mirror of https://github.com/gnss-sdr/gnss-sdr
First working version of a complete 5 state Kalman filter for both carrier and code tracking, tested with GPS L1 CA 1ms integration.
This commit is contained in:
Javier Arribas
parent
845385861d
commit
1c09f6b8a5
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@ -0,0 +1,227 @@
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; This is a GNSS-SDR configuration file
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; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
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; You can define your own receiver and invoke it by doing
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; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
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;
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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GNSS-SDR.internal_fs_sps=5456000
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;GNSS-SDR.internal_fs_sps=16368000
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GNSS-SDR.use_acquisition_resampler=true
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=Labsat_Signal_Source
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SignalSource.selected_channel=1
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;#filename: path to file with the captured GNSS signal samples to be processed
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;# Labsat sile source automatically increments the file name when the signal is split in several files
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;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
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;# in this example, the first file complete path will be ../signals/GPS_025_
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;SignalSource.filename=/media/javier/WDNASNTFS/satgen_30mins/output/output
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SignalSource.filename=/home/javier/signals/satgen_30mins/output/output
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;SignalSource.filename=/home/javier/signals/dupli/dupli/dupli
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SignalSource.item_type=gr_complex
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SignalSource.sampling_frequency=16368000
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SignalSource.samples=0
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SignalSource.repeat=false
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SignalSource.dump=false
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SignalSource.dump_filename=./out.dat
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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SignalConditioner.implementation=Signal_Conditioner
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;######### DATA_TYPE_ADAPTER CONFIG ############
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DataTypeAdapter.implementation=Pass_Through
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DataTypeAdapter.item_type=gr_complex
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;######### INPUT_FILTER CONFIG ############
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InputFilter.implementation=Freq_Xlating_Fir_Filter
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InputFilter.dump=false
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InputFilter.dump_filename=/media/javier/WDNASNTFS/output_5.456Msps_gr_complex.dat
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InputFilter.input_item_type=gr_complex
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InputFilter.output_item_type=gr_complex
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InputFilter.taps_item_type=float
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InputFilter.number_of_taps=5
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InputFilter.number_of_bands=2
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InputFilter.band1_begin=0.0
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InputFilter.band1_end=0.45
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InputFilter.band2_begin=0.55
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InputFilter.band2_end=1.0
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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InputFilter.filter_type=lowpass
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InputFilter.grid_density=16
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InputFilter.sampling_frequency=16368000
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InputFilter.IF=0
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InputFilter.decimation_factor=3
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;######### CHANNELS GLOBAL CONFIG ############
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Channels_1C.count=6
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Channels_1B.count=0
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Channels_L5.count=0
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Channels_5X.count=0
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Channels.in_acquisition=1
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;Channel0.satellite=3
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;#signal:
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;# "1C" GPS L1 C/A
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;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
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;# "1G" GLONASS L1 C/A
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;# "2S" GPS L2 L2C (M)
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;# "5X" GALILEO E5a I+Q
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;# "L5" GPS L5
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;######### GPS ACQUISITION CONFIG ############
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Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition_1C.item_type=gr_complex
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Acquisition_1C.threshold=3.0
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Acquisition_1C.use_CFAR_algorithm=false
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Acquisition_1C.blocking=true
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Acquisition_1C.doppler_max=5000
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Acquisition_1C.doppler_step=125
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Acquisition_1C.dump=false
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Acquisition_1C.dump_filename=./acq_dump.dat
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;######### GALILEO ACQUISITION CONFIG ############
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Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
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Acquisition_1B.item_type=gr_complex
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Acquisition_1B.threshold=2.8
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Acquisition_1B.use_CFAR_algorithm=false
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Acquisition_1B.blocking=false
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Acquisition_1B.doppler_max=5000
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Acquisition_1B.doppler_step=125
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Acquisition_1B.dump=false
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Acquisition_1B.dump_filename=./acq_dump.dat
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;######### TRACKING GPS CONFIG ############
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;Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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;Tracking_1C.item_type=gr_complex
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;Tracking_1C.dump=false
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;Tracking_1C.dump_filename=./tracking_ch_
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;Tracking_1C.pll_bw_hz=35.0;
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;Tracking_1C.dll_bw_hz=1.5;
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;Tracking_1C.pll_bw_narrow_hz=2.5;
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;Tracking_1C.dll_bw_narrow_hz=0.2;
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;Tracking_1C.extend_correlation_symbols=1;
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;Tracking_1C.dll_filter_order=2;
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;Tracking_1C.pll_filter_order=3;
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;Tracking_1C.early_late_space_chips=0.5;
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;Tracking_1C.early_late_space_narrow_chips=0.15
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;### KF tracking
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Tracking_1C.implementation=GPS_L1_CA_KF_VTL_Tracking
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Tracking_1C.item_type=gr_complex
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Tracking_1C.dump=true
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Tracking_1C.dump_filename=./tracking_ch_
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Tracking_1C.extend_correlation_symbols=1;
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Tracking_1C.early_late_space_chips=0.5;
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Tracking_1C.early_late_space_narrow_chips=0.15
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Tracking_1C.expected_cn0_dbhz=45.0;
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Tracking_1C.enable_dynamic_measurement_covariance=false;
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Tracking_1C.use_estimated_cn0=false;
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Tracking_1C.carrier_aiding=true;
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Tracking_1C.code_phase_sd_chips=0.01;
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Tracking_1C.code_rate_sd_chips_s=0.001;
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Tracking_1C.carrier_phase_sd_rad=0.001;
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Tracking_1C.carrier_freq_sd_hz=0.01;
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Tracking_1C.carrier_freq_rate_sd_hz_s=0.1;
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Tracking_1C.init_code_phase_sd_chips=1;
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Tracking_1C.init_code_rate_sd_chips_s=10;
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Tracking_1C.init_carrier_phase_sd_rad=1;
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Tracking_1C.init_carrier_freq_sd_hz=10;
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Tracking_1C.init_carrier_freq_rate_sd_hz_s=10;
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;######### TRACKING GALILEO CONFIG ############
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Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
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Tracking_1B.item_type=gr_complex
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Tracking_1B.pll_bw_hz=15.0;
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Tracking_1B.dll_bw_hz=0.75;
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Tracking_1B.early_late_space_chips=0.15;
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Tracking_1B.very_early_late_space_chips=0.5;
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Tracking_1B.early_late_space_narrow_chips=0.10;
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Tracking_1B.very_early_late_space_narrow_chips=0.5;
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Tracking_1B.pll_bw_narrow_hz=2.5
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Tracking_1B.dll_bw_narrow_hz=0.2
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Tracking_1B.extend_correlation_symbols=5
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Tracking_1B.track_pilot=true
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Tracking_1B.enable_fll_pull_in=true;
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;Tracking_1B.pull_in_time_s=60
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Tracking_1B.enable_fll_steady_state=false
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Tracking_1B.fll_bw_hz=10
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Tracking_1B.dump=false
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Tracking_1B.dump_filename=tracking_ch_
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;######### TELEMETRY DECODER GALILEO CONFIG ############
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TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
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TelemetryDecoder_1B.dump=false
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;######### TELEMETRY DECODER GPS CONFIG ############
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TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder_1C.dump=false
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;######### OBSERVABLES CONFIG ############
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;#implementation:
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Observables.implementation=Hybrid_Observables
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Observables.dump=false
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Observables.dump_filename=./observables.dat
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Observables.enable_carrier_smoothing=false
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Observables.smoothing_factor=200
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;######### PVT CONFIG ############
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PVT.implementation=RTKLIB_PVT
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PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
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PVT.enable_rx_clock_correction=false
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PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
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PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
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PVT.output_rate_ms=1000;
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PVT.rinexobs_rate_ms=1000;
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PVT.display_rate_ms=1000;
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PVT.elevation_mask=15;
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PVT.flag_rtcm_server=false
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PVT.flag_rtcm_tty_port=false
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PVT.rtcm_dump_devname=/dev/pts/1
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PVT.dump=false
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PVT.dump_filename=./PVT
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PVT.enable_monitor=false
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PVT.monitor_udp_port=1337
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PVT.monitor_client_addresses=127.0.0.1
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;######### MONITOR CONFIG ############
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Monitor.enable_monitor=false
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Monitor.decimation_factor=1
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Monitor.client_addresses=127.0.0.1
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Monitor.udp_port=1234
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@ -52,6 +52,7 @@
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#include "rinex_printer.h"
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#include "rtcm_printer.h"
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#include "rtklib_solver.h"
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#include "trackingcmd.h"
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#include <boost/any.hpp> // for any_cast, any
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#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
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#include <boost/archive/xml_oarchive.hpp> // for xml_oarchive
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@ -126,6 +127,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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{
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// Send feedback message to observables block with the receiver clock offset
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this->message_port_register_out(pmt::mp("pvt_to_observables"));
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// Experimental: VLT commands from PVT to tracking channels
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this->message_port_register_out(pmt::mp("pvt_to_trk"));
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// Send PVT status to gnss_flowgraph
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this->message_port_register_out(pmt::mp("status"));
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@ -2143,6 +2146,13 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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if (flag_pvt_valid == true)
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{
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//experimental VTL tests
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// send tracking command
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const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd());
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trk_cmd_test->carrier_freq_hz = 12345.4;
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trk_cmd_test->sample_counter = d_gnss_observables_map.begin()->second.Tracking_sample_counter;
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this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
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// initialize (if needed) the accumulated phase offset and apply it to the active channels
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// required to report accumulated phase cycles comparable to pseudoranges
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initialize_and_apply_carrier_phase_offset();
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@ -32,6 +32,7 @@ set(GNSS_SPLIBS_SOURCES
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gnss_sdr_create_directory.cc
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geofunctions.cc
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item_type_helpers.cc
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trackingcmd.cc
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)
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set(GNSS_SPLIBS_HEADERS
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@ -59,6 +60,7 @@ set(GNSS_SPLIBS_HEADERS
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gnss_circular_deque.h
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geofunctions.h
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item_type_helpers.h
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trackingcmd.h
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)
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if(ENABLE_OPENCL)
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@ -0,0 +1,13 @@
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/*
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* trackingcmd.cc
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*
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* Created on: 20 ago. 2020
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* Author: javier
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*/
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#include "trackingcmd.h"
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TrackingCmd::TrackingCmd()
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{
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// TODO Auto-generated constructor stub
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}
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@ -0,0 +1,26 @@
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/*
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* trackingcmd.h
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*
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* Created on: 20 ago. 2020
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* Author: javier
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*/
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#ifndef SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
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#define SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
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#include <cstdint>
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class TrackingCmd
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{
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public:
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TrackingCmd();
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bool enable_carrier_nco_cmd;
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bool enable_code_nco_cmd;
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double code_freq_chips;
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double carrier_freq_hz;
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double carrier_freq_rate_hz_s;
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uint64_t sample_counter;
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};
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#endif /* SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_ */
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@ -142,8 +142,8 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_) : gr::block(
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d_T_rx_TOW_set = false;
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d_T_status_report_timer_ms = 0;
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// rework
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d_Rx_clock_buffer.set_capacity(10); // 10*20 ms = 200 ms of data in buffer
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d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
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d_Rx_clock_buffer.set_capacity(5); // 10*20 ms = 200 ms of data in buffer
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d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
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d_channel_last_pll_lock = std::vector<bool>(d_nchannels_out, false);
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d_channel_last_pseudorange_smooth = std::vector<double>(d_nchannels_out, 0.0);
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@ -53,6 +53,7 @@ set(TRACKING_ADAPTER_SOURCES
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glonass_l2_ca_dll_pll_c_aid_tracking.cc
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beidou_b1i_dll_pll_tracking.cc
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beidou_b3i_dll_pll_tracking.cc
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gps_l1_ca_kf_vtl_tracking.cc
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${OPT_TRACKING_ADAPTERS_SOURCES}
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)
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@ -72,6 +73,7 @@ set(TRACKING_ADAPTER_HEADERS
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glonass_l2_ca_dll_pll_c_aid_tracking.h
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beidou_b1i_dll_pll_tracking.h
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beidou_b3i_dll_pll_tracking.h
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gps_l1_ca_kf_vtl_tracking.h
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${OPT_TRACKING_ADAPTERS_HEADERS}
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)
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@ -0,0 +1,142 @@
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/*!
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* \file gps_l1_ca_kf_vtl_tracking.h
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* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
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* for GPS L1 C/A to a TrackingInterface
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* \author Javier Arribas, 2020. jarribas(at)cttc.es
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*
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*
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*
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* -----------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_kf_vtl_tracking.h"
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#include "GPS_L1_CA.h"
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#include "configuration_interface.h"
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#include "display.h"
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#include "gnss_sdr_flags.h"
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#include "kf_conf.h"
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#include <glog/logging.h>
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#include <array>
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GpsL1CaKfVtlTracking::GpsL1CaKfVtlTracking(
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const ConfigurationInterface* configuration, const std::string& role,
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unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
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{
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Kf_Conf trk_params = Kf_Conf();
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DLOG(INFO) << "role " << role;
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trk_params.SetFromConfiguration(configuration, role);
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const auto vector_length = static_cast<int>(std::round(trk_params.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
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trk_params.vector_length = vector_length;
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if (trk_params.extend_correlation_symbols < 1)
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{
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trk_params.extend_correlation_symbols = 1;
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << '\n';
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}
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else if (trk_params.extend_correlation_symbols > 20)
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{
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trk_params.extend_correlation_symbols = 20;
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << '\n';
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}
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trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
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if (trk_params.track_pilot)
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{
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trk_params.track_pilot = false;
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||||
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << '\n';
|
||||
}
|
||||
|
||||
trk_params.system = 'G';
|
||||
const std::array<char, 3> sig_{'1', 'C', '\0'};
|
||||
std::memcpy(trk_params.signal, sig_.data(), 3);
|
||||
|
||||
// ################# Make a GNU Radio Tracking block object ################
|
||||
if (trk_params.item_type == "gr_complex")
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
tracking_ = kf_vtl_make_tracking(trk_params);
|
||||
}
|
||||
else
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
|
||||
}
|
||||
channel_ = 0;
|
||||
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
LOG(ERROR) << "This implementation only supports one input stream";
|
||||
}
|
||||
if (out_streams_ > 1)
|
||||
{
|
||||
LOG(ERROR) << "This implementation only supports one output stream";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaKfVtlTracking::stop_tracking()
|
||||
{
|
||||
tracking_->stop_tracking();
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaKfVtlTracking::start_tracking()
|
||||
{
|
||||
tracking_->start_tracking();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Set tracking channel unique ID
|
||||
*/
|
||||
void GpsL1CaKfVtlTracking::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
tracking_->set_channel(channel);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaKfVtlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
tracking_->set_gnss_synchro(p_gnss_synchro);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaKfVtlTracking::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// nothing to connect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaKfVtlTracking::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// nothing to disconnect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_left_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_right_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/*!
|
||||
* \file gps_l1_ca_kf_vtl_tracking.h
|
||||
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author Javier Arribas, 2020. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
|
||||
#define GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
|
||||
|
||||
#include "kf_vtl_tracking.h"
|
||||
#include "tracking_interface.h"
|
||||
#include <string>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code + carrier Kalman Filter tracking loop with VTL capabilities
|
||||
*/
|
||||
class GpsL1CaKfVtlTracking : public TrackingInterface
|
||||
{
|
||||
public:
|
||||
GpsL1CaKfVtlTracking(
|
||||
const ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
~GpsL1CaKfVtlTracking() = default;
|
||||
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
//! Returns "GPS_L1_CA_kf_vtl_Tracking"
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "GPS_L1_CA_KF_VTL_Tracking";
|
||||
}
|
||||
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel) override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
||||
|
||||
void start_tracking() override;
|
||||
|
||||
/*!
|
||||
* \brief Stop running tracking
|
||||
*/
|
||||
void stop_tracking() override;
|
||||
|
||||
private:
|
||||
kf_vtl_tracking_sptr tracking_;
|
||||
size_t item_size_;
|
||||
unsigned int channel_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
|
||||
|
|
@ -41,6 +41,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
|
|||
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
|
||||
dll_pll_veml_tracking.cc
|
||||
kf_vtl_tracking.cc
|
||||
${OPT_TRACKING_BLOCKS_SOURCES}
|
||||
)
|
||||
|
||||
|
|
@ -55,6 +56,7 @@ set(TRACKING_GR_BLOCKS_HEADERS
|
|||
glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
|
||||
dll_pll_veml_tracking.h
|
||||
kf_vtl_tracking.h
|
||||
${OPT_TRACKING_BLOCKS_HEADERS}
|
||||
)
|
||||
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,236 @@
|
|||
/*!
|
||||
* \file kf_vtl_tracking.cc
|
||||
* \brief Implementation of a Kalman filter based tracking with optional Vector Tracking Loop message receiver block.
|
||||
* \author Javier Arribas, 2020. jarribas(at)cttc.es
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_kf_vtl_TRACKING_H
|
||||
#define GNSS_SDR_kf_vtl_TRACKING_H
|
||||
|
||||
#include "cpu_multicorrelator_real_codes.h"
|
||||
#include "exponential_smoother.h"
|
||||
#include "kf_conf.h"
|
||||
#include <boost/circular_buffer.hpp>
|
||||
#include <gnuradio/block.h> // for block
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <gnuradio/types.h> // for gr_vector_int, gr_vector...
|
||||
#include <pmt/pmt.h> // for pmt_t
|
||||
#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector
|
||||
#include <cstddef> // for size_t
|
||||
#include <cstdint> // for int32_t
|
||||
#include <fstream> // for ofstream
|
||||
#include <string> // for string
|
||||
#include <typeinfo> // for typeid
|
||||
#include <utility> // for pair
|
||||
#if GNURADIO_USES_STD_POINTERS
|
||||
#include <memory>
|
||||
#else
|
||||
#include <boost/shared_ptr.hpp>
|
||||
#endif
|
||||
|
||||
#include <armadillo>
|
||||
|
||||
class Gnss_Synchro;
|
||||
class kf_vtl_tracking;
|
||||
|
||||
#if GNURADIO_USES_STD_POINTERS
|
||||
using kf_vtl_tracking_sptr = std::shared_ptr<kf_vtl_tracking>;
|
||||
#else
|
||||
using kf_vtl_tracking_sptr = boost::shared_ptr<kf_vtl_tracking>;
|
||||
#endif
|
||||
|
||||
|
||||
kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking block.
|
||||
*/
|
||||
class kf_vtl_tracking : public gr::block
|
||||
{
|
||||
public:
|
||||
~kf_vtl_tracking();
|
||||
|
||||
void set_channel(uint32_t channel);
|
||||
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
|
||||
void start_tracking();
|
||||
void stop_tracking();
|
||||
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
|
||||
|
||||
private:
|
||||
friend kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
|
||||
explicit kf_vtl_tracking(const Kf_Conf &conf_);
|
||||
|
||||
void init_kf(double acq_code_phase_chips, double acq_doppler_hz);
|
||||
|
||||
void msg_handler_telemetry_to_trk(const pmt::pmt_t &msg);
|
||||
void msg_handler_pvt_to_trk(const pmt::pmt_t &msg);
|
||||
void do_correlation_step(const gr_complex *input_samples);
|
||||
void run_Kf();
|
||||
void check_carrier_phase_coherent_initialization();
|
||||
void update_tracking_vars();
|
||||
void clear_tracking_vars();
|
||||
void save_correlation_results();
|
||||
void log_data();
|
||||
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
|
||||
bool acquire_secondary();
|
||||
int32_t save_matfile() const;
|
||||
|
||||
Cpu_Multicorrelator_Real_Codes d_multicorrelator_cpu;
|
||||
Cpu_Multicorrelator_Real_Codes d_correlator_data_cpu; // for data channel
|
||||
|
||||
Kf_Conf d_trk_parameters;
|
||||
|
||||
Exponential_Smoother d_cn0_smoother;
|
||||
Exponential_Smoother d_carrier_lock_test_smoother;
|
||||
|
||||
Gnss_Synchro *d_acquisition_gnss_synchro;
|
||||
|
||||
volk_gnsssdr::vector<float> d_tracking_code;
|
||||
volk_gnsssdr::vector<float> d_data_code;
|
||||
volk_gnsssdr::vector<float> d_local_code_shift_chips;
|
||||
volk_gnsssdr::vector<gr_complex> d_correlator_outs;
|
||||
volk_gnsssdr::vector<gr_complex> d_Prompt_Data;
|
||||
volk_gnsssdr::vector<gr_complex> d_Prompt_buffer;
|
||||
|
||||
boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
|
||||
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
|
||||
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
|
||||
|
||||
const size_t int_type_hash_code = typeid(int).hash_code();
|
||||
|
||||
//Kalman Filter class variables
|
||||
arma::mat F;
|
||||
arma::mat H;
|
||||
arma::mat R;
|
||||
arma::mat Q;
|
||||
arma::mat P_old_old;
|
||||
arma::mat P_new_old;
|
||||
arma::mat P_new_new;
|
||||
arma::vec x_old_old;
|
||||
arma::vec x_new_old;
|
||||
arma::vec x_new_new;
|
||||
|
||||
//nominal signal parameters
|
||||
double d_signal_carrier_freq;
|
||||
double d_code_period;
|
||||
double d_code_chip_rate;
|
||||
|
||||
//acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
double d_current_correlation_time_s;
|
||||
|
||||
//carrier and code discriminators output
|
||||
double d_carr_phase_error_disc_hz;
|
||||
double d_carr_freq_error_disc_hz;
|
||||
double d_code_error_disc_chips;
|
||||
|
||||
//estimated parameters
|
||||
//code
|
||||
double d_code_error_kf_chips;
|
||||
double d_code_freq_kf_chips_s;
|
||||
//carrier
|
||||
double d_carrier_phase_kf_rad;
|
||||
double d_carrier_doppler_kf_hz;
|
||||
double d_carrier_doppler_rate_kf_hz_s;
|
||||
|
||||
double d_acc_carrier_phase_rad;
|
||||
|
||||
|
||||
double d_T_chip_seconds;
|
||||
double d_T_prn_seconds;
|
||||
double d_T_prn_samples;
|
||||
double d_K_blk_samples;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
|
||||
//carrier NCO
|
||||
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_carrier_phase_rate_step_rad;
|
||||
|
||||
//code NCO
|
||||
double d_code_phase_step_chips;
|
||||
double d_code_phase_rate_step_chips;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_rem_code_phase_samples;
|
||||
|
||||
gr_complex *d_Very_Early;
|
||||
gr_complex *d_Early;
|
||||
gr_complex *d_Prompt;
|
||||
gr_complex *d_Late;
|
||||
gr_complex *d_Very_Late;
|
||||
|
||||
gr_complex d_VE_accu;
|
||||
gr_complex d_E_accu;
|
||||
gr_complex d_P_accu;
|
||||
gr_complex d_P_accu_old;
|
||||
gr_complex d_L_accu;
|
||||
gr_complex d_VL_accu;
|
||||
gr_complex d_P_data_accu;
|
||||
|
||||
std::string d_secondary_code_string;
|
||||
std::string d_data_secondary_code_string;
|
||||
std::string d_systemName;
|
||||
std::string d_signal_type;
|
||||
std::string d_signal_pretty_name;
|
||||
std::string d_dump_filename;
|
||||
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
uint64_t d_sample_counter;
|
||||
uint64_t d_acq_sample_stamp;
|
||||
|
||||
float *d_prompt_data_shift;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
int32_t d_symbols_per_bit;
|
||||
int32_t d_preamble_length_symbols;
|
||||
int32_t d_state;
|
||||
int32_t d_correlation_length_ms;
|
||||
int32_t d_n_correlator_taps;
|
||||
int32_t d_current_prn_length_samples;
|
||||
int32_t d_extend_correlation_symbols_count;
|
||||
int32_t d_current_symbol;
|
||||
int32_t d_current_data_symbol;
|
||||
int32_t d_cn0_estimation_counter;
|
||||
int32_t d_carrier_lock_fail_counter;
|
||||
int32_t d_code_lock_fail_counter;
|
||||
int32_t d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
|
||||
int32_t d_code_length_chips;
|
||||
|
||||
uint32_t d_channel;
|
||||
uint32_t d_secondary_code_length;
|
||||
uint32_t d_data_secondary_code_length;
|
||||
|
||||
bool d_pull_in_transitory;
|
||||
bool d_corrected_doppler;
|
||||
bool d_interchange_iq;
|
||||
bool d_veml;
|
||||
bool d_cloop;
|
||||
bool d_secondary;
|
||||
bool d_dump;
|
||||
bool d_dump_mat;
|
||||
bool d_acc_carrier_phase_initialized;
|
||||
bool d_enable_extended_integration;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_kf_vtl_TRACKING_H
|
||||
|
|
@ -21,6 +21,7 @@ set(TRACKING_LIB_SOURCES
|
|||
tracking_FLL_PLL_filter.cc
|
||||
tracking_loop_filter.cc
|
||||
dll_pll_conf.cc
|
||||
kf_conf.cc
|
||||
bayesian_estimation.cc
|
||||
exponential_smoother.cc
|
||||
)
|
||||
|
|
@ -38,6 +39,7 @@ set(TRACKING_LIB_HEADERS
|
|||
tracking_FLL_PLL_filter.h
|
||||
tracking_loop_filter.h
|
||||
dll_pll_conf.h
|
||||
kf_conf.h
|
||||
bayesian_estimation.h
|
||||
exponential_smoother.h
|
||||
)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,151 @@
|
|||
/*!
|
||||
* \file Kf_conf.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* tracking block based on a DLL and a PLL.
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "kf_conf.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "item_type_helpers.h"
|
||||
#include <glog/logging.h>
|
||||
|
||||
|
||||
Kf_Conf::Kf_Conf()
|
||||
{
|
||||
/*KF tracking configuration */
|
||||
high_dyn = false;
|
||||
smoother_length = 10;
|
||||
fs_in = 2000000.0;
|
||||
vector_length = 0U;
|
||||
dump = false;
|
||||
dump_mat = true;
|
||||
dump_filename = std::string("./Kf_dump.dat");
|
||||
|
||||
pull_in_time_s = 10;
|
||||
bit_synchronization_time_limit_s = pull_in_time_s + 60;
|
||||
early_late_space_chips = 0.25;
|
||||
very_early_late_space_chips = 0.5;
|
||||
early_late_space_narrow_chips = 0.15;
|
||||
very_early_late_space_narrow_chips = 0.5;
|
||||
slope = 1.0;
|
||||
spc = 0.5;
|
||||
y_intercept = 1.0;
|
||||
carrier_aiding = true;
|
||||
extend_correlation_symbols = 1;
|
||||
cn0_samples = FLAGS_cn0_samples;
|
||||
cn0_smoother_samples = 200;
|
||||
cn0_smoother_alpha = 0.002;
|
||||
carrier_lock_test_smoother_alpha = 0.002;
|
||||
carrier_lock_test_smoother_samples = 25;
|
||||
cn0_min = FLAGS_cn0_min;
|
||||
max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
|
||||
max_code_lock_fail = FLAGS_max_lock_fail;
|
||||
carrier_lock_th = FLAGS_carrier_lock_th;
|
||||
track_pilot = true;
|
||||
enable_doppler_correction = false;
|
||||
system = 'G';
|
||||
signal[0] = '1';
|
||||
signal[1] = 'C';
|
||||
signal[2] = '\0';
|
||||
item_type = "gr_complex";
|
||||
|
||||
expected_cn0_dbhz = 0;
|
||||
//System covariances (Q)
|
||||
code_phase_sd_chips = 0;
|
||||
code_rate_sd_chips_s = 0;
|
||||
carrier_phase_sd_rad = 0;
|
||||
carrier_freq_sd_hz = 0;
|
||||
carrier_freq_rate_sd_hz_s = 0;
|
||||
//initial Kalman covariance matrix (P)
|
||||
init_code_phase_sd_chips = 0;
|
||||
init_code_rate_sd_chips_s = 0;
|
||||
init_carrier_phase_sd_rad = 0;
|
||||
init_carrier_freq_sd_hz = 0;
|
||||
init_carrier_freq_rate_sd_hz_s = 0;
|
||||
|
||||
enable_dynamic_measurement_covariance = false;
|
||||
use_estimated_cn0 = false;
|
||||
}
|
||||
|
||||
|
||||
void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
|
||||
const std::string &role)
|
||||
{
|
||||
item_type = configuration->property(role + ".item_type", item_type);
|
||||
if (!item_type_valid(item_type))
|
||||
{
|
||||
LOG(WARNING) << "Unknown item type: " + item_type << ". Set to gr_complex";
|
||||
item_type = "gr_complex";
|
||||
}
|
||||
|
||||
double fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
|
||||
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
|
||||
dump = configuration->property(role + ".dump", dump);
|
||||
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
|
||||
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
|
||||
|
||||
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
|
||||
bit_synchronization_time_limit_s = pull_in_time_s + 60;
|
||||
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
|
||||
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
|
||||
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
|
||||
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
|
||||
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
|
||||
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
|
||||
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
|
||||
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
|
||||
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
|
||||
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
|
||||
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
|
||||
carrier_aiding = configuration->property(role + ".carrier_aiding", carrier_aiding);
|
||||
|
||||
// tracking lock tests smoother parameters
|
||||
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
|
||||
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
|
||||
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
|
||||
if (smoother_length < 1)
|
||||
{
|
||||
smoother_length = 1;
|
||||
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
|
||||
}
|
||||
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
|
||||
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
|
||||
|
||||
// Kalman filter covariances
|
||||
|
||||
//Measurement covariances (R)
|
||||
expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", 42.0);
|
||||
enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", false);
|
||||
use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", false);
|
||||
|
||||
//System covariances (Q)
|
||||
code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", 0.001);
|
||||
code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", 0.001);
|
||||
|
||||
carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", 0.001);
|
||||
carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", 0.1);
|
||||
carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", 1);
|
||||
|
||||
//initial Kalman covariance matrix (P)
|
||||
init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", 1);
|
||||
init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", 100);
|
||||
|
||||
init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", 10);
|
||||
init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", 1000);
|
||||
init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", 1000);
|
||||
}
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
/*!
|
||||
* \file Kf_conf.h
|
||||
* \brief Class that contains all the configuration parameters for generic tracking block based on a Kalman Filter.
|
||||
* \author Javier Arribas, 2020. jarribas(at)cttc.es
|
||||
*
|
||||
* Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_Kf_CONF_H
|
||||
#define GNSS_SDR_Kf_CONF_H
|
||||
|
||||
#include "configuration_interface.h"
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
|
||||
class Kf_Conf
|
||||
{
|
||||
public:
|
||||
Kf_Conf();
|
||||
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role);
|
||||
|
||||
std::string item_type;
|
||||
std::string dump_filename;
|
||||
double fs_in;
|
||||
double carrier_lock_th;
|
||||
float early_late_space_chips;
|
||||
float very_early_late_space_chips;
|
||||
float early_late_space_narrow_chips;
|
||||
float very_early_late_space_narrow_chips;
|
||||
float slope;
|
||||
float spc;
|
||||
float y_intercept;
|
||||
float cn0_smoother_alpha;
|
||||
float carrier_lock_test_smoother_alpha;
|
||||
uint32_t pull_in_time_s;
|
||||
uint32_t bit_synchronization_time_limit_s;
|
||||
uint32_t vector_length;
|
||||
uint32_t smoother_length;
|
||||
int32_t extend_correlation_symbols;
|
||||
int32_t cn0_samples;
|
||||
int32_t cn0_smoother_samples;
|
||||
int32_t carrier_lock_test_smoother_samples;
|
||||
int32_t cn0_min;
|
||||
int32_t max_code_lock_fail;
|
||||
int32_t max_carrier_lock_fail;
|
||||
char signal[3]{};
|
||||
char system;
|
||||
bool track_pilot;
|
||||
bool enable_doppler_correction;
|
||||
bool carrier_aiding;
|
||||
bool high_dyn;
|
||||
bool dump;
|
||||
bool dump_mat;
|
||||
|
||||
//KF statistics
|
||||
//states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
|
||||
//Measurement covariances (R)
|
||||
double expected_cn0_dbhz;
|
||||
//System covariances (Q)
|
||||
double code_phase_sd_chips;
|
||||
double code_rate_sd_chips_s;
|
||||
|
||||
double carrier_phase_sd_rad;
|
||||
double carrier_freq_sd_hz;
|
||||
double carrier_freq_rate_sd_hz_s;
|
||||
//initial Kalman covariance matrix (P)
|
||||
double init_code_phase_sd_chips;
|
||||
double init_code_rate_sd_chips_s;
|
||||
|
||||
double init_carrier_phase_sd_rad;
|
||||
double init_carrier_freq_sd_hz;
|
||||
double init_carrier_freq_rate_sd_hz_s;
|
||||
|
||||
bool enable_dynamic_measurement_covariance;
|
||||
bool use_estimated_cn0;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -70,6 +70,7 @@
|
|||
#include "gnss_sdr_make_unique.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_kf_tracking.h"
|
||||
#include "gps_l1_ca_kf_vtl_tracking.h"
|
||||
#include "gps_l1_ca_pcps_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
|
||||
#include "gps_l1_ca_pcps_assisted_acquisition.h"
|
||||
|
|
@ -1080,6 +1081,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
|||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaTcpConnectorTracking>(configuration, role, in_streams,
|
||||
|
|
@ -1505,6 +1512,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
|
|||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
|
||||
{
|
||||
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
|
||||
{
|
||||
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaTcpConnectorTracking>(configuration, role, in_streams,
|
||||
|
|
|
|||
|
|
@ -674,6 +674,16 @@ void GNSSFlowgraph::connect()
|
|||
{
|
||||
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
|
||||
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
|
||||
//experimental VTL
|
||||
//TODO: It is currently implemented only in dll_pll_veml_tracking, other configs will fail!
|
||||
try
|
||||
{
|
||||
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_trk"), channels_.at(i)->get_left_block_trk(), pmt::mp("pvt_to_trk"));
|
||||
}
|
||||
catch (std::exception& ex)
|
||||
{
|
||||
LOG(WARNING) << "pvt_to_trk message not implemented in " << channels_.at(i)->implementation();
|
||||
}
|
||||
}
|
||||
|
||||
top_block_->msg_connect(observables_->get_right_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
|
||||
|
|
|
|||
Loading…
Reference in New Issue