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https://github.com/gnss-sdr/gnss-sdr
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Migration of Galileo E1 DLL PLL VEML tracking to use the optimized
cpu_multicorrelator class
This commit is contained in:
Javier Arribas
parent
b94253cb10
commit
1bafa1e447
@ -128,21 +128,33 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
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// Initialization of local code replica
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// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
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d_ca_code = static_cast<gr_complex*>(volk_malloc((2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 4) * sizeof(gr_complex), volk_get_alignment()));
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d_very_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_very_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_carr_sign = static_cast<gr_complex*>(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_ca_code = static_cast<gr_complex*>(volk_malloc((2*Galileo_E1_B_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_get_alignment()));
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// correlator outputs (scalar)
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d_Very_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Very_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_n_correlator_taps = 5; // Very-Early, Early, Prompt, Late, Very-Late
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d_correlator_outs = static_cast<gr_complex*>(volk_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_get_alignment()));
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for (int n = 0; n < d_n_correlator_taps; n++)
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{
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d_correlator_outs[n] = gr_complex(0,0);
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}
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// map memory pointers of correlator outputs
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d_Very_Early=&d_correlator_outs[0];
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d_Early=&d_correlator_outs[1];
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d_Prompt=&d_correlator_outs[2];
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d_Late=&d_correlator_outs[3];
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d_Very_Late=&d_correlator_outs[4];
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d_local_code_shift_chips = static_cast<float*>(volk_malloc(d_n_correlator_taps*sizeof(float), volk_get_alignment()));
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// Set TAPs delay values [chips]
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d_local_code_shift_chips[0] = - d_very_early_late_spc_chips*2.0;
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d_local_code_shift_chips[1] = - d_very_early_late_spc_chips;
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d_local_code_shift_chips[2] = 0.0;
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d_local_code_shift_chips[3] = d_very_early_late_spc_chips;
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d_local_code_shift_chips[4] = d_very_early_late_spc_chips*2.0;
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d_correlation_length_samples=d_vector_length;
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multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
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//--- Initializations ------------------------------
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// Initial code frequency basis of NCO
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@ -198,18 +210,19 @@ void galileo_e1_dll_pll_veml_tracking_cc::start_tracking()
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d_carrier_loop_filter.initialize(); // initialize the carrier filter
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d_code_loop_filter.initialize(); // initialize the code filter
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// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
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galileo_e1_code_gen_complex_sampled(&d_ca_code[2],
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// generate local reference ALWAYS starting at chip 1 (2 samples per chip)
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galileo_e1_code_gen_complex_sampled(d_ca_code,
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d_acquisition_gnss_synchro->Signal,
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false,
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d_acquisition_gnss_synchro->PRN,
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2 * Galileo_E1_CODE_CHIP_RATE_HZ,
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0);
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// Fill head and tail
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d_ca_code[0] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS)];
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d_ca_code[1] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 1)];
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d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2];
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d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3];
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multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(2*Galileo_E1_B_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
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for (int n = 0; n < d_n_correlator_taps; n++)
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{
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d_correlator_outs[n] = gr_complex(0,0);
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}
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d_carrier_lock_fail_counter = 0;
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d_rem_code_phase_samples = 0.0;
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@ -235,77 +248,16 @@ void galileo_e1_dll_pll_veml_tracking_cc::start_tracking()
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<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
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}
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void galileo_e1_dll_pll_veml_tracking_cc::update_local_code()
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{
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double tcode_half_chips;
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double rem_code_phase_half_chips;
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int associated_chip_index;
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int code_length_half_chips = static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2;
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double code_phase_step_chips;
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double code_phase_step_half_chips;
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int early_late_spc_samples;
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int very_early_late_spc_samples;
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int epl_loop_length_samples;
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// unified loop for VE, E, P, L, VL code vectors
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code_phase_step_chips = d_code_freq_chips / (static_cast<double>(d_fs_in));
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code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast<double>(d_fs_in));
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rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
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tcode_half_chips = - rem_code_phase_half_chips;
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early_late_spc_samples = std::round(d_early_late_spc_chips / code_phase_step_chips);
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very_early_late_spc_samples = std::round(d_very_early_late_spc_chips / code_phase_step_chips);
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epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples * 2;
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for (int i = 0; i < epl_loop_length_samples; i++)
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{
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associated_chip_index = 2 + std::round(std::fmod(tcode_half_chips - 2 * d_very_early_late_spc_chips, code_length_half_chips));
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d_very_early_code[i] = d_ca_code[associated_chip_index];
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tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
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}
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memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_very_late_code, &d_very_early_code[2 * very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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}
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void galileo_e1_dll_pll_veml_tracking_cc::update_local_carrier()
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{
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float sin_f, cos_f;
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float phase_step_rad = static_cast<float>(2 * GALILEO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
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int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
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int phase_rad_i = gr::fxpt::float_to_fixed(d_rem_carr_phase_rad);
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for(int i = 0; i < d_current_prn_length_samples; i++)
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{
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gr::fxpt::sincos(phase_rad_i, &sin_f, &cos_f);
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d_carr_sign[i] = std::complex<float>(cos_f, -sin_f);
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phase_rad_i += phase_step_rad_i;
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}
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}
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galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
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{
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d_dump_file.close();
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volk_free(d_very_early_code);
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volk_free(d_early_code);
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volk_free(d_prompt_code);
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volk_free(d_late_code);
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volk_free(d_very_late_code);
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volk_free(d_carr_sign);
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volk_free(d_Very_Early);
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volk_free(d_Early);
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volk_free(d_Prompt);
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volk_free(d_Late);
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volk_free(d_Very_Late);
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volk_free(d_local_code_shift_chips);
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volk_free(d_correlator_outs);
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volk_free(d_ca_code);
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delete[] d_Prompt_buffer;
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multicorrelator_cpu.free();
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}
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@ -346,24 +298,19 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items, gr_vec
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const gr_complex* in = (gr_complex*) input_items[0];
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
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// Generate local code and carrier replicas (using \hat{f}_d(k-1))
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update_local_code();
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update_local_carrier();
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// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
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// perform carrier wipe-off and compute Early, Prompt and Late correlation
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multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
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// perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
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d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
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in,
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d_carr_sign,
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d_very_early_code,
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d_early_code,
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d_prompt_code,
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d_late_code,
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d_very_late_code,
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d_Very_Early,
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d_Early,
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d_Prompt,
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d_Late,
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d_Very_Late);
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double carr_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
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double code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast<double>(d_fs_in));
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double rem_code_phase_half_chips = d_rem_code_phase_samples * (2.0*d_code_freq_chips / d_fs_in);
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multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
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d_rem_carr_phase_rad,
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carr_phase_step_rad,
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rem_code_phase_half_chips,
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code_phase_step_half_chips,
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d_correlation_length_samples);
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// ################## PLL ##########################################################
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// PLL discriminator
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@ -41,7 +41,7 @@
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#include "gnss_synchro.h"
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#include "tracking_2nd_DLL_filter.h"
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#include "tracking_2nd_PLL_filter.h"
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#include "correlator.h"
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#include "cpu_multicorrelator.h"
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class galileo_e1_dll_pll_veml_tracking_cc;
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@ -123,17 +123,16 @@ private:
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long d_if_freq;
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long d_fs_in;
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//Integration period in samples
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int d_correlation_length_samples;
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int d_n_correlator_taps;
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double d_early_late_spc_chips;
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double d_very_early_late_spc_chips;
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gr_complex* d_ca_code;
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gr_complex* d_very_early_code;
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gr_complex* d_early_code;
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gr_complex* d_prompt_code;
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gr_complex* d_late_code;
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gr_complex* d_very_late_code;
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gr_complex* d_carr_sign;
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float* d_local_code_shift_chips;
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gr_complex* d_correlator_outs;
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cpu_multicorrelator multicorrelator_cpu;
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gr_complex *d_Very_Early;
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gr_complex *d_Early;
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@ -153,9 +152,6 @@ private:
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double d_acq_code_phase_samples;
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double d_acq_carrier_doppler_hz;
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// correlator
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Correlator d_correlator;
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// tracking vars
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double d_code_freq_chips;
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double d_carrier_doppler_hz;
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