Merge branch 'merge-dmiralles2009-bds_b3i' into next

BeiDou B3I bug fixes #261

conf/gnss-sdr_BDS_B1I_byte.conf

@@ -47,6 +47,8 @@ InputFilter.filter_type=bandpass
 InputFilter.grid_density=16
 InputFilter.sampling_frequency=25000000
 InputFilter.IF=6250000
+InputFilter.dump = false
+InputFilter.dump_filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat
 Resampler.implementation=Pass_Through
 Resampler.sample_freq_in=25000000
 Resampler.sample_freq_out=25000000
@@ -77,7 +79,7 @@ Acquisition_B1.threshold=0.0038
 ;Acquisition_B1.pfa=0.0000001;
 Acquisition_B1.doppler_max=10000
 Acquisition_B1.doppler_step=100
-Acquisition_B1.dump=false
+Acquisition_B1.dump=true
 Acquisition_B1.dump_filename=./bds_acq
 Acquisition_B1.blocking=false;
 Acquisition_B1.use_CFAR_algorithm=true;
@@ -89,7 +91,7 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
 Tracking_B1.item_type=gr_complex
 Tracking_B1.pll_bw_hz=25.0;
 Tracking_B1.dll_bw_hz=2.50;
-Tracking_B1.dump=false;
+Tracking_B1.dump=true;
 Tracking_B1.dump_filename=./epl_tracking_ch_
 
 

conf/gnss-sdr_BDS_B3I_byte.conf

@@ -23,6 +23,7 @@ SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
 SignalSource.enable_throttle_control=false
+;SignalSource.samples=200000
 
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner.implementation=Signal_Conditioner
@@ -47,6 +48,8 @@ InputFilter.filter_type=bandpass
 InputFilter.grid_density=16
 InputFilter.sampling_frequency=50000000
 InputFilter.IF=12500000
+InputFilter.dump = false
+InputFilter.dump_filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat
 Resampler.implementation=Pass_Through
 Resampler.sample_freq_in=50000000
 Resampler.sample_freq_out=50000000
@@ -55,7 +58,7 @@ Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
 Channels_B3.count=10
-Channels.in_acquisition=10
+Channels.in_acquisition=1
 Channel.signal=B3
 
 Channel0.satellite = 6;
@@ -74,7 +77,7 @@ Acquisition_B3.implementation=BEIDOU_B3I_PCPS_Acquisition
 Acquisition_B3.item_type=gr_complex
 Acquisition_B3.coherent_integration_time_ms=3
 Acquisition_B3.max_dwells = 2
-Acquisition_B3.threshold=0.0004
+Acquisition_B3.threshold=0.0005
 Acquisition_B3.doppler_max=10000
 Acquisition_B3.doppler_step=100
 Acquisition_B3.dump=false

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -892,6 +892,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
     if ((valid_obs + glo_valid_obs) > 3)
         {
             int result = 0;
+            int sat = 0;
             nav_t nav_data;
             nav_data.eph = eph_data;
             nav_data.geph = geph_data;
@@ -903,6 +904,15 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     i[0] = SPEED_OF_LIGHT / FREQ1;  // L1/E1
                     i[1] = SPEED_OF_LIGHT / FREQ2;  // L2
                     i[2] = SPEED_OF_LIGHT / FREQ5;  // L5/E5
+
+                    // Keep update on sat number
+                    sat++;
+                    if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
+                        {
+                            i[0] = SPEED_OF_LIGHT / FREQ1_BDS;  // B1I
+                            i[1] = SPEED_OF_LIGHT / FREQ3_BDS;  // B3I
+                            i[2] = SPEED_OF_LIGHT / FREQ5;      // L5/E5
+                        }
                 }
 
             result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc

@@ -26,7 +26,7 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
  *
  * -------------------------------------------------------------------------
  */
@@ -57,7 +57,6 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
     DLOG(INFO) << "role " << role;
 
     item_type_ = configuration_->property(role + ".item_type", default_item_type);
-
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     acq_parameters.fs_in = fs_in_;

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -43,12 +43,17 @@
 #include "rtklib_rtkcmn.h"
 #include <cmath>
 #include <cstdint>
+#include <string>
 
 obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band)
 {
+    // Get signal type info to adjust code type based on constellation
+    std::string sig_ = gnss_synchro.Signal;
+
     rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
     rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
     rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / PI_2;
+
     switch (band)
         {
         case 0:
@@ -86,6 +91,16 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
             break;
         case 'C':
             rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
+            // Update signal code
+            if (sig_ == "B1")
+                {
+                    rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2I);
+                }
+            else if (sig_ == "B3")
+                {
+                    rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6I);
+                }
+
             break;
 
         default:

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -210,7 +210,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                 }
         }
     /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
-    if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO)
+    if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS)
         {
             gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
         }
@@ -282,7 +282,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                                     PC = P2 + P1_P2 - ISCl5i;
                                 }
                         }
-                    else if (sys == SYS_GAL or sys == SYS_GLO)  // Gal. E5a single freq.
+                    else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS)  // Gal. E5a single freq.
                         {
                             P2 += P2_C2; /* C2->P2 */
                             PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
@@ -306,7 +306,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                             PC = P1 + P1_P2;
                         }
                 }
-            else if (sys == SYS_GAL or sys == SYS_GLO) /* E1 + E5a */
+            else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) /* E1 + E5a */
                 {
                     P1 += P1_C1;
                     P2 += P2_C2;

src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h

@@ -72,7 +72,11 @@ public:
         telemetry_decoder_->set_channel(channel);
     }
 
-    inline void reset() override { return; }
+    inline void reset() override
+    {
+        telemetry_decoder_->reset();
+        return;
+    }
 
     inline size_t item_size() override { return 0; }
 

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc

@@ -56,6 +56,7 @@ beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
         new beidou_b3i_telemetry_decoder_gs(satellite, dump));
 }
 
+
 beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
     const Gnss_Satellite &satellite, bool dump)
     : gr::block("beidou_b3i_telemetry_decoder_gs",
@@ -64,6 +65,9 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
 {
     // Ephemeris data port out
     this->message_port_register_out(pmt::mp("telemetry"));
+    // Control messages to tracking block
+    this->message_port_register_out(pmt::mp("telemetry_to_trk"));
+
     // initialize internal vars
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@@ -396,6 +400,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
         }
 }
 
+
 void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
 {
     d_channel = channel;

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h

@@ -60,7 +60,10 @@ public:
     ~beidou_b3i_telemetry_decoder_gs();                   //!< Class destructor
     void set_satellite(const Gnss_Satellite &satellite);  //!< Set satellite PRN
     void set_channel(int channel);                        //!< Set receiver's channel
-
+    inline void reset()
+    {
+        return;
+    }
     /*!
      * \brief This is where all signal processing takes place
      */

src/core/receiver/gnss_block_factory.cc

@@ -39,6 +39,12 @@
 #include "acquisition_interface.h"  // for AcquisitionInterface
 #include "array_signal_conditioner.h"
 #include "beamformer_filter.h"
+#include "beidou_b1i_dll_pll_tracking.h"
+#include "beidou_b1i_pcps_acquisition.h"
+#include "beidou_b1i_telemetry_decoder.h"
+#include "beidou_b3i_dll_pll_tracking.h"
+#include "beidou_b3i_pcps_acquisition.h"
+#include "beidou_b3i_telemetry_decoder.h"
 #include "byte_to_short.h"
 #include "channel.h"
 #include "configuration_interface.h"
@@ -66,12 +72,6 @@
 #include "glonass_l2_ca_dll_pll_tracking.h"
 #include "glonass_l2_ca_pcps_acquisition.h"
 #include "glonass_l2_ca_telemetry_decoder.h"
-#include "beidou_b1i_pcps_acquisition.h"
-#include "beidou_b1i_dll_pll_tracking.h"
-#include "beidou_b1i_telemetry_decoder.h"
-#include "beidou_b3i_pcps_acquisition.h"
-#include "beidou_b3i_dll_pll_tracking.h"
-#include "beidou_b3i_telemetry_decoder.h"
 #include "gnss_block_interface.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
@@ -1218,7 +1218,6 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                         queue);
                     channel_absolute_id++;
                 }
-
         }
     catch (const std::exception& e)
         {

src/tests/CMakeLists.txt

@@ -309,21 +309,41 @@ endif()
 
 if(ENABLE_UNIT_TESTING_EXTRA)
     add_definitions(-DEXTRA_TESTS)
-    if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat)
     message(STATUS "Downloading some data files for testing...")
+    if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat)
+      message(STATUS "Downloading file: gps_l2c_m_prn7_5msps.dat")
       file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/gps_l2c_m_prn7_5msps.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat
         SHOW_PROGRESS
-            EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9)
+        EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9
+      )
     endif()
     if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat)
-      message(STATUS "Downloading some data files for testing...")
+      message(STATUS "Downloading file: Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat")
       file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
         SHOW_PROGRESS
-            EXPECTED_HASH MD5=ffb72fc63c116be58d5e5ccb1daaed3a)
+        EXPECTED_HASH MD5=ffb72fc63c116be58d5e5ccb1daaed3a
+      )
     endif()
+    if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat)
+      message(STATUS "Downloading file: BdsB1IStr01_fs25e6_if0_4ms.dat")
+      file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/BdsB1IStr01_fs25e6_if0_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat
+        SHOW_PROGRESS
+        EXPECTED_HASH MD5=5a4336dad9d80f3313a16dec4fff9233
+      )
+    endif()
+    if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat)
+      message(STATUS "Downloading file: BdsB3IStr01_fs50e6_if0_4ms.dat")
+      file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/BdsB3IStr01_fs50e6_if0_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat
+        SHOW_PROGRESS
+        EXPECTED_HASH MD5=066d0d8434a8bc81e161778b7c34cc07
+      )
+    endif()
+    message(STATUS "Done.")
     if(ENABLE_INSTALL_TESTS)
       install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat DESTINATION share/gnss-sdr/signal_samples)
       install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
+      install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
+      install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
     endif()
 endif()
 

src/tests/test_main.cc

@@ -92,7 +92,6 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc"
 #include "unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc"
 // #include "unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc"
-// #include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc"
 
 #if OPENCL_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
@@ -127,6 +126,8 @@ DECLARE_string(log_dir);
 
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
+//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc"
+//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"

src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc

@@ -3,7 +3,7 @@
  * \brief  This class implements an acquisition test for
  * BeidouB1iPcpsAcquisition class based on some input parameters.
  * \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
- *
+ * \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -44,7 +44,6 @@
 #include <boost/filesystem.hpp>
 #include <boost/make_shared.hpp>
 #include <glog/logging.h>
-#include <gnuradio/analog/sig_source_c.h>
 #include <gnuradio/analog/sig_source_waveform.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/blocks/null_sink.h>
@@ -52,12 +51,18 @@
 #include <gnuradio/top_block.h>
 #include <gtest/gtest.h>
 #include <chrono>
+#include <utility>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
+#include <gnuradio/analog/sig_source_c.h>
+#endif
 
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class BeidouB1iPcpsAcquisitionTest_msg_rx;
 
-typedef boost::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx> BeidouB1iPcpsAcquisitionTest_msg_rx_sptr;
+using BeidouB1iPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx>;
 
 BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make();
 
@@ -84,7 +89,7 @@ void BeidouB1iPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
 {
     try
         {
-            long int message = pmt::to_long(msg);
+            int64_t message = pmt::to_long(std::move(msg));
             rx_message = message;
         }
     catch (boost::bad_any_cast &e)
@@ -103,9 +108,7 @@ BeidouB1iPcpsAcquisitionTest_msg_rx::BeidouB1iPcpsAcquisitionTest_msg_rx() : gr:
 }
 
 
-BeidouB1iPcpsAcquisitionTest_msg_rx::~BeidouB1iPcpsAcquisitionTest_msg_rx()
+BeidouB1iPcpsAcquisitionTest_msg_rx::~BeidouB1iPcpsAcquisitionTest_msg_rx() = default;
-{
-}
 
 
 // ###########################################################
@@ -123,9 +126,7 @@ protected:
         doppler_step = 100;
     }
 
-    ~BeidouB1iPcpsAcquisitionTest()
+    ~BeidouB1iPcpsAcquisitionTest() = default;
-    {
-    }
 
     void init();
     void plot_grid();
@@ -133,7 +134,7 @@ protected:
     gr::top_block_sptr top_block;
     std::shared_ptr<GNSSBlockFactory> factory;
     std::shared_ptr<InMemoryConfiguration> config;
-    Gnss_Synchro gnss_synchro;
+    Gnss_Synchro gnss_synchro{};
     size_t item_size;
     unsigned int doppler_max;
     unsigned int doppler_step;
@@ -159,8 +160,9 @@ void BeidouB1iPcpsAcquisitionTest::init()
         {
             config->set_property("Acquisition_B1.dump", "false");
         }
-    config->set_property("Acquisition_B1.dump_filename", "./tmp-acq-beidou1/acquisition");
+    config->set_property("Acquisition_B1.dump_filename", "./tmp-acq-bds-b1i/acquisition");
-    config->set_property("Acquisition_B1.threshold", "0.00001");
+    config->set_property("Acquisition_B1.dump_channel", "1");
+    config->set_property("Acquisition_B1.threshold", "0.0038");
     config->set_property("Acquisition_B1.doppler_max", std::to_string(doppler_max));
     config->set_property("Acquisition_B1.doppler_step", std::to_string(doppler_step));
     config->set_property("Acquisition_B1.repeat_satellite", "false");
@@ -171,13 +173,16 @@ void BeidouB1iPcpsAcquisitionTest::init()
 void BeidouB1iPcpsAcquisitionTest::plot_grid()
 {
     //load the measured values
-    std::string basename = "./tmp-acq-beidou1/acquisition_C_B1";
+    std::string basename = "./tmp-acq-bds-b1i/acquisition_C_B1";
-    unsigned int sat = static_cast<unsigned int>(gnss_synchro.PRN);
+    auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
 
-    unsigned int samples_per_code = static_cast<unsigned int>(round(4000000 / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));  // !!
+    auto samples_per_code = static_cast<unsigned int>(round(25000000 / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));  // !!
-    acquisition_dump_reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code);
+    Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
 
-    if (!acq_dump.read_binary_acq()) std::cout << "Error reading files" << std::endl;
+    if (!acq_dump.read_binary_acq())
+        {
+            std::cout << "Error reading files" << std::endl;
+        }
 
     std::vector<int> *doppler = &acq_dump.doppler;
     std::vector<unsigned int> *samples = &acq_dump.samples;
@@ -197,26 +202,33 @@ void BeidouB1iPcpsAcquisitionTest::plot_grid()
                 {
                     boost::filesystem::path p(gnuplot_executable);
                     boost::filesystem::path dir = p.parent_path();
-                    std::string gnuplot_path = dir.native();
+                    const std::string &gnuplot_path = dir.native();
                     Gnuplot::set_GNUPlotPath(gnuplot_path);
 
                     Gnuplot g1("lines");
-                    g1.set_title("BeiDou signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
+                    if (FLAGS_show_plots)
+                        {
+                            g1.showonscreen();  // window output
+                        }
+                    else
+                        {
+                            g1.disablescreen();
+                        }
+                    g1.set_title("BeiDou B1I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
                     g1.set_xlabel("Doppler [Hz]");
                     g1.set_ylabel("Sample");
                     //g1.cmd("set view 60, 105, 1, 1");
                     g1.plot_grid3d(*doppler, *samples, *mag);
 
-                    g1.savetops("BEIDOU_B1I_acq_grid");
+                    g1.savetops("BeiDou_B1I_acq_grid");
-                    g1.savetopdf("BEIDOU_BI1_acq_grid");
+                    g1.savetopdf("BeiDou_B1I_acq_grid");
-                    g1.showonscreen();
                 }
             catch (const GnuplotException &ge)
                 {
                     std::cout << ge.what() << std::endl;
                 }
         }
-    std::string data_str = "./tmp-acq-beidou1";
+    std::string data_str = "./tmp-acq-bds-b1i";
     if (boost::filesystem::exists(data_str))
         {
             boost::filesystem::remove_all(data_str);
@@ -234,7 +246,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, Instantiate)
 TEST_F(BeidouB1iPcpsAcquisitionTest, ConnectAndRun)
 {
     int fs_in = 25000000;
-    int nsamples = 4000;
+    int nsamples = 25000;
     std::chrono::time_point<std::chrono::system_clock> start, end;
     std::chrono::duration<double> elapsed_seconds(0);
     gr::msg_queue::sptr queue = gr::msg_queue::make(0);
@@ -270,14 +282,14 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
     std::chrono::duration<double> elapsed_seconds(0.0);
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 524;
+    double expected_delay_samples = 22216;
-    double expected_doppler_hz = 1680;
+    double expected_doppler_hz = 125;
 
     init();
 
     if (FLAGS_plot_acq_grid == true)
         {
-            std::string data_str = "./tmp-acq-beidou1";
+            std::string data_str = "./tmp-acq-bds-b1i";
             if (boost::filesystem::exists(data_str))
                 {
                     boost::filesystem::remove_all(data_str);
@@ -297,7 +309,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW({
-        acquisition->set_threshold(0.001);
+        acquisition->set_threshold(0.0038);
     }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW({
@@ -314,7 +326,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
 
     ASSERT_NO_THROW({
         std::string path = std::string(TEST_PATH);
-        std::string file = path + "signal_samples/BEIDOU_B1I_ID_1_Fs_4Msps_2ms.dat";
+        std::string file = path + "signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat";
         const char *file_name = file.c_str();
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
@@ -332,12 +344,12 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
         elapsed_seconds = end - start;
     }) << "Failure running the top_block.";
 
-    unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
+    uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
     std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = static_cast<float>(delay_error_samples * 1023 / 4000);
+    auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B1I_CODE_LENGTH_CHIPS / 25000);
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";

src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc

@@ -0,0 +1,361 @@
+/*!
+ * \file beidou_b3i_pcps_acquisition_test.cc
+ * \brief  This class implements an acquisition test for
+ * BeidouB3iPcpsAcquisition class based on some input parameters.
+  * \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "Beidou_B3I.h"
+#include "acquisition_dump_reader.h"
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "gnuplot_i.h"
+#include "beidou_b3i_pcps_acquisition.h"
+#include "in_memory_configuration.h"
+#include "test_flags.h"
+#include <boost/filesystem.hpp>
+#include <boost/make_shared.hpp>
+#include <glog/logging.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/top_block.h>
+#include <gtest/gtest.h>
+#include <chrono>
+#include <utility>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
+#include <gnuradio/analog/sig_source_c.h>
+#endif
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class BeidouB3iPcpsAcquisitionTest_msg_rx;
+
+using BeidouB3iPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx>;
+
+BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
+
+class BeidouB3iPcpsAcquisitionTest_msg_rx : public gr::block
+{
+private:
+    friend BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    BeidouB3iPcpsAcquisitionTest_msg_rx();
+
+public:
+    int rx_message;
+    ~BeidouB3iPcpsAcquisitionTest_msg_rx();  //!< Default destructor
+};
+
+
+BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make()
+{
+    return BeidouB3iPcpsAcquisitionTest_msg_rx_sptr(new BeidouB3iPcpsAcquisitionTest_msg_rx());
+}
+
+
+void BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+        {
+            int64_t message = pmt::to_long(std::move(msg));
+            rx_message = message;
+        }
+    catch (boost::bad_any_cast &e)
+        {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+        }
+}
+
+
+BeidouB3iPcpsAcquisitionTest_msg_rx::BeidouB3iPcpsAcquisitionTest_msg_rx() : gr::block("BeidouB3iPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+
+BeidouB3iPcpsAcquisitionTest_msg_rx::~BeidouB3iPcpsAcquisitionTest_msg_rx() = default;
+
+
+// ###########################################################
+
+class BeidouB3iPcpsAcquisitionTest : public ::testing::Test
+{
+protected:
+    BeidouB3iPcpsAcquisitionTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+        doppler_max = 5000;
+        doppler_step = 100;
+    }
+
+    ~BeidouB3iPcpsAcquisitionTest() = default;
+
+    void init();
+    void plot_grid();
+
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro{};
+    size_t item_size;
+    unsigned int doppler_max;
+    unsigned int doppler_step;
+};
+
+
+void BeidouB3iPcpsAcquisitionTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'C';
+    std::string signal = "B3";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_sps", "50000000");
+    config->set_property("Acquisition_B3.implementation", "BEIDOU_B3I_PCPS_Acquisition");
+    config->set_property("Acquisition_B3.item_type", "gr_complex");
+    config->set_property("Acquisition_B3.coherent_integration_time_ms", "1");
+    if (FLAGS_plot_acq_grid == true)
+        {
+            config->set_property("Acquisition_B3.dump", "true");
+        }
+    else
+        {
+            config->set_property("Acquisition_B3.dump", "false");
+        }
+    config->set_property("Acquisition_B3.dump_filename", "./tmp-acq-bds-b3i/acquisition");
+    config->set_property("Acquisition_B3.dump_channel", "1");
+    config->set_property("Acquisition_B3.threshold", "0.00001");
+    config->set_property("Acquisition_B3.doppler_max", std::to_string(doppler_max));
+    config->set_property("Acquisition_B3.doppler_step", std::to_string(doppler_step));
+    config->set_property("Acquisition_B3.repeat_satellite", "false");
+}
+
+
+void BeidouB3iPcpsAcquisitionTest::plot_grid()
+{
+    //load the measured values
+    std::string basename = "./tmp-acq-bds-b3i/acquisition_C_B3";
+    auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
+
+    auto samples_per_code = static_cast<unsigned int>(round(50000000 / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));  // !!
+    Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
+
+    if (!acq_dump.read_binary_acq())
+        {
+            std::cout << "Error reading files" << std::endl;
+        }
+
+    std::vector<int> *doppler = &acq_dump.doppler;
+    std::vector<unsigned int> *samples = &acq_dump.samples;
+    std::vector<std::vector<float> > *mag = &acq_dump.mag;
+
+    const std::string gnuplot_executable(FLAGS_gnuplot_executable);
+    if (gnuplot_executable.empty())
+        {
+            std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE," << std::endl;
+            std::cout << "gnuplot has not been found in your system." << std::endl;
+            std::cout << "Test results will not be plotted." << std::endl;
+        }
+    else
+        {
+            std::cout << "Plotting the acquisition grid. This can take a while..." << std::endl;
+            try
+                {
+                    boost::filesystem::path p(gnuplot_executable);
+                    boost::filesystem::path dir = p.parent_path();
+                    const std::string &gnuplot_path = dir.native();
+                    Gnuplot::set_GNUPlotPath(gnuplot_path);
+
+                    Gnuplot g1("lines");
+                    if (FLAGS_show_plots)
+                        {
+                            g1.showonscreen();  // window output
+                        }
+                    else
+                        {
+                            g1.disablescreen();
+                        }
+                    g1.set_title("BeiDou B3I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
+                    g1.set_xlabel("Doppler [Hz]");
+                    g1.set_ylabel("Sample");
+                    //g1.cmd("set view 60, 105, 1, 1");
+                    g1.plot_grid3d(*doppler, *samples, *mag);
+
+                    g1.savetops("BDS_B3I_acq_grid");
+                    g1.savetopdf("BDS_B3I_acq_grid");
+                }
+            catch (const GnuplotException &ge)
+                {
+                    std::cout << ge.what() << std::endl;
+                }
+        }
+    std::string data_str = "./tmp-acq-bds-b3i";
+    if (boost::filesystem::exists(data_str))
+        {
+            boost::filesystem::remove_all(data_str);
+        }
+}
+
+
+TEST_F(BeidouB3iPcpsAcquisitionTest, Instantiate)
+{
+    init();
+    boost::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
+}
+
+
+TEST_F(BeidouB3iPcpsAcquisitionTest, ConnectAndRun)
+{
+    int fs_in = 50000000;
+    int nsamples = 50000;
+    std::chrono::time_point<std::chrono::system_clock> start, end;
+    std::chrono::duration<double> elapsed_seconds(0);
+    gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+
+    top_block = gr::make_top_block("Acquisition test");
+    init();
+    boost::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
+    boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW({
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test.";
+
+    EXPECT_NO_THROW({
+        start = std::chrono::system_clock::now();
+        top_block->run();  // Start threads and wait
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - start;
+    }) << "Failure running the top_block.";
+
+    std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
+}
+
+
+TEST_F(BeidouB3iPcpsAcquisitionTest, ValidationOfResults)
+{
+    std::chrono::time_point<std::chrono::system_clock> start, end;
+    std::chrono::duration<double> elapsed_seconds(0.0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    double expected_delay_samples = 3380;
+    double expected_doppler_hz = 700;
+
+    init();
+
+    if (FLAGS_plot_acq_grid == true)
+        {
+            std::string data_str = "./tmp-acq-bds-b3i";
+            if (boost::filesystem::exists(data_str))
+                {
+                    boost::filesystem::remove_all(data_str);
+                }
+            boost::filesystem::create_directory(data_str);
+        }
+
+    std::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = std::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
+    boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW({
+        acquisition->set_channel(1);
+    }) << "Failure setting channel.";
+
+    ASSERT_NO_THROW({
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro.";
+
+    ASSERT_NO_THROW({
+        acquisition->set_threshold(0.0002);
+    }) << "Failure setting threshold.";
+
+    ASSERT_NO_THROW({
+        acquisition->set_doppler_max(doppler_max);
+    }) << "Failure setting doppler_max.";
+
+    ASSERT_NO_THROW({
+        acquisition->set_doppler_step(doppler_step);
+    }) << "Failure setting doppler_step.";
+
+    ASSERT_NO_THROW({
+        acquisition->connect(top_block);
+    }) << "Failure connecting acquisition to the top_block.";
+
+    ASSERT_NO_THROW({
+        std::string path = std::string(TEST_PATH);
+        std::string file = path + "signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat";
+        const char *file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test.";
+
+    acquisition->set_local_code();
+    acquisition->set_state(1);  // Ensure that acquisition starts at the first sample
+    acquisition->init();
+
+    EXPECT_NO_THROW({
+        start = std::chrono::system_clock::now();
+        top_block->run();  // Start threads and wait
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - start;
+    }) << "Failure running the top_block.";
+
+    uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
+    std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
+    ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+
+    double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
+    auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B3I_CODE_LENGTH_CHIPS / 50000);
+    double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+    EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
+    EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
+
+    if (FLAGS_plot_acq_grid == true)
+        {
+            plot_grid();
+        }
+}

src/utils/matlab/dll_pll_veml_plot_sample.m

@@ -36,7 +36,7 @@ end
 
 samplingFreq = 25000000;     %[Hz]
 coherent_integration_time_ms = 1; %[ms]
-channels = 10;   % Number of channels
+channels = 1;   % Number of channels
 first_channel = 0;  % Number of the first channel
 
 path = '/home/dmiralles/Documents/gnss-sdr/';  %% CHANGE THIS PATH

src/utils/matlab/plot_acq_grid.m

@@ -26,15 +26,12 @@
 % -------------------------------------------------------------------------
 %
 
-%%%%%%%%% ?????? CONFIGURE !!! %%%%%%%%%%%%%
+%% Configuration
-
+path = '/home/dmiralles/Documents/gnss-sdr/';
-path = '/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/';  %% CHANGE THIS PATH
+file = 'bds_acq';
-file = 'bds_b3i_acq';
+sat = 6;
-
-sat = 27;
-
 channel = 0;
-execution = 6;
+execution = 4;
 % Signal:
 %     1 GPS  L1
 %     2 GPS  L2M
@@ -42,17 +39,21 @@ execution = 6;
 %     4 Gal. E1B
 %     5 Gal. E5
 %     6 Glo. 1G
-%     7 BDS  B1
+%     7 Glo. 2G
+%     8 BDS. B1
+%     9 BDS. B3
+%    10 BDS. B2a
 
 signal_type = 8;
 
-%%% True for light acq_grid representation
+%%% True for light grid representation
 lite_view = true;
 
 %%% If lite_view, it sets the number of samples per chip in the graphical representation
 n_samples_per_chip = 3;
+d_samples_per_code = 25000;
 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% Load data
 
 switch(signal_type)
     case 1
@@ -80,45 +81,59 @@ switch(signal_type)
         system = 'R';
         signal = '1G';
     case 7
-        n_chips = 2046;
+        n_chips = 511;
+        system = 'R';
+        signal = '2G';
+    case 8
+        n_chips = 2048;
         system = 'C';
         signal = 'B1';
-    case 8
+    case 9
         n_chips = 10230;
         system = 'C';
         signal = 'B3';        
+    case 10
+        n_chips = 10230;
+        system = 'C';
+        signal = '5C';
 end
 filename = [path file '_' system '_' signal '_ch_' num2str(channel) '_' num2str(execution) '_sat_' num2str(sat) '.mat'];
 load(filename);
-[n_fft n_dop_bins] = size(acq_grid);
+[n_fft, n_dop_bins] = size(acq_grid);
-[d_max f_max] = find(acq_grid == max(max(acq_grid)));
+[d_max, f_max] = find(acq_grid == max(max(acq_grid)));
-freq = (0 : n_dop_bins - 1) * doppler_step - doppler_max;
+freq = (0 : n_dop_bins - 1) * double(doppler_step) - double(doppler_max);
 delay = (0 : n_fft - 1) / n_fft * n_chips;
+
+
+%% Plot data
+%--- Acquisition grid (3D)
 figure(1)
 if(lite_view == false)
     surf(freq, delay, acq_grid, 'FaceColor', 'interp', 'LineStyle', 'none')
     ylim([min(delay) max(delay)])
 else
     delay_interp = (0 : n_samples_per_chip * n_chips - 1) / n_samples_per_chip;
-    acq_grid_interp = spline(delay, acq_grid', delay_interp)';
+    grid_interp = spline(delay, acq_grid', delay_interp)';
-    surf(freq, delay_interp, acq_grid_interp, 'FaceColor', 'interp', 'LineStyle', 'none')
+    surf(freq, delay_interp, grid_interp, 'FaceColor', 'interp', 'LineStyle', 'none')
     ylim([min(delay_interp) max(delay_interp)])
 end
-xlabel('Doppler shift / Hz')
+xlabel('Doppler shift (Hz)')
 xlim([min(freq) max(freq)])
-ylabel('Code delay / chips')
+ylabel('Code delay (chips)')
-zlabel('Test statistics')
+zlabel('Test Statistics')
+
+%--- Acquisition grid (2D)
 figure(2)
 subplot(2,1,1)
 plot(freq, acq_grid(d_max, :))
 xlim([min(freq) max(freq)])
-xlabel('Doppler shift / Hz')
+xlabel('Doppler shift (Hz)')
 ylabel('Test statistics')
 title(['Fixed code delay to ' num2str((d_max - 1) / n_fft * n_chips) ' chips'])
 subplot(2,1,2)
 normalization = (d_samples_per_code^4) * input_power;
-plot(delay, acq_acq_grid(:, f_max)./normalization)
+plot(delay, acq_grid(:, f_max)./normalization)
 xlim([min(delay) max(delay)])
-xlabel('Code delay / chips')
+xlabel('Code delay (chips)')
 ylabel('Test statistics')
 title(['Doppler wipe-off = ' num2str((f_max - 1) * doppler_step - doppler_max) ' Hz'])