct_Resampler
+Resampler.implementation=Pass_Through
+
+
+;######### CHANNELS GLOBAL CONFIG ############
+;#count: Number of available GPS satellite channels.
+Channels_1C.count=0
+;#count: Number of available Galileo satellite channels.
+Channels_1B.count=1
+;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
+Channels.in_acquisition=1
+
+;#signal:
+;#if the option is disabled by default is assigned "1C" GPS L1 C/A
+Channel1.signal=1B
+Channel2.signal=1B
+Channel3.signal=1B
+Channel4.signal=1B
+Channel5.signal=1B
+Channel6.signal=1B
+Channel7.signal=1B
+Channel8.signal=1B
+Channel9.signal=1B
+Channel10.signal=1B
+Channel11.signal=1B
+Channel12.signal=1B
+Channel13.signal=1B
+Channel14.signal=1B
+Channel15.signal=1B
+
+
+;######### GPS ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1C.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1C.sampled_ms=1
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.use_CFAR_algorithm=false;
+;#threshold: Acquisition threshold
+Acquisition_1C.threshold=18
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1C.doppler_max=5000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1C.doppler_step=500
+
+
+;######### GALILEO ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=../data/acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1B.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1B.sampled_ms=4
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+Acquisition_1B.acquire_pilot=true
+Acquisition_1B.use_CFAR_algorithm=false
+;#threshold: Acquisition threshold
+Acquisition_1B.threshold=21
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1B.doppler_max=5000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1B.doppler_step=125
+Acquisition_1B.bit_transition_flag=true
+
+;######### TRACKING GPS CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1C.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_1C.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1C.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=false
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=30.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+
+;######### TRACKING GALILEO CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+;#item_type: Type and resolution for each of the signal samples.
+Tracking_1B.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1B.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=true
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
+Tracking_1B.track_pilot=true
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_hz=4.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_hz=0.5;
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_narrow_hz=2.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_narrow_hz=0.25;
+
+Tracking_1B.extend_correlation_symbols=4;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1B.order=3;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_chips=0.15;
+
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_chips=0.6;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_narrow_chips=0.06;
+
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_narrow_chips=0.25;
+
+
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+;#decimation factor
+TelemetryDecoder_1C.decimation_factor=4;
+
+;######### TELEMETRY DECODER GALILEO CONFIG ############
+;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
+
+;######### OBSERVABLES CONFIG ############
+;#implementation:
+Observables.implementation=Hybrid_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:
+PVT.implementation=RTKLIB_PVT
+
+PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+
+;#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;
+
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
+
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
+;#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

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc

@@ -57,19 +57,31 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
     std::string item_type;
     std::string default_item_type = "gr_complex";
     float pll_bw_hz;
+    float pll_bw_narrow_hz;
     float dll_bw_hz;
+    float dll_bw_narrow_hz;
     float early_late_space_chips;
     float very_early_late_space_chips;
+    float early_late_space_narrow_chips;
+    float very_early_late_space_narrow_chips;
 
     item_type = configuration->property(role + ".item_type", default_item_type);
     int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     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);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
+    pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
+    dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
+    int extend_correlation_symbols;
+    extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
     early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
     very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
+    early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
+    very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
+
+    bool track_pilot=configuration->property(role + ".track_pilot", false);
 
     std::string default_dump_filename = "./track_ch";
     dump_filename = configuration->property(role + ".dump_filename",
@@ -88,8 +100,24 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
                     dump_filename,
                     pll_bw_hz,
                     dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
                     early_late_space_chips,
-                    very_early_late_space_chips);
+                    very_early_late_space_chips,
+                    early_late_space_narrow_chips,
+                    very_early_late_space_narrow_chips,
+                    extend_correlation_symbols,
+                    track_pilot);
+//            tracking_ = galileo_e1_dll_pll_veml_make_tracking_cc(
+//                    f_if,
+//                    fs_in,
+//                    vector_length,
+//                    dump,
+//                    dump_filename,
+//                    pll_bw_hz,
+//                    dll_bw_hz,
+//                    early_late_space_chips,
+//                    very_early_late_space_chips);
         }
     else
         {

src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h

@@ -53,8 +53,14 @@ galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
                                    std::string dump_filename,
                                    float pll_bw_hz,
                                    float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
                                    float early_late_space_chips,
-                                   float very_early_late_space_chips);
+                                   float very_early_late_space_chips,
+                                   float early_late_space_narrow_chips,
+                                   float very_early_late_space_narrow_chips,
+                                   int extend_correlation_symbols,
+                                   bool track_pilot);
 
 /*!
  * \brief This class implements a code DLL + carrier PLL VEML (Very Early
@@ -88,8 +94,14 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips,
-            float very_early_late_space_chips);
+            float very_early_late_space_chips,
+            float early_late_space_narrow_chips,
+            float very_early_late_space_narrow_chips,
+            int extend_correlation_symbols,
+            bool track_pilot);
 
     galileo_e1_dll_pll_veml_tracking_cc(long if_freq,
             long fs_in, unsigned
@@ -98,12 +110,25 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips,
-            float very_early_late_space_chips);
+            float very_early_late_space_chips,
+            float early_late_space_narrow_chips,
+            float very_early_late_space_narrow_chips,
+            int extend_correlation_symbols,
+            bool track_pilot);
 
+    bool cn0_and_tracking_lock_status();
+    void do_correlation_step(const gr_complex* input_samples);
+    void run_dll_pll(bool disable_costas_loop);
     void update_local_code();
-
     void update_local_carrier();
+    bool acquire_secondary();
+
+    void clear_tracking_vars();
+
+    void log_data();
 
     // tracking configuration vars
     unsigned int d_vector_length;
@@ -114,16 +139,29 @@ private:
     long d_if_freq;
     long d_fs_in;
 
+    //tracking state machine
+    int d_state;
+
     //Integration period in samples
     int d_correlation_length_samples;
     int d_n_correlator_taps;
     double d_early_late_spc_chips;
     double d_very_early_late_spc_chips;
 
-    float* d_ca_code;
+    double d_early_late_spc_narrow_chips;
+    double d_very_early_late_spc_narrow_chips;
+
+    float* d_tracking_code;
+    float* d_data_code;
     float* d_local_code_shift_chips;
     gr_complex* d_correlator_outs;
     cpu_multicorrelator_real_codes multicorrelator_cpu;
+    //todo: currently the multicorrelator does not support adding extra correlator
+    //with different local code, thus we need extra multicorrelator instance.
+    //Implement this functionality inside multicorrelator class
+    //as an enhancement to increase the performance
+    float* d_local_code_data_shift_chips;
+    cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
 
     gr_complex *d_Very_Early;
     gr_complex *d_Early;
@@ -131,6 +169,22 @@ private:
     gr_complex *d_Late;
     gr_complex *d_Very_Late;
 
+    int d_extend_correlation_symbols;
+    int d_extend_correlation_symbols_count;
+    bool d_enable_extended_integration;
+    int d_current_symbol;
+
+    gr_complex d_VE_accu;
+    gr_complex d_E_accu;
+    gr_complex d_P_accu;
+    gr_complex d_L_accu;
+    gr_complex d_VL_accu;
+
+    bool d_track_pilot;
+    gr_complex *d_Prompt_Data;
+
+    double d_code_phase_step_chips;
+    double d_carrier_phase_step_rad;
     // remaining code phase and carrier phase between tracking loops
     double d_rem_code_phase_samples;
     double d_rem_carr_phase_rad;
@@ -143,11 +197,24 @@ private:
     double d_acq_code_phase_samples;
     double d_acq_carrier_doppler_hz;
 
+    // tracking parameters
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
     // tracking vars
+    double d_carr_error_hz;
+    double d_carr_error_filt_hz;
+    double d_code_error_chips;
+    double d_code_error_filt_chips;
+
+    double d_K_blk_samples;
+
     double d_code_freq_chips;
     double d_carrier_doppler_hz;
     double d_acc_carrier_phase_rad;
-    double d_acc_code_phase_secs;
+    double d_rem_code_phase_chips;
+    double d_code_phase_samples;
 
     //PRN period in samples
     int d_current_prn_length_samples;
@@ -158,16 +225,13 @@ private:
 
     // CN0 estimation and lock detector
     int d_cn0_estimation_counter;
+    std::deque<gr_complex> d_Prompt_buffer_deque;
     gr_complex* d_Prompt_buffer;
     double d_carrier_lock_test;
     double d_CN0_SNV_dB_Hz;
     double d_carrier_lock_threshold;
     int d_carrier_lock_fail_counter;
 
-    // control vars
-    bool d_enable_tracking;
-    bool d_pull_in;
-
     // file dump
     std::string d_dump_filename;
     std::ofstream d_dump_file;

src/core/system_parameters/Galileo_E1.h

@@ -57,7 +57,7 @@ const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-car
 const double Galileo_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6; //!< Galileo E1 sub-carrier 'b' rate [Hz]
 const double Galileo_E1_B_CODE_LENGTH_CHIPS = 4092.0;    //!< Galileo E1-B code length [chips]
 const double Galileo_E1_B_SYMBOL_RATE_BPS = 250.0;       //!< Galileo E1-B symbol rate [bits/second]
-const double Galileo_E1_C_SECONDARY_CODE_LENGTH = 25.0;  //!< Galileo E1-C secondary code length [chips]
+const int Galileo_E1_C_SECONDARY_CODE_LENGTH = 25;  //!< Galileo E1-C secondary code length [chips]
 const int Galileo_E1_NUMBER_OF_CODES = 50;
 
 const double GALILEO_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)