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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into fpga

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This commit is contained in:
Marc Majoral
2018-10-17 15:49:58 +02:00
parent 8e6370e133 8c79c1aa91
commit 17ddab1c3e
29 changed files with 1521 additions and 417 deletions
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2
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@@ -246,7 +246,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
else if (obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE)
{
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
PC = P1 - P1_P2;
}
else if (obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE)
{

122
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h Normal file
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@@ -0,0 +1,122 @@
/*!
* \file volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
* \brief VOLK_GNSSSDR kernel: multiplies N complex (32-bit float per component) vectors
* by a common vector, phase rotated and accumulates the results in N float complex outputs.
* \authors <ul>
* <li> Antonio Ramos 2018. antonio.ramosdet(at)gmail.com
* </ul>
*
* VOLK_GNSSSDR kernel that multiplies N 32 bits complex vectors by a common vector, which is
* phase-rotated by phase offset and phase increment, and accumulates the results
* in N 32 bits float complex outputs.
* It is optimized to perform the N tap correlation process in GNSS receivers.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
/*!
* \page volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn
*
* \b Overview
*
* Rotates and multiplies the reference complex vector with an arbitrary number of other real vectors,
* accumulates the results and stores them in the output vector.
* The rotation is done at a fixed rate per sample, from an initial \p phase offset.
* This function can be used for Doppler wipe-off and multiple correlator.
*
* <b>Dispatcher Prototype</b>
* \code
* void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points);
* \endcode
*
* \b Inputs
* \li in_common: Pointer to one of the vectors to be rotated, multiplied and accumulated (reference vector).
* \li phase_inc: Phase increment = lv_cmake(cos(phase_step_rad), sin(phase_step_rad))
* \li phase_inc_rate: Phase increment rate = lv_cmake(cos(phase_step_rate_rad), sin(phase_step_rate_rad))
* \li phase: Initial phase = lv_cmake(cos(initial_phase_rad), sin(initial_phase_rad))
* \li in_a: Pointer to an array of pointers to multiple vectors to be multiplied and accumulated.
* \li num_a_vectors: Number of vectors to be multiplied by the reference vector and accumulated.
* \li num_points: Number of complex values to be multiplied together, accumulated and stored into \p result.
*
* \b Outputs
* \li phase: Final phase.
* \li result: Vector of \p num_a_vectors components with the multiple vectors of \p in_a rotated, multiplied by \p in_common and accumulated.
*
*/
#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
#include <volk_gnsssdr/saturation_arithmetic.h>
#include <math.h>
#ifdef LV_HAVE_GENERIC
static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points)
{
lv_32fc_t tmp32_1;
#ifdef __cplusplus
lv_32fc_t half_phase_inc_rate = std::sqrt(phase_inc_rate);
#else
lv_32fc_t half_phase_inc_rate = csqrtf(phase_inc_rate);
#endif
lv_32fc_t constant_rotation = phase_inc * half_phase_inc_rate;
lv_32fc_t delta_phase_rate = lv_cmake(1.0f, 0.0f);
int n_vec;
unsigned int n;
for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
{
result[n_vec] = lv_cmake(0.0f, 0.0f);
}
for (n = 0; n < num_points; n++)
{
tmp32_1 = *in_common++ * (*phase);
// Regenerate phase
if (n % 256 == 0)
{
#ifdef __cplusplus
(*phase) /= std::abs((*phase));
delta_phase_rate /= std::abs(delta_phase_rate);
#else
(*phase) /= hypotf(lv_creal(*phase), lv_cimag(*phase));
delta_phase_rate /= hypotf(lv_creal(delta_phase_rate), lv_cimag(delta_phase_rate));
#endif
}
(*phase) *= (constant_rotation * delta_phase_rate);
delta_phase_rate *= phase_inc_rate;
for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
{
result[n_vec] += (tmp32_1 * in_a[n_vec][n]);
}
}
}
#endif /*LV_HAVE_GENERIC*/
#endif /* INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H */

163
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h Normal file
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@@ -0,0 +1,163 @@
/*!
* \file volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc.h
* \brief Volk puppet for the multiple 16-bit complex dot product kernel.
* \authors <ul>
* <li> Carles Fernandez Prades 2016 cfernandez at cttc dot cat
* </ul>
*
* Volk puppet for integrating the resampler into volk's test system
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
#include "volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h"
#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string.h>
#ifdef LV_HAVE_GENERIC
static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_generic(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
{
// phases must be normalized. Phase rotator expects a complex exponential input!
float rem_carrier_phase_in_rad = 0.25;
float phase_step_rad = 0.1;
lv_32fc_t phase[1];
phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
lv_32fc_t phase_inc[1];
phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
lv_32fc_t phase_inc_rate[1];
phase_inc_rate[0] = lv_cmake(cos(phase_step_rad * 0.001), sin(phase_step_rad * 0.001));
int n;
int num_a_vectors = 3;
float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
for (n = 0; n < num_a_vectors; n++)
{
in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
}
volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(result, local_code, phase_inc[0], phase_inc_rate[0], phase, (const float**)in_a, num_a_vectors, num_points);
for (n = 0; n < num_a_vectors; n++)
{
volk_gnsssdr_free(in_a[n]);
}
volk_gnsssdr_free(in_a);
}
#endif // Generic
//
//#ifdef LV_HAVE_GENERIC
//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_generic_reload(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
//{
// // phases must be normalized. Phase rotator expects a complex exponential input!
// float rem_carrier_phase_in_rad = 0.25;
// float phase_step_rad = 0.1;
// lv_32fc_t phase[1];
// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
// lv_32fc_t phase_inc[1];
// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
// int n;
// int num_a_vectors = 3;
// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
// for (n = 0; n < num_a_vectors; n++)
// {
// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
// }
// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_generic_reload(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
//
// for (n = 0; n < num_a_vectors; n++)
// {
// volk_gnsssdr_free(in_a[n]);
// }
// volk_gnsssdr_free(in_a);
//}
//
//#endif // Generic
//
//#ifdef LV_HAVE_AVX
//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_u_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
//{
// // phases must be normalized. Phase rotator expects a complex exponential input!
// float rem_carrier_phase_in_rad = 0.25;
// float phase_step_rad = 0.1;
// lv_32fc_t phase[1];
// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
// lv_32fc_t phase_inc[1];
// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
// int n;
// int num_a_vectors = 3;
// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
// for (n = 0; n < num_a_vectors; n++)
// {
// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
// }
// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_u_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
//
// for (n = 0; n < num_a_vectors; n++)
// {
// volk_gnsssdr_free(in_a[n]);
// }
// volk_gnsssdr_free(in_a);
//}
//
//#endif // AVX
//
//
//#ifdef LV_HAVE_AVX
//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_a_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
//{
// // phases must be normalized. Phase rotator expects a complex exponential input!
// float rem_carrier_phase_in_rad = 0.25;
// float phase_step_rad = 0.1;
// lv_32fc_t phase[1];
// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
// lv_32fc_t phase_inc[1];
// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
// int n;
// int num_a_vectors = 3;
// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
// for (n = 0; n < num_a_vectors; n++)
// {
// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
// }
// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_a_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
//
// for (n = 0; n < num_a_vectors; n++)
// {
// volk_gnsssdr_free(in_a[n]);
// }
// volk_gnsssdr_free(in_a);
//}
//
//#endif // AVX
#endif // INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H

1
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h
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@@ -99,6 +99,7 @@ std::vector<volk_gnsssdr_test_case_t> init_test_list(volk_gnsssdr_test_params_t
QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn, test_params_int16))
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn, test_params_int1))
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn, test_params_int1));
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn, test_params_int1));
return test_cases;
}

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -484,7 +484,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
if (T_rx_clock_step_samples == 0)
{
T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3); // 1 ms
std::cout << "Observables clock step samples set to " << T_rx_clock_step_samples << std::endl;
LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples;
usleep(1000000);
}

10
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@@ -59,6 +59,16 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param.pll_bw_hz = pll_bw_hz;

10
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@@ -59,6 +59,16 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param.pll_bw_hz = pll_bw_hz;

10
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@@ -57,6 +57,16 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);

10
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@@ -59,6 +59,16 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param.pll_bw_hz = pll_bw_hz;

102
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@@ -58,6 +58,7 @@
#include <cmath>
#include <iostream>
#include <sstream>
#include <numeric>
using google::LogMessage;
@@ -355,6 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
{
// Extra correlator for the data component
correlator_data_cpu.init(2 * trk_parameters.vector_length, 1);
correlator_data_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
d_data_code = static_cast<float *>(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
}
else
@@ -363,7 +365,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
}
// --- Initializations ---
multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
// Initial code frequency basis of NCO
d_code_freq_chips = d_code_chip_rate;
// Residual code phase (in chips)
@@ -397,12 +399,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_phase_step_chips = 0.0;
d_code_phase_rate_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
d_carrier_phase_rate_step_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_K_blk_samples = 0.0;
d_code_phase_samples = 0.0;
d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby
clear_tracking_vars();
if (trk_parameters.smoother_length > 0)
{
d_carr_ph_history.resize(trk_parameters.smoother_length * 2);
d_code_ph_history.resize(trk_parameters.smoother_length * 2);
}
else
{
d_carr_ph_history.resize(1);
d_code_ph_history.resize(1);
}
}
@@ -424,6 +436,7 @@ void dll_pll_veml_tracking::start_tracking()
// new chip and PRN sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * d_code_chip_rate;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
d_code_phase_rate_step_chips = 0.0;
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
@@ -446,7 +459,9 @@ void dll_pll_veml_tracking::start_tracking()
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
d_carrier_phase_rate_step_rad = 0.0;
d_carr_ph_history.clear();
d_code_ph_history.clear();
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
@@ -706,7 +721,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, input_samples);
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad,
d_carrier_phase_step_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -718,7 +733,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
correlator_data_cpu.set_input_output_vectors(d_Prompt_Data, input_samples);
correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad,
d_carrier_phase_step_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -777,6 +792,10 @@ void dll_pll_veml_tracking::clear_tracking_vars()
d_current_symbol = 0;
d_Prompt_buffer_deque.clear();
d_last_prompt = gr_complex(0.0, 0.0);
d_carrier_phase_rate_step_rad = 0.0;
d_code_phase_rate_step_chips = 0.0;
d_carr_ph_history.clear();
d_code_ph_history.clear();
}
@@ -796,15 +815,60 @@ void dll_pll_veml_tracking::update_tracking_vars()
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
if (trk_parameters.high_dyn)
{
d_carr_ph_history.push_back(std::pair<double, double>(d_carrier_phase_step_rad, static_cast<double>(d_current_prn_length_samples)));
if (d_carr_ph_history.full())
{
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
tmp_cp1 += d_carr_ph_history.at(k).first;
tmp_cp2 += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
tmp_samples += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
}
}
//std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad += d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
//double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
//double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
//std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
if (trk_parameters.high_dyn)
{
d_code_ph_history.push_back(std::pair<double, double>(d_code_phase_step_chips, static_cast<double>(d_current_prn_length_samples)));
if (d_code_ph_history.full())
{
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
tmp_cp1 += d_code_ph_history.at(k).first;
tmp_cp2 += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
tmp_samples += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
d_code_phase_rate_step_chips = (tmp_cp2 - tmp_cp1) / tmp_samples;
}
}
// remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
@@ -947,8 +1011,14 @@ void dll_pll_veml_tracking::log_data(bool integrating)
// carrier and code frequency
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier phase rate [Hz/s]
tmp_float = d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// code phase rate [chips/s^2]
tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
tmp_float = d_carr_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@@ -986,7 +1056,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
// READ DUMP FILE
std::ifstream::pos_type size;
int32_t number_of_double_vars = 1;
int32_t number_of_float_vars = 17;
int32_t number_of_float_vars = 19;
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
std::ifstream dump_file;
@@ -1022,7 +1092,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
float *acc_carrier_phase_rad = new float[num_epoch];
float *carrier_doppler_hz = new float[num_epoch];
float *carrier_doppler_rate_hz = new float[num_epoch];
float *code_freq_chips = new float[num_epoch];
float *code_freq_rate_chips = new float[num_epoch];
float *carr_error_hz = new float[num_epoch];
float *carr_error_filt_hz = new float[num_epoch];
float *code_error_chips = new float[num_epoch];
@@ -1049,7 +1121,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
@@ -1076,7 +1150,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
@@ -1139,10 +1215,18 @@ int32_t dll_pll_veml_tracking::save_matfile()
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@@ -1190,7 +1274,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;

7
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@@ -41,6 +41,7 @@
#include <string>
#include <map>
#include <queue>
#include <utility>
#include <boost/circular_buffer.hpp>
class dll_pll_veml_tracking;
@@ -146,10 +147,13 @@ private:
double d_code_phase_step_chips;
double d_code_phase_rate_step_chips;
boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad;
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_carr_phase_rad;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
@@ -164,7 +168,6 @@ private:
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;

27
src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
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@@ -125,7 +125,32 @@ void cpu_multicorrelator_real_codes::update_local_code(int correlator_length_sam
}
}
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad,
float phase_step_rad,
float phase_rate_step_rad,
float rem_code_phase_chips,
float code_phase_step_chips,
float code_phase_rate_step_chips,
int signal_length_samples)
{
update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips);
// Regenerate phase at each call in order to avoid numerical issues
lv_32fc_t phase_offset_as_complex[1];
phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
// call VOLK_GNSSSDR kernel
if (d_use_high_dynamics_resampler)
{
volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), std::exp(lv_32fc_t(0.0, -phase_rate_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
}
else
{
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
}
return true;
}
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad,
float phase_step_rad,

2
src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h
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@@ -52,6 +52,8 @@ public:
bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips);
bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in);
void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0);
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
bool free();

3
src/algorithms/tracking/libs/dll_pll_conf.cc
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@@ -36,7 +36,8 @@
Dll_Pll_Conf::Dll_Pll_Conf()
{
/* DLL/PLL tracking configuration */
use_high_dynamics_resampler = true;
high_dyn = false;
smoother_length = 10;
fs_in = 0.0;
vector_length = 0U;
dump = false;

3
src/algorithms/tracking/libs/dll_pll_conf.h
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@@ -56,11 +56,12 @@ public:
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
int32_t extend_correlation_symbols;
bool use_high_dynamics_resampler;
bool high_dyn;
int32_t cn0_samples;
int32_t carrier_lock_det_mav_samples;
int32_t cn0_min;
int32_t max_lock_fail;
uint32_t smoother_length;
double carrier_lock_th;
bool track_pilot;
char system;