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merging: Starts merge procedure for glonass branch from upstream

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Starts merging process of the acquisition and tracking code for GLONASS
processing developed by Gabriel Araujo. Fixes compile warnings and
errors introduced during rebase operation
This commit is contained in:
Damian Miralles 2017-08-29 01:20:38 -06:00 committed by Damian Miralles
parent bf9345ebd2
commit 19f4da0aa6
16 changed files with 60 additions and 98 deletions
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5
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
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@ -2,7 +2,7 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "glonass_l1_signal_processing.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "configuration_interface.h"
@ -63,7 +63,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -357,4 +357,3 @@ gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
return acquisition_cc_;
}
}

8
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
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@ -42,7 +42,7 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI
#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
using google::LogMessage;
@ -178,12 +178,12 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
int offset = d_fft_size/2;
std::fill_n( d_fft_if->get_inbuf(), offset, gr_complex( 0.0, 0.0 ) );
memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
}
else
}
else
{
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
}
d_fft_if->execute(); // We need the FFT of local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
}

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
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@ -56,7 +56,7 @@
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include "gnss_synchro.h"
#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
class pcps_acquisition_cc;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
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@ -41,7 +41,7 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI
#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
using google::LogMessage;

2
src/algorithms/signal_generator/adapters/signal_generator.cc
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@ -36,7 +36,7 @@
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include "Galileo_E5a.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
using google::LogMessage;

2
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
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@ -40,7 +40,7 @@
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "GPS_L1_CA.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
/*
* Create a new instance of signal_generator_c and return

7
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
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@ -16,14 +16,15 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
gps_l1_ca_telemetry_decoder_cc.cc
gps_l2c_telemetry_decoder_cc.cc
galileo_e1b_telemetry_decoder_cc.cc
sbas_l1_telemetry_decoder_cc.cc
galileo_e5a_telemetry_decoder_cc.cc
glonass_l1_ca_telemetry_decoder_cc.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
@ -40,4 +41,4 @@ file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h")
list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})
target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})

5
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -71,7 +71,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
// Define the number of sampes per symbol. Notice that GLONASS has to rates,
//one for the navigation data and the other for the preamble information
d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
d_samples_per_symbol = ( GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
// Set the preamble information
unsigned short int preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
@ -108,7 +108,6 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
d_TOW_at_current_symbol = 0;
delta_t = 0;
d_CRC_error_counter = 0;
flag_even_word_arrived = 0;
d_flag_preamble = false;
d_channel = 0;
flag_TOW_set = false;
@ -149,7 +148,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
}
// 2. Call the GLONASS GNAV string decoder
d_nav.decode_string(page_String);
d_nav.string_decoder(frame_string);
// 3. Check operation executed correctly
if(d_nav.flag_CRC_test == true)

2
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
View File

@ -1,6 +1,6 @@
#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
#include <glog/logging.h>
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "configuration_interface.h"

2
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
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@ -38,7 +38,7 @@
#include "glonass_l1_ca_dll_pll_tracking.h"
#include <glog/logging.h>
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "configuration_interface.h"

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
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@ -12,7 +12,7 @@
#include "glonass_l1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "control_message_factory.h"

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
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@ -13,7 +13,7 @@
#include "glonass_l1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "control_message_factory.h"

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
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@ -10,7 +10,7 @@
#include "glonass_l1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Glonass_L1_CA.h"
#include "GLONASS_L1_CA.h"
#include "control_message_factory.h"

14
src/core/receiver/gnss_block_factory.cc
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@ -529,7 +529,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
stream << channel;
std::string id = stream.str();
LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
<< acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
<< acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder Implementation: " << tlm;
std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
std::string appendix1;
@ -1354,12 +1354,6 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
out_streams));
block = std::move(block_);
}
else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
{
std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.
@ -1496,6 +1490,12 @@ std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
out_streams));
block = std::move(block_);
}
else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
{
std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.

32
src/core/system_parameters/GLONASS_L1_CA.h
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@ -88,6 +88,38 @@ const double GLONASS_L1_CA_CODE_PERIOD = 0.001; //!< GLONASS L1 C/
const double GLONASS_L1_CA_CHIP_PERIOD = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
const double GLONASS_L1_CA_SYMBOL_RATE_BPS = 1000;
// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
const std::map<unsigned int, int> GLONASS_PRN =
{{ 0, 8,}, //For test
{ 1, 1,}, //Plane 1
{ 2,-4,}, //Plane 1
{ 3, 5,}, //Plane 1
{ 4, 6,}, //Plane 1
{ 5, 1,}, //Plane 1
{ 6,-4,}, //Plane 1
{ 7, 5,}, //Plane 1
{ 8, 6,}, //Plane 1
{ 9,-2,}, //Plane 2
{10,-7,}, //Plane 2
{11, 0,}, //Plane 2
{12,-1,}, //Plane 2
{13,-2,}, //Plane 2
{14,-7,}, //Plane 2
{15, 0,}, //Plane 2
{16,-1,}, //Plane 2
{17, 4,}, //Plane 3
{18,-3,}, //Plane 3
{19, 3,}, //Plane 3
{20, 2,}, //Plane 3
{21, 4,}, //Plane 3
{22,-3,}, //Plane 3
{23, 3,}, //Plane 3
{24, 2}}; //Plane 3
const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION

69
src/core/system_parameters/Glonass_L1_CA.h
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@ -1,69 +0,0 @@
#ifndef GNSS_SDR_GLONASS_L1_CA_H_
#define GNSS_SDR_GLONASS_L1_CA_H_
#include <vector>
#include <map> // std::map
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants
const double GLONASS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GLONASS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GLONASS_PI = 3.1415926535898; //!< Pi as (NOT) defined in ICD-GLONASS-2008
const double GLONASS_TWO_PI = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
const double GLONASS_OMEGA_EARTH_DOT = 7.292115e-5; //!< Earth rotation rate, [rad/s]
const double GLONASS_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
// const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// Geodesic constants and parameters
const double fMa = 0.35e9; //!< The Gravitational constant of atmosphere, [m^3/s^2]
const double SEMI_MAJOR_AXIS = 6378136; //!< The Semi-major axis, [m]
const double FLATTENING = 1/298.25784; //!< The Orbital Flattening
const double EQUATORIAL_GRAVITY = 978032.84; //!< The Equatorial acceleration of gravity, [mGal]
const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
const double SECOND_HARMONIC = 1082625.75e-9; //!< Second zonal harmonic of the geopotential (J_2^0)
const double FOURTH_HARMONIC = -2370.89e-9; //!< Fourth zonal harmonic of the geopotential (J_4^0)
const double SIXTH_HARMONIC = 6.08e-9; //!< Sixth zonal harmonic of the geopotential (J_6^0)
const double EIGHTH_HARMONIC = 1.40e-11; //!< Eighth zonal harmonic of the geopotential (J_8^0)
const double NORMAL_POTENCIAL = 62636861.4; //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
// carrier and code frequencies
const double GLONASS_L1_FREQ_HZ = FREQ1_GLO; //!< L1 [Hz]
const double GLONASS_L1_CA_CODE_RATE_HZ = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]
const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0; //!< GLONASS L1 C/A code length [chips]
const double GLONASS_L1_CA_CODE_PERIOD = 0.001; //!< GLONASS L1 C/A code period [seconds]
const double GLONASS_L1_CA_CHIP_PERIOD = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
const std::map<unsigned int, int> GLONASS_PRN =
{{ 0, 8,}, //For test
{ 1, 1,}, //Plane 1
{ 2,-4,}, //Plane 1
{ 3, 5,}, //Plane 1
{ 4, 6,}, //Plane 1
{ 5, 1,}, //Plane 1
{ 6,-4,}, //Plane 1
{ 7, 5,}, //Plane 1
{ 8, 6,}, //Plane 1
{ 9,-2,}, //Plane 2
{10,-7,}, //Plane 2
{11, 0,}, //Plane 2
{12,-1,}, //Plane 2
{13,-2,}, //Plane 2
{14,-7,}, //Plane 2
{15, 0,}, //Plane 2
{16,-1,}, //Plane 2
{17, 4,}, //Plane 3
{18,-3,}, //Plane 3
{19, 3,}, //Plane 3
{20, 2,}, //Plane 3
{21, 4,}, //Plane 3
{22,-3,}, //Plane 3
{23, 3,}, //Plane 3
{24, 2}}; //Plane 3
const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */