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Add mechanism for back-propagation of TOW from telemetry to tracking in GPS L1

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This commit is contained in:
Carles Fernandez
2025-10-27 14:41:10 +01:00
parent fad5f7079f
commit 1f097f76ef
5 changed files with 79 additions and 3 deletions
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10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
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@@ -24,6 +24,7 @@
#include "gps_iono.h" // for Gps_Iono
#include "gps_utc_model.h" // for Gps_Utc_Model
#include "tlm_utils.h"
#include "tow_to_trk.h"
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
@@ -695,6 +696,15 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
}
}
// SEND TOW TO THE TRACKING BLOCK
const std::shared_ptr<TOW_to_trk> tmp_tow_obj = std::make_shared<TOW_to_trk>(TOW_to_trk(
std::string("1C"),
d_channel,
d_TOW_at_current_symbol_ms,
current_symbol.Tracking_sample_counter,
d_nav.get_GPS_week(), d_nav.get_satellite_PRN()));
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(tmp_tow_obj));
// 3. Make the output (move the object contents to the GNU Radio reserved memory)
*out[0] = std::move(current_symbol);

16
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@@ -606,6 +606,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
d_last_timetag_samplecounter = 0;
d_timetag_waiting = false;
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
d_last_tow_received = std::make_shared<TOW_to_trk>();
}
@@ -623,7 +624,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
try
{
if (pmt::any_ref(msg).type().hash_code() == int_type_hash_code)
if (pmt::any_ref(msg).type().hash_code() == d_int_type_hash_code)
{
const int tlm_event = wht::any_cast<int>(pmt::any_ref(msg));
if (tlm_event == 1)
@@ -633,6 +634,14 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
d_carrier_lock_fail_counter = 200000; // force loss-of-lock condition
}
}
if (pmt::any_ref(msg).type().hash_code() == d_tow_to_trk_type_hash_code)
{
const auto tow_event = wht::any_cast<const std::shared_ptr<TOW_to_trk>>(pmt::any_ref(msg));
if (tow_event->signal == d_signal_type && tow_event->channel == static_cast<int32_t>(d_channel) && tow_event->prn == d_acquisition_gnss_synchro->PRN)
{
d_last_tow_received = tow_event;
}
}
}
catch (const wht::bad_any_cast &e)
{
@@ -2103,6 +2112,11 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
add_item_tag(0, this->nitems_written(0) + 1, tag.key, tag.value);
}
// Estimate TOW if received from telemetry
if (d_last_tow_received->prn == current_synchro_data.PRN) // ensure we have received async messages
{
// TODO: Estimate TOW from d_last_tow_received and store it in current_synchro_data.TOW_at_current_symbol_ms
}
*out[0] = std::move(current_synchro_data);
return 1;
}

7
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@@ -22,7 +22,8 @@
#include "dll_pll_conf.h"
#include "exponential_smoother.h"
#include "gnss_block_interface.h"
#include "gnss_time.h" // for timetags produced by File_Timestamp_Signal_Source
#include "gnss_time.h" // for timetags produced by File_Timestamp_Signal_Source
#include "tow_to_trk.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
@@ -112,7 +113,8 @@ private:
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
const size_t int_type_hash_code = typeid(int).hash_code();
const size_t d_int_type_hash_code = typeid(int).hash_code();
const size_t d_tow_to_trk_type_hash_code = typeid(std::shared_ptr<TOW_to_trk>).hash_code();
double d_signal_carrier_freq;
double d_code_period;
@@ -168,6 +170,7 @@ private:
// uint64_t d_sample_counter;
uint64_t d_acq_sample_stamp;
GnssTime d_last_timetag{};
std::shared_ptr<TOW_to_trk> d_last_tow_received;
uint64_t d_last_timetag_samplecounter;
bool d_timetag_waiting;

1
src/core/system_parameters/CMakeLists.txt
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@@ -96,6 +96,7 @@ set(SYSTEM_PARAMETERS_HEADERS
Galileo_OSNMA.h
osnma_data.h
osnma_dsm_reader.h
tow_to_trk.h
)
list(SORT SYSTEM_PARAMETERS_HEADERS)

48
src/core/system_parameters/tow_to_trk.h Normal file
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@@ -0,0 +1,48 @@
/*!
* \file tow_to_trk.h
* \brief Class to inform about TOW from Telemetry to Tracking blocks
* \author Carles Fernandez, 2025. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_TOW_TO_TRK_H
#define GNSS_SDR_TOW_TO_TRK_H
#include <cstdint>
#include <string>
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
* \{ */
class TOW_to_trk
{
public:
TOW_to_trk() = default;
// Constructor with all parameters
TOW_to_trk(const std::string& sig, int32_t ch, uint32_t t, uint64_t stamp, int32_t w, uint32_t p)
: signal(sig), channel(ch), tow(t), sample_stamp(stamp), wn(w), prn(p) {}
std::string signal;
int32_t channel{0};
uint32_t tow{0};
uint64_t sample_stamp{0};
int32_t wn{0};
uint32_t prn{0};
};
/** \} */
/** \} */
#endif // GNSS_SDR_TOW_TO_TRK_H