mirror of https://github.com/gnss-sdr/gnss-sdr
Telemetry decoder module now uses the Gnss_Synchro class to communicate the block with the observables block
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@154 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
ceef16081f
commit
16a1797c6d
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@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/home/javier/signals/Agilent/cap2/agilent_cap2.dat
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SignalSource.filename=/media/DATALOGGER/signals/Agilent GPS Generator/cap2/agilent_cap2.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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@ -226,8 +226,7 @@ Acquisition7.doppler_step=250
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;######### TRACKING GLOBAL CONFIG ############
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;#implementatiion: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
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Tracking.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking.implementation=GPS_L1_CA_DLL_FLL_PLL_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking.item_type=gr_complex
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@ -41,6 +41,9 @@
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include "gnss_synchro.h"
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using google::LogMessage;
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@ -54,7 +57,7 @@ gps_l1_ca_make_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, b
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gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
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gr_block ("gps_l1_ca_observables_cc", gr_make_io_signature (nchannels, nchannels, sizeof(gnss_synchro)),
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gr_block ("gps_l1_ca_observables_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr_make_io_signature(nchannels, nchannels, sizeof(gnss_pseudorange)))
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{
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// initialize internal vars
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@ -97,9 +100,9 @@ gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc()
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bool pairCompare_gnss_synchro( std::pair<int,gnss_synchro> a, std::pair<int,gnss_synchro> b)
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bool pairCompare_gnss_synchro( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
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{
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return (a.second.preamble_delay_ms) < (b.second.preamble_delay_ms);
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return (a.second.Preamble_delay_ms) < (b.second.Preamble_delay_ms);
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}
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@ -129,13 +132,13 @@ void clearQueue( std::deque<double> &q )
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int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
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gnss_synchro **in = (gnss_synchro **) &input_items[0]; //Get the input pointer
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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gnss_pseudorange **out = (gnss_pseudorange **) &output_items[0]; //Get the output pointer
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gnss_pseudorange current_gnss_pseudorange;
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std::map<int,gnss_synchro> gps_words;
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std::map<int,gnss_synchro>::iterator gps_words_iter;
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std::map<int,Gnss_Synchro> gps_words;
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std::map<int,Gnss_Synchro>::iterator gps_words_iter;
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std::map<int,double>::iterator current_prn_timestamps_ms_iter;
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std::map<int,double> current_prn_timestamps_ms;
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@ -161,20 +164,20 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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*/
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for (unsigned int i=0; i<d_nchannels ; i++)
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{
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if (in[i][0].valid_word) //if this channel have valid word
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if (in[i][0].Flag_valid_word) //if this channel have valid word
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{
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gps_words.insert(std::pair<int,gnss_synchro>(in[i][0].channel_ID, in[i][0])); //record the word structure in a map for pseudoranges
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gps_words.insert(std::pair<int,Gnss_Synchro>(in[i][0].Channel_ID, in[i][0])); //record the word structure in a map for pseudoranges
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// RECORD PRN start timestamps history
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if (d_history_prn_delay_ms[i].size()<MAX_TOA_DELAY_MS)
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{
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d_history_prn_delay_ms[i].push_front(in[i][0].prn_delay_ms);
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d_history_prn_delay_ms[i].push_front(in[i][0].Prn_delay_ms);
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flag_history_ok = false; // at least one channel need more samples
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}
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else
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{
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//clearQueue(d_history_prn_delay_ms[i]); //clear the queue as the preamble arrives
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d_history_prn_delay_ms[i].pop_back();
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d_history_prn_delay_ms[i].push_front(in[i][0].prn_delay_ms);
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d_history_prn_delay_ms[i].push_front(in[i][0].Prn_delay_ms);
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}
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}
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}
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@ -200,15 +203,15 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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*/
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// The nearest satellite, first preamble to arrive
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gps_words_iter = min_element(gps_words.begin(), gps_words.end(), pairCompare_gnss_synchro);
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min_preamble_delay_ms = gps_words_iter->second.preamble_delay_ms; //[ms]
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min_preamble_delay_ms = gps_words_iter->second.Preamble_delay_ms; //[ms]
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pseudoranges_reference_sat_ID = gps_words_iter->second.satellite_PRN; // it is the reference!
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pseudoranges_reference_sat_channel_ID = gps_words_iter->second.channel_ID;
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pseudoranges_reference_sat_ID = gps_words_iter->second.PRN; // it is the reference!
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pseudoranges_reference_sat_channel_ID = gps_words_iter->second.Channel_ID;
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// The farthest satellite, last preamble to arrive
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gps_words_iter = max_element(gps_words.begin(), gps_words.end(), pairCompare_gnss_synchro);
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max_preamble_delay_ms = gps_words_iter->second.preamble_delay_ms;
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min_delta_timestamp_ms = gps_words_iter->second.prn_delay_ms - max_preamble_delay_ms; //[ms]
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max_preamble_delay_ms = gps_words_iter->second.Preamble_delay_ms;
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min_delta_timestamp_ms = gps_words_iter->second.Prn_delay_ms - max_preamble_delay_ms; //[ms]
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// check if this is a valid set of observations
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if ((max_preamble_delay_ms - min_preamble_delay_ms) < MAX_TOA_DELAY_MS)
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@ -221,10 +224,10 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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// find again the minimum CURRENT minimum preamble time, taking into account the preamble timeshift
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for(gps_words_iter = gps_words.begin(); gps_words_iter != gps_words.end(); gps_words_iter++)
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{
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delta_timestamp_ms = (gps_words_iter->second.prn_delay_ms - gps_words_iter->second.preamble_delay_ms) - min_delta_timestamp_ms;
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delta_timestamp_ms = (gps_words_iter->second.Prn_delay_ms - gps_words_iter->second.Preamble_delay_ms) - min_delta_timestamp_ms;
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history_shift = round(delta_timestamp_ms);
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//std::cout<<"history_shift="<<history_shift<<"\r\n";
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current_prn_timestamps_ms.insert(std::pair<int,double>(gps_words_iter->second.channel_ID, d_history_prn_delay_ms[gps_words_iter->second.channel_ID][history_shift]));
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current_prn_timestamps_ms.insert(std::pair<int,double>(gps_words_iter->second.Channel_ID, d_history_prn_delay_ms[gps_words_iter->second.Channel_ID][history_shift]));
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// debug: preamble position test
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//if ((d_history_prn_delay_ms[gps_words_iter->second.channel_ID][history_shift]-gps_words_iter->second.preamble_delay_ms)<0.1)
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//{std::cout<<"ch "<<gps_words_iter->second.channel_ID<<" current_prn_time-last_preamble_prn_time="<<
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@ -252,7 +255,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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{
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// #### compute the pseudorange for this satellite ###
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current_prn_delay_ms = current_prn_timestamps_ms.at(gps_words_iter->second.channel_ID);
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current_prn_delay_ms = current_prn_timestamps_ms.at(gps_words_iter->second.Channel_ID);
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traveltime_ms = current_prn_delay_ms - actual_min_prn_delay_ms + GPS_STARTOFFSET_ms; //[ms]
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//std::cout<<"delta_time_ms="<<current_prn_delay_ms-actual_min_prn_delay_ms<<"\r\n";
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pseudorange_m = traveltime_ms*GPS_C_m_ms; // [m]
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@ -260,10 +263,10 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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// update the pseudorange object
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current_gnss_pseudorange.pseudorange_m = pseudorange_m;
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current_gnss_pseudorange.timestamp_ms = pseudoranges_timestamp_ms;
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current_gnss_pseudorange.SV_ID = gps_words_iter->second.satellite_PRN;
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current_gnss_pseudorange.SV_ID = gps_words_iter->second.PRN;
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current_gnss_pseudorange.valid = true;
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// #### write the pseudorrange block output for this satellite ###
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*out[gps_words_iter->second.channel_ID] = current_gnss_pseudorange;
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*out[gps_words_iter->second.Channel_ID] = current_gnss_pseudorange;
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}
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}
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}
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@ -276,9 +279,9 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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double tmp_double;
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for (unsigned int i=0; i<d_nchannels ; i++)
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{
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tmp_double = in[i][0].preamble_delay_ms;
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tmp_double = in[i][0].Preamble_delay_ms;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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tmp_double = in[i][0].prn_delay_ms;
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tmp_double = in[i][0].Prn_delay_ms;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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tmp_double = out[i][0].pseudorange_m;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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@ -43,6 +43,8 @@
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#include <glog/logging.h>
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#include "control_message_factory.h"
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#include "gnss_synchro.h"
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#define _lrotl(X,N) ((X << N) ^ (X >> (32-N))) // Used in the parity check algorithm
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@ -80,7 +82,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
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gr_msg_queue_sptr queue,
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bool dump) :
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gr_block ("gps_navigation_cc", gr_make_io_signature (1, 1, sizeof(Gnss_Synchro)),
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gr_make_io_signature(1, 1, sizeof(gnss_synchro)))
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gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
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{
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// initialize internal vars
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d_queue = queue;
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@ -175,28 +177,15 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
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int corr_value = 0;
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int preamble_diff;
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gnss_synchro gps_synchro; //structure to save the synchronization information
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gnss_synchro **out = (gnss_synchro **) &output_items[0];
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
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d_sample_counter++; //count for the processed samples
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DLOG(INFO) << "Sample counter: " << d_sample_counter;
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const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
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// ########### Output the tracking data to navigation and PVT ##########
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// Output channel 0: Prompt correlator output Q
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// *out[0]=(double)d_Prompt.real();
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// // Output channel 1: Prompt correlator output I
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// *out[1]=(double)d_Prompt.imag();
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// // Output channel 2: PRN absolute delay [s]
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// *out[2]=d_sample_counter_seconds;
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// // Output channel 3: d_acc_carrier_phase_rad [rad]
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// *out[3]=(double)d_acc_carrier_phase_rad;
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// // Output channel 4: PRN code phase [s]
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// *out[4]=(double)d_code_phase_samples*(1/(float)d_fs_in);
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const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
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/*!
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* \todo Check the HOW GPS time computation, taking into account that the preamble correlation last 160 symbols, which is 160 ms in GPS CA L1
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@ -337,16 +326,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
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consume_each(1); //one by one
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DLOG(INFO) << "TELEMETRY PROCESSED for satellite " << this->d_satellite;
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//! \todo This has to be documented!!!!
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gps_synchro.valid_word = (d_flag_frame_sync == true and d_flag_parity == true);
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gps_synchro.flag_preamble = d_flag_preamble;
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gps_synchro.preamble_delay_ms = d_preamble_time_seconds*1000.0;
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gps_synchro.prn_delay_ms = (in[0][0].Tracking_timestamp_secs - d_preamble_duration_seconds)*1000.0;
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gps_synchro.preamble_code_phase_ms = d_preamble_code_phase_seconds*1000.0;
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gps_synchro.preamble_code_phase_correction_ms = (in[0][0].Code_phase_secs - d_preamble_code_phase_seconds)*1000.0;
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gps_synchro.satellite_PRN = this->d_satellite.get_PRN();
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gps_synchro.channel_ID = d_channel;
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*out[0] = gps_synchro;
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Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
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//1. Copy the current tracking output
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current_synchro_data=in[0][0];
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//2. Add the telemetry decoder information
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current_synchro_data.Flag_valid_word=(d_flag_frame_sync == true and d_flag_parity == true);
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current_synchro_data.Flag_preamble= d_flag_preamble;
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current_synchro_data.Preamble_delay_ms= d_preamble_time_seconds*1000.0;
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current_synchro_data.Prn_delay_ms = (in[0][0].Tracking_timestamp_secs - d_preamble_duration_seconds)*1000.0;
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current_synchro_data.Preamble_code_phase_ms = d_preamble_code_phase_seconds*1000.0;
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current_synchro_data.Preamble_code_phase_correction_ms = (in[0][0].Code_phase_secs - d_preamble_code_phase_seconds)*1000.0;
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//gps_synchro.satellite_PRN = this->d_satellite.get_PRN(); //is already filled...
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//gps_synchro.channel_ID = d_channel;
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//3. Make the output (copy the object contents to the GNURadio reserved memory)
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*out[0] = current_synchro_data;
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return 1;
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}
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@ -88,7 +88,7 @@ private:
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bool gps_word_parityCheck(unsigned int gpsword);
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// constants
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unsigned short int d_preambles_bits[8];
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unsigned short int d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS];
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// class private vars
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