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Remove all warnings raised by bugprone-* clang-tidy checks in tracking blocks

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This commit is contained in:
Carles Fernandez
2020-07-10 21:13:17 +02:00
parent 05c139b8be
commit 1c4e4d3c67
5 changed files with 45 additions and 52 deletions
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54
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@@ -143,7 +143,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_chip_rate = GPS_L1_CA_CODE_RATE_CPS; d_code_chip_rate = GPS_L1_CA_CODE_RATE_CPS;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS);
// GPS L1 C/A does not have pilot component nor secondary code // GPS L1 C/A does not have pilot component nor secondary code
d_secondary = false; d_secondary = false;
d_trk_parameters.track_pilot = false; d_trk_parameters.track_pilot = false;
@@ -161,7 +161,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_signal_carrier_freq = GPS_L2_FREQ_HZ; d_signal_carrier_freq = GPS_L2_FREQ_HZ;
d_code_period = GPS_L2_M_PERIOD_S; d_code_period = GPS_L2_M_PERIOD_S;
d_code_chip_rate = GPS_L2_M_CODE_RATE_CPS; d_code_chip_rate = GPS_L2_M_CODE_RATE_CPS;
d_code_length_chips = static_cast<uint32_t>(GPS_L2_M_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(GPS_L2_M_CODE_LENGTH_CHIPS);
// GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required // GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL; d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 20; d_correlation_length_ms = 20;
@@ -182,7 +182,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL; d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
d_secondary = true; d_secondary = true;
d_trk_parameters.slope = 1.0; d_trk_parameters.slope = 1.0;
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips; d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
@@ -216,7 +216,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = false; d_secondary = false;
d_signal_carrier_freq = 0.0; d_signal_carrier_freq = 0.0;
d_code_period = 0.0; d_code_period = 0.0;
d_code_length_chips = 0U; d_code_length_chips = 0;
d_code_samples_per_chip = 0U; d_code_samples_per_chip = 0U;
d_symbols_per_bit = 0; d_symbols_per_bit = 0;
} }
@@ -229,15 +229,15 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_signal_carrier_freq = GALILEO_E1_FREQ_HZ; d_signal_carrier_freq = GALILEO_E1_FREQ_HZ;
d_code_period = GALILEO_E1_CODE_PERIOD_S; d_code_period = GALILEO_E1_CODE_PERIOD_S;
d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_CPS; d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_CPS;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
// Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required // Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = 1; d_symbols_per_bit = 1;
d_correlation_length_ms = 4; d_correlation_length_ms = 4;
d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
d_veml = true; d_veml = true;
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips; d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
d_trk_parameters.slope = -CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc); d_trk_parameters.slope = static_cast<float>(-CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
d_trk_parameters.y_intercept = GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc); d_trk_parameters.y_intercept = static_cast<float>(GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
if (d_trk_parameters.track_pilot) if (d_trk_parameters.track_pilot)
{ {
d_secondary = true; d_secondary = true;
@@ -260,7 +260,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_symbols_per_bit = 20; d_symbols_per_bit = 20;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
d_secondary = true; d_secondary = true;
d_trk_parameters.slope = 1.0; d_trk_parameters.slope = 1.0;
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips; d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
@@ -291,7 +291,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = false; d_secondary = false;
d_signal_carrier_freq = 0.0; d_signal_carrier_freq = 0.0;
d_code_period = 0.0; d_code_period = 0.0;
d_code_length_chips = 0U; d_code_length_chips = 0;
d_code_samples_per_chip = 0U; d_code_samples_per_chip = 0U;
d_symbols_per_bit = 0; d_symbols_per_bit = 0;
} }
@@ -305,7 +305,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_signal_carrier_freq = BEIDOU_B1I_FREQ_HZ; d_signal_carrier_freq = BEIDOU_B1I_FREQ_HZ;
d_code_period = BEIDOU_B1I_CODE_PERIOD_S; d_code_period = BEIDOU_B1I_CODE_PERIOD_S;
d_code_chip_rate = BEIDOU_B1I_CODE_RATE_CPS; d_code_chip_rate = BEIDOU_B1I_CODE_RATE_CPS;
d_code_length_chips = static_cast<uint32_t>(BEIDOU_B1I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(BEIDOU_B1I_CODE_LENGTH_CHIPS);
d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
@@ -326,7 +326,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ; d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ;
d_code_period = BEIDOU_B3I_CODE_PERIOD_S; d_code_period = BEIDOU_B3I_CODE_PERIOD_S;
d_code_chip_rate = BEIDOU_B3I_CODE_RATE_CPS; d_code_chip_rate = BEIDOU_B3I_CODE_RATE_CPS;
d_code_length_chips = static_cast<uint32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<int32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS);
d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
@@ -361,7 +361,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = false; d_secondary = false;
d_signal_carrier_freq = 0.0; d_signal_carrier_freq = 0.0;
d_code_period = 0.0; d_code_period = 0.0;
d_code_length_chips = 0U; d_code_length_chips = 0;
d_code_samples_per_chip = 0U; d_code_samples_per_chip = 0U;
d_symbols_per_bit = 0; d_symbols_per_bit = 0;
} }
@@ -371,7 +371,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_K_blk_samples = 0.0; d_K_blk_samples = 0.0;
// Initialize tracking ========================================== // Initialize tracking ==========================================
d_code_loop_filter = Tracking_loop_filter(d_code_period, d_trk_parameters.dll_bw_hz, d_trk_parameters.dll_filter_order, false); d_code_loop_filter = Tracking_loop_filter(static_cast<float>(d_code_period), d_trk_parameters.dll_bw_hz, d_trk_parameters.dll_filter_order, false);
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order);
// Initialization of local code replica // Initialization of local code replica
@@ -419,7 +419,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_prompt_data_shift = &d_local_code_shift_chips[1]; d_prompt_data_shift = &d_local_code_shift_chips[1];
} }
d_multicorrelator_cpu.init(2 * d_trk_parameters.vector_length, d_n_correlator_taps); d_multicorrelator_cpu.init(static_cast<int>(2 * d_trk_parameters.vector_length), d_n_correlator_taps);
if (d_trk_parameters.extend_correlation_symbols > 1) if (d_trk_parameters.extend_correlation_symbols > 1)
{ {
@@ -435,7 +435,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
if (d_trk_parameters.track_pilot) if (d_trk_parameters.track_pilot)
{ {
// Extra correlator for the data component // Extra correlator for the data component
d_correlator_data_cpu.init(2 * d_trk_parameters.vector_length, 1); d_correlator_data_cpu.init(static_cast<int>(2 * d_trk_parameters.vector_length), 1);
d_correlator_data_cpu.set_high_dynamics_resampler(d_trk_parameters.high_dyn); d_correlator_data_cpu.set_high_dynamics_resampler(d_trk_parameters.high_dyn);
d_data_code.resize(2 * d_code_length_chips, 0.0); d_data_code.resize(2 * d_code_length_chips, 0.0);
} }
@@ -643,7 +643,7 @@ void dll_pll_veml_tracking::start_tracking()
if (d_trk_parameters.track_pilot) if (d_trk_parameters.track_pilot)
{ {
d_secondary_code_string = GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1]; d_secondary_code_string = GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1];
for (uint32_t i = 0; i < d_code_length_chips; i++) for (int32_t i = 0; i < d_code_length_chips; i++)
{ {
d_tracking_code[i] = aux_code[i].imag(); d_tracking_code[i] = aux_code[i].imag();
d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5aI + E5aQ) d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5aI + E5aQ)
@@ -653,7 +653,7 @@ void dll_pll_veml_tracking::start_tracking()
} }
else else
{ {
for (uint32_t i = 0; i < d_code_length_chips; i++) for (int32_t i = 0; i < d_code_length_chips; i++)
{ {
d_tracking_code[i] = aux_code[i].real(); d_tracking_code[i] = aux_code[i].real();
} }
@@ -756,7 +756,7 @@ void dll_pll_veml_tracking::start_tracking()
// Initialize tracking ========================================== // Initialize tracking ==========================================
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order);
d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_hz); d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_hz);
d_code_loop_filter.set_update_interval(d_code_period); d_code_loop_filter.set_update_interval(static_cast<float>(d_code_period));
// DLL/PLL filter initialization // DLL/PLL filter initialization
d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz)); // initialize the carrier filter d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz)); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter d_code_loop_filter.initialize(); // initialize the code filter
@@ -925,7 +925,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
d_multicorrelator_cpu.set_input_output_vectors(d_correlator_outs.data(), input_samples); d_multicorrelator_cpu.set_input_output_vectors(d_correlator_outs.data(), input_samples);
d_multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler( d_multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_rem_carr_phase_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad, static_cast<float>(d_carrier_phase_step_rad), static_cast<float>(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_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_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), static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -937,7 +937,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
d_correlator_data_cpu.set_input_output_vectors(d_Prompt_Data.data(), input_samples); d_correlator_data_cpu.set_input_output_vectors(d_Prompt_Data.data(), input_samples);
d_correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler( d_correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_rem_carr_phase_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad, static_cast<float>(d_carrier_phase_step_rad), static_cast<float>(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_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_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), static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -973,18 +973,18 @@ void dll_pll_veml_tracking::run_dll_pll()
if ((d_pull_in_transitory == true and d_trk_parameters.enable_fll_pull_in == true)) if ((d_pull_in_transitory == true and d_trk_parameters.enable_fll_pull_in == true))
{ {
// pure FLL, disable PLL // pure FLL, disable PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, 0, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(static_cast<float>(d_carr_freq_error_hz), 0.0F, static_cast<float>(d_current_correlation_time_s));
} }
else else
{ {
// FLL-aided PLL // FLL-aided PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, d_carr_phase_error_hz, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(static_cast<float>(d_carr_freq_error_hz), static_cast<float>(d_carr_phase_error_hz), static_cast<float>(d_current_correlation_time_s));
} }
} }
else else
{ {
// Carrier discriminator filter // Carrier discriminator filter
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(0, d_carr_phase_error_hz, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(0, static_cast<float>(d_carr_phase_error_hz), static_cast<float>(d_current_correlation_time_s));
} }
// New carrier Doppler frequency estimation // New carrier Doppler frequency estimation
@@ -1004,7 +1004,7 @@ void dll_pll_veml_tracking::run_dll_pll()
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti] d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti]
} }
// Code discriminator filter // Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second] d_code_error_filt_chips = d_code_loop_filter.apply(static_cast<float>(d_code_error_chips)); // [chips/second]
// New code Doppler frequency estimation // New code Doppler frequency estimation
d_code_freq_chips = d_code_chip_rate - d_code_error_filt_chips; d_code_freq_chips = d_code_chip_rate - d_code_error_filt_chips;
if (d_trk_parameters.carrier_aiding) if (d_trk_parameters.carrier_aiding)
@@ -1021,12 +1021,12 @@ void dll_pll_veml_tracking::run_dll_pll()
if (d_dll_filt_history.full()) if (d_dll_filt_history.full())
{ {
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0) / static_cast<float>(d_dll_filt_history.capacity()); float avg_code_error_chips_s = static_cast<float>(std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0)) / static_cast<float>(d_dll_filt_history.capacity());
if (std::fabs(avg_code_error_chips_s) > 1.0) if (std::fabs(avg_code_error_chips_s) > 1.0)
{ {
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate); float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN); LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN);
d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz); d_carrier_loop_filter.initialize(static_cast<float>(d_carrier_doppler_hz) - carrier_doppler_error_hz);
d_corrected_doppler = true; d_corrected_doppler = true;
} }
d_dll_filt_history.clear(); d_dll_filt_history.clear();
@@ -1769,7 +1769,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
<< d_channel << d_channel
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n'; << " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
// Set narrow taps delay values [chips] // Set narrow taps delay values [chips]
d_code_loop_filter.set_update_interval(d_current_correlation_time_s); d_code_loop_filter.set_update_interval(static_cast<float>(d_current_correlation_time_s));
d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_narrow_hz); d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_narrow_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_narrow_hz, d_trk_parameters.pll_filter_order);
if (d_veml) if (d_veml)

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@@ -182,12 +182,12 @@ private:
int32_t d_cn0_estimation_counter; int32_t d_cn0_estimation_counter;
int32_t d_carrier_lock_fail_counter; int32_t d_carrier_lock_fail_counter;
int32_t d_code_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_channel;
uint32_t d_secondary_code_length; uint32_t d_secondary_code_length;
uint32_t d_data_secondary_code_length; uint32_t d_data_secondary_code_length;
uint32_t d_code_length_chips;
uint32_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)
bool d_pull_in_transitory; bool d_pull_in_transitory;
bool d_corrected_doppler; bool d_corrected_doppler;

33
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@@ -228,8 +228,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_correlation_length_ms = 4; d_correlation_length_ms = 4;
d_veml = true; d_veml = true;
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips; d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
d_trk_parameters.slope = -CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc); d_trk_parameters.slope = static_cast<float>(-CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
d_trk_parameters.y_intercept = GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc); d_trk_parameters.y_intercept = static_cast<float>(GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
if (d_trk_parameters.track_pilot) if (d_trk_parameters.track_pilot)
{ {
d_secondary = true; d_secondary = true;
@@ -309,7 +309,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_K_blk_samples = 0.0; d_K_blk_samples = 0.0;
// Initialize tracking ========================================== // Initialize tracking ==========================================
d_code_loop_filter = Tracking_loop_filter(d_code_period, d_trk_parameters.dll_bw_hz, d_trk_parameters.dll_filter_order, false); d_code_loop_filter = Tracking_loop_filter(static_cast<float>(d_code_period), d_trk_parameters.dll_bw_hz, d_trk_parameters.dll_filter_order, false);
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order);
// correlator outputs (scalar) // correlator outputs (scalar)
@@ -682,7 +682,7 @@ void dll_pll_veml_tracking_fpga::do_correlation_step()
d_multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler( d_multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_rem_carr_phase_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad, static_cast<float>(d_carrier_phase_step_rad), static_cast<float>(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_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_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), static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -717,18 +717,18 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
if ((d_pull_in_transitory == true and d_trk_parameters.enable_fll_pull_in == true)) if ((d_pull_in_transitory == true and d_trk_parameters.enable_fll_pull_in == true))
{ {
// pure FLL, disable PLL // pure FLL, disable PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, 0, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(static_cast<float>(d_carr_freq_error_hz), 0, static_cast<float>(d_current_correlation_time_s));
} }
else else
{ {
// FLL-aided PLL // FLL-aided PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, d_carr_phase_error_hz, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(static_cast<float>(d_carr_freq_error_hz), static_cast<float>(d_carr_phase_error_hz), static_cast<float>(d_current_correlation_time_s));
} }
} }
else else
{ {
// Carrier discriminator filter // Carrier discriminator filter
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(0, d_carr_phase_error_hz, d_current_correlation_time_s); d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(0, static_cast<float>(d_carr_phase_error_hz), static_cast<float>(d_current_correlation_time_s));
} }
// New carrier Doppler frequency estimation // New carrier Doppler frequency estimation
@@ -748,7 +748,7 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti] d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti]
} }
// Code discriminator filter // Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second] d_code_error_filt_chips = d_code_loop_filter.apply(static_cast<float>(d_code_error_chips)); // [chips/second]
// New code Doppler frequency estimation // New code Doppler frequency estimation
d_code_freq_chips = d_code_chip_rate - d_code_error_filt_chips; d_code_freq_chips = d_code_chip_rate - d_code_error_filt_chips;
if (d_trk_parameters.carrier_aiding) if (d_trk_parameters.carrier_aiding)
@@ -765,12 +765,12 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
if (d_dll_filt_history.full()) if (d_dll_filt_history.full())
{ {
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0) / static_cast<float>(d_dll_filt_history.capacity()); float avg_code_error_chips_s = static_cast<float>(std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0)) / static_cast<float>(d_dll_filt_history.capacity());
if (fabs(avg_code_error_chips_s) > 1.0) if (fabs(avg_code_error_chips_s) > 1.0)
{ {
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate); float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN); LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN);
d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz); d_carrier_loop_filter.initialize(static_cast<float>(d_carrier_doppler_hz) - carrier_doppler_error_hz);
d_corrected_doppler = true; d_corrected_doppler = true;
} }
d_dll_filt_history.clear(); d_dll_filt_history.clear();
@@ -1400,14 +1400,7 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
d_code_ph_history.clear(); d_code_ph_history.clear();
d_carr_ph_history.clear(); d_carr_ph_history.clear();
if (d_systemName == "GPS" and d_signal_type == "L5") if ((d_systemName == "GPS" and d_signal_type == "L5") || (d_systemName == "Galileo" and d_signal_type == "1B"))
{
if (d_trk_parameters.track_pilot)
{
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
}
}
else if (d_systemName == "Galileo" and d_signal_type == "1B")
{ {
if (d_trk_parameters.track_pilot) if (d_trk_parameters.track_pilot)
{ {
@@ -1464,7 +1457,7 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
// DLL/PLL filter initialization // DLL/PLL filter initialization
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order);
d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_hz); d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_hz);
d_code_loop_filter.set_update_interval(d_code_period); d_code_loop_filter.set_update_interval(static_cast<float>(d_code_period));
d_code_loop_filter.initialize(); // initialize the code filter d_code_loop_filter.initialize(); // initialize the code filter
d_multicorrelator_fpga->set_local_code_and_taps(d_local_code_shift_chips.data(), d_prompt_data_shift, d_acquisition_gnss_synchro->PRN); d_multicorrelator_fpga->set_local_code_and_taps(d_local_code_shift_chips.data(), d_prompt_data_shift, d_acquisition_gnss_synchro->PRN);
@@ -1759,7 +1752,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
<< d_channel << d_channel
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n'; << " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
// Set narrow taps delay values [chips] // Set narrow taps delay values [chips]
d_code_loop_filter.set_update_interval(d_current_correlation_time_s); d_code_loop_filter.set_update_interval(static_cast<float>(d_current_correlation_time_s));
d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_narrow_hz); d_code_loop_filter.set_noise_bandwidth(d_trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_narrow_hz, d_trk_parameters.pll_filter_order); d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_narrow_hz, d_trk_parameters.pll_filter_order);
if (d_veml) if (d_veml)

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@@ -178,7 +178,7 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking()
acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in); acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
// doppler effect // doppler effect
// Fd=(C/(C+Vr))*F // Fd=(C/(C+Vr))*F
float radial_velocity = static_cast<float>((GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ); auto radial_velocity = static_cast<float>((GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ);
// new chip and prn sequence periods based on acq Doppler // new chip and prn sequence periods based on acq Doppler
float T_chip_mod_seconds; float T_chip_mod_seconds;
float T_prn_mod_seconds; float T_prn_mod_seconds;

4
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@@ -306,7 +306,7 @@ void Fpga_Multicorrelator_8sc::fpga_compute_code_shift_parameters()
frac_part = fmod(d_shifts_chips[i] - d_rem_code_phase_chips, 1.0); frac_part = fmod(d_shifts_chips[i] - d_rem_code_phase_chips, 1.0);
if (frac_part < 0) if (frac_part < 0)
{ {
frac_part = frac_part + 1.0; // fmod operator does not work as in Matlab with negative numbers frac_part = frac_part + 1.0F; // fmod operator does not work as in Matlab with negative numbers
} }
d_initial_interp_counter[i] = static_cast<uint32_t>(std::floor(max_code_resampler_counter * frac_part)); d_initial_interp_counter[i] = static_cast<uint32_t>(std::floor(max_code_resampler_counter * frac_part));
@@ -324,7 +324,7 @@ void Fpga_Multicorrelator_8sc::fpga_compute_code_shift_parameters()
frac_part = fmod(d_prompt_data_shift[0] - d_rem_code_phase_chips, 1.0); frac_part = fmod(d_prompt_data_shift[0] - d_rem_code_phase_chips, 1.0);
if (frac_part < 0) if (frac_part < 0)
{ {
frac_part = frac_part + 1.0; // fmod operator does not work as in Matlab with negative numbers frac_part = frac_part + 1.0F; // fmod operator does not work as in Matlab with negative numbers
} }
d_initial_interp_counter[d_n_correlators] = static_cast<uint32_t>(std::floor(max_code_resampler_counter * frac_part)); d_initial_interp_counter[d_n_correlators] = static_cast<uint32_t>(std::floor(max_code_resampler_counter * frac_part));
} }