mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-09 03:20:01 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
1c73533b8f
@ -1871,19 +1871,22 @@ if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
|
||||
endif()
|
||||
endif()
|
||||
if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
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||||
find_program(PROTOC_EXECUTABLE protoc
|
||||
HINTS
|
||||
/usr/local/bin/
|
||||
/usr/bin/
|
||||
NO_SYSTEM_ENVIRONMENT_PATH
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||||
)
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||||
find_program(PROTOC_EXECUTABLE protoc)
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||||
if(NOT PROTOC_EXECUTABLE)
|
||||
find_program(PROTOC_EXECUTABLE protoc
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||||
HINTS
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||||
/usr/bin/
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||||
/usr/local/bin/
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||||
)
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||||
endif()
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||||
if(PROTOC_EXECUTABLE)
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||||
set_target_properties(protobuf::protoc PROPERTIES
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||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
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||||
IMPORTED_LOCATION ${PROTOC_EXECUTABLE}
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||||
)
|
||||
set(Protobuf_PROTOC_EXECUTABLE ${PROTOC_EXECUTABLE})
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||||
else()
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||||
message(FATAL ERROR "Please install the Protocol Buffers compiter v${Protobuf_VERSION} in the host machine")
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||||
message(FATAL_ERROR "Please install the Protocol Buffers compiler v${Protobuf_VERSION} in the host machine")
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||||
endif()
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endif()
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if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
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18
README.md
18
README.md
@ -71,7 +71,7 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
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libgtest-dev libprotobuf-dev protobuf-compiler
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||||
~~~~~~
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||||
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Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
|
||||
Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic" (and above).
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**Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires `gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04 came with 1.5.2 and the minimum required version is 1.5.3. Please do not install the `libmatio-dev` package and install `libtool`, `automake` and `libhdf5-dev` instead. A recent version of the library will be downloaded and built automatically if CMake does not find it installed.
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@ -120,7 +120,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
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boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
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blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
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glog-devel openssl-devel libpcap-devel python-mako python-six \
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pugixml-devel protobuf-devel
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pugixml-devel protobuf-devel protobuf-compiler
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~~~~~~
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||||
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Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
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@ -130,13 +130,23 @@ Once you have installed these packages, you can jump directly to [download the s
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||||
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||||
If you are using openSUSE Leap:
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||||
|
||||
~~~~~~
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zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
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libboost_system-devel libboost_filesystem-devel libboost_chrono-devel \
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libboost_thread-devel libboost_serialization-devel log4cpp-devel \
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gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool \
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automake hdf5-devel openssl-devel python-Mako python-six protobuf-devel
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||||
~~~~~~
|
||||
|
||||
If you are using openSUSE Tumbleweed:
|
||||
|
||||
~~~~~~
|
||||
zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
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||||
libboost_system-devel libboost_filesystem-devel libboost_date_time-devel \
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libboost_thread-devel libboost_chrono-devel libboost_serialization-devel \
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||||
log4cpp-devel gtest gnuradio-devel pugixml-devel libpcap-devel \
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||||
armadillo-devel libtool automake hdf5-devel libopenssl-devel python-Mako \
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||||
python-six protobuf-devel
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||||
armadillo-devel libtool automake hdf5-devel libopenssl-devel \
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python3-Mako python3-six protobuf-devel
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||||
~~~~~~
|
||||
|
||||
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -52,6 +52,33 @@ hybrid_observables_gs_sptr hybrid_observables_gs_make(unsigned int nchannels_in,
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return hybrid_observables_gs_sptr(new hybrid_observables_gs(nchannels_in, nchannels_out, dump, dump_mat, std::move(dump_filename)));
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}
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void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg)
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
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try
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{
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if (pmt::any_ref(msg).type() == typeid(double))
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||||
{
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double new_rx_clock_offset_s;
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new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
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T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
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T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
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T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
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//d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
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for (uint32_t n = 0; n < d_nchannels_out; n++)
|
||||
{
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d_gnss_synchro_history->clear(n);
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}
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|
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LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]";
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||||
}
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||||
}
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||||
catch (boost::bad_any_cast &e)
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||||
{
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||||
LOG(WARNING) << "msg_handler_pvt_to_observables Bad any cast!";
|
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}
|
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}
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hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
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uint32_t nchannels_out,
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@ -61,12 +88,16 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
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gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
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gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
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{
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// PVT input message port
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this->message_port_register_in(pmt::mp("pvt_to_observables"));
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this->set_msg_handler(pmt::mp("pvt_to_observables"), boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, _1));
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d_dump = dump;
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d_dump_mat = dump_mat and d_dump;
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d_dump_filename = std::move(dump_filename);
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d_nchannels_out = nchannels_out;
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d_nchannels_in = nchannels_in;
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T_rx_clock_step_samples = 0U;
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T_rx_offset_ms = 0;
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d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(500, d_nchannels_out);
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||||
// ############# ENABLE DATA FILE LOG #################
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@ -114,6 +145,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
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||||
}
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||||
}
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||||
T_rx_TOW_ms = 0U;
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||||
T_rx_remnant_to_20ms = 0;
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T_rx_step_ms = 20; //read from config at the adapter GNSS-SDR.observable_interval_ms!!
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T_rx_TOW_set = false;
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||||
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@ -410,6 +442,17 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
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interpolated_obs.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, t2_idx).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz) * time_factor;
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||||
// TOW INTERPOLATION
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interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
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|
||||
|
||||
// LOG(INFO) << "Channel " << ch << " int idx: " << t1_idx << " TOW Int: " << interpolated_obs.interp_TOW_ms
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// << " TOW p1 : " << d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms
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// << " TOW p2: "
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// << d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms
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// << " t2-t1: "
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// << d_gnss_synchro_history->at(ch, t2_idx).RX_time - d_gnss_synchro_history->at(ch, t1_idx).RX_time
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// << " trx - t1: "
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// << T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time;
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//
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// std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element
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// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
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@ -459,6 +502,7 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
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}
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}
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T_rx_TOW_ms = TOW_ref - (TOW_ref % 20);
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T_rx_remnant_to_20ms = 0;
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}
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else
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||||
{
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@ -477,13 +521,14 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
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// std::cout.precision(17);
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// std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
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std::vector<Gnss_Synchro>::iterator it;
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double current_T_rx_TOW_s = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms) + GPS_STARTOFFSET_MS) / 1000.0;
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for (it = data.begin(); it != data.end(); it++)
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{
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if (it->Flag_valid_word)
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{
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double traveltime_s = (static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms + GPS_STARTOFFSET_MS) / 1000.0;
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//todo: check what happens during the week rollover (TOW rollover at 604800000s)
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it->RX_time = (static_cast<double>(T_rx_TOW_ms) + GPS_STARTOFFSET_MS) / 1000.0;
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double traveltime_s = current_T_rx_TOW_s - it->interp_TOW_ms / 1000.0;
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//todo: check what happens during the week rollover (TOW rollover at 604800000ms)
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it->RX_time = current_T_rx_TOW_s;
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it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
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it->Flag_valid_pseudorange = true;
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// debug code
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||||
@ -491,17 +536,11 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
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// std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << std::endl;
|
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// std::cout << "[" << it->Channel_ID << "] Diff T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms << std::endl;
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||||
}
|
||||
else
|
||||
{
|
||||
it->RX_time = current_T_rx_TOW_s;
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||||
}
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}
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||||
|
||||
// for (it = data.begin(); it != data.end(); it++)
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// {
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||||
// if (it->Flag_valid_word)
|
||||
// {
|
||||
// std::cout << "[" << it->Channel_ID << "] Pseudorange_m: " << it->Pseudorange_m << std::endl;
|
||||
// }
|
||||
// }
|
||||
// std::cout << std::endl;
|
||||
// usleep(1000);
|
||||
}
|
||||
|
||||
|
||||
@ -517,12 +556,6 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
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||||
if (ninput_items[d_nchannels_in - 1] > 0)
|
||||
{
|
||||
d_Rx_clock_buffer.push_back(in[d_nchannels_in - 1][0].Tracking_sample_counter);
|
||||
if (T_rx_clock_step_samples == 0)
|
||||
{
|
||||
T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3); // 1 ms
|
||||
LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples;
|
||||
}
|
||||
|
||||
// Consume one item from the clock channel (last of the input channels)
|
||||
consume(d_nchannels_in - 1, 1);
|
||||
}
|
||||
@ -541,6 +574,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
|
||||
if (d_gnss_synchro_history->front(n).PRN != in[n][m].PRN)
|
||||
{
|
||||
d_gnss_synchro_history->clear(n);
|
||||
// LOG(INFO) << "Channel " << d_gnss_synchro_history->front(n).Channel_ID << " changed satellite to PRN " << in[n][m].PRN;
|
||||
}
|
||||
}
|
||||
d_gnss_synchro_history->push_back(n, in[n][m]);
|
||||
@ -557,7 +591,9 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
|
||||
for (uint32_t n = 0; n < d_nchannels_out; n++)
|
||||
{
|
||||
Gnss_Synchro interpolated_gnss_synchro{};
|
||||
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
|
||||
|
||||
uint32_t T_rx_remnant_to_20ms_samples = T_rx_remnant_to_20ms * in[d_nchannels_in - 1][0].fs / 1000;
|
||||
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() - T_rx_remnant_to_20ms_samples))
|
||||
{
|
||||
// Produce an empty observation
|
||||
interpolated_gnss_synchro = Gnss_Synchro();
|
||||
@ -574,9 +610,20 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
|
||||
epoch_data.push_back(interpolated_gnss_synchro);
|
||||
}
|
||||
|
||||
if (n_valid > 0)
|
||||
if (T_rx_TOW_set)
|
||||
{
|
||||
update_TOW(epoch_data);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (n_valid > 0)
|
||||
{
|
||||
update_TOW(epoch_data);
|
||||
}
|
||||
}
|
||||
|
||||
if (n_valid > 0)
|
||||
{
|
||||
compute_pranges(epoch_data);
|
||||
}
|
||||
|
||||
|
||||
@ -68,6 +68,7 @@ private:
|
||||
friend hybrid_observables_gs_sptr
|
||||
hybrid_observables_gs_make(uint32_t nchannels_in, uint32_t nchannels_out, bool dump, bool dump_mat, std::string dump_filename);
|
||||
hybrid_observables_gs(uint32_t nchannels_in, uint32_t nchannels_out, bool dump, bool dump_mat, std::string dump_filename);
|
||||
void msg_handler_pvt_to_observables(const pmt::pmt_t& msg);
|
||||
bool interpolate_data(Gnss_Synchro& out, const uint32_t& ch, const double& ti);
|
||||
bool interp_trk_obs(Gnss_Synchro& interpolated_obs, const uint32_t& ch, const uint64_t& rx_clock);
|
||||
double compute_T_rx_s(const Gnss_Synchro& a);
|
||||
@ -79,11 +80,12 @@ private:
|
||||
boost::circular_buffer<uint64_t> d_Rx_clock_buffer;
|
||||
//Tracking observable history
|
||||
Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history;
|
||||
uint32_t T_rx_clock_step_samples;
|
||||
//rx time follow GPST
|
||||
bool T_rx_TOW_set;
|
||||
uint32_t T_rx_TOW_ms;
|
||||
uint32_t T_rx_remnant_to_20ms;
|
||||
uint32_t T_rx_step_ms;
|
||||
double T_rx_offset_ms;
|
||||
bool d_dump;
|
||||
bool d_dump_mat;
|
||||
uint32_t d_nchannels_in;
|
||||
|
||||
@ -147,24 +147,28 @@ void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex
|
||||
// bits per sample, 4 samples per int16
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
out[i] = gr_complex(0.0, 0.0);
|
||||
//out[i] = gr_complex(0.0, 0.0);
|
||||
// In-Phase
|
||||
if (bs[15 - 4 * i])
|
||||
{
|
||||
if (bs[13 - 4 * i]) // 11
|
||||
{
|
||||
out[i] += gr_complex(-1, 0);
|
||||
out[i] = gr_complex(-1, 0);
|
||||
}
|
||||
else // 10
|
||||
{
|
||||
out[i] += gr_complex(-2, 0);
|
||||
out[i] = gr_complex(-2, 0);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (bs[13 - 4 * i]) // 01
|
||||
{
|
||||
out[i] += gr_complex(1, 0);
|
||||
out[i] = gr_complex(2, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
out[i] = gr_complex(1, 0);
|
||||
}
|
||||
}
|
||||
|
||||
@ -183,11 +187,15 @@ void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex
|
||||
else
|
||||
{
|
||||
if (bs[12 - 4 * i]) // 01
|
||||
{
|
||||
out[i] += gr_complex(0, 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
out[i] += gr_complex(0, 1);
|
||||
}
|
||||
}
|
||||
out[i] += gr_complex(0.5, 0.5);
|
||||
//out[i] += gr_complex(0.5, 0.5);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -412,6 +420,7 @@ int labsat23_source::general_work(int noutput_items,
|
||||
{
|
||||
case 0:
|
||||
// dual channel 2 bits per complex sample
|
||||
//todo: implement dual channel reader
|
||||
break;
|
||||
default:
|
||||
// single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
|
||||
@ -473,6 +482,7 @@ int labsat23_source::general_work(int noutput_items,
|
||||
{
|
||||
case 0:
|
||||
// dual channel
|
||||
//todo: implement dual channel reader
|
||||
break;
|
||||
default:
|
||||
// single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
|
||||
|
||||
@ -49,7 +49,7 @@ void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1, float* tau2, floa
|
||||
|
||||
void Tracking_2nd_PLL_filter::set_PLL_BW(float pll_bw_hz)
|
||||
{
|
||||
//Calculate filter coefficient values
|
||||
// Calculate filter coefficient values
|
||||
d_pllnoisebandwidth = pll_bw_hz;
|
||||
calculate_lopp_coef(&d_tau1_carr, &d_tau2_carr, d_pllnoisebandwidth, d_plldampingratio, 0.25); // Calculate filter coefficient values
|
||||
}
|
||||
@ -64,14 +64,13 @@ void Tracking_2nd_PLL_filter::initialize()
|
||||
|
||||
|
||||
/*
|
||||
* PLL second order FIR filter
|
||||
* PLL second order IIR filter
|
||||
* Req Input in [Hz/Ti]
|
||||
* The output is in [Hz/s].
|
||||
*/
|
||||
float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
|
||||
{
|
||||
float carr_nco = d_old_carr_nco + (d_tau2_carr / d_tau1_carr) * (PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr / (2.0 * d_tau1_carr));
|
||||
//carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr);
|
||||
d_old_carr_nco = carr_nco;
|
||||
d_old_carr_error = PLL_discriminator;
|
||||
return carr_nco;
|
||||
@ -80,16 +79,15 @@ float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
|
||||
|
||||
Tracking_2nd_PLL_filter::Tracking_2nd_PLL_filter(float pdi_carr)
|
||||
{
|
||||
//--- PLL variables --------------------------------------------------------
|
||||
// PLL variables
|
||||
d_pdi_carr = pdi_carr; // Summation interval for carrier
|
||||
//d_plldampingratio = 0.65;
|
||||
d_plldampingratio = 0.7;
|
||||
}
|
||||
|
||||
|
||||
Tracking_2nd_PLL_filter::Tracking_2nd_PLL_filter()
|
||||
{
|
||||
//--- PLL variables --------------------------------------------------------
|
||||
// PLL variables
|
||||
d_pdi_carr = 0.001; // Summation interval for carrier
|
||||
d_plldampingratio = 0.7;
|
||||
}
|
||||
|
||||
@ -677,6 +677,7 @@ 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"));
|
||||
}
|
||||
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
@ -948,6 +949,7 @@ void GNSSFlowgraph::disconnect()
|
||||
}
|
||||
top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
|
||||
}
|
||||
top_block_->msg_disconnect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user