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Merge branch 'next' of github.com:gnss-sdr/gnss-sdr into release0021

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This commit is contained in:
Carles Fernandez
2026-04-13 12:35:16 +02:00
parent 189b7bba4e 5638cf6f3a
commit 21bba6b7b5
2 changed files with 75 additions and 12 deletions
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src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
+71 -12
View File
@@ -29,6 +29,7 @@
#include "tow_to_trk.h"
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <algorithm> // for min
#include <bitset> // for bitset
#include <cmath> // for round
#include <cstddef> // for size_t
@@ -66,6 +67,7 @@ namespace wht = boost;
namespace wht = std;
#endif
gps_l1_ca_telemetry_decoder_gs_sptr
gps_l1_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf, L1LnavSystem system)
{
@@ -94,6 +96,8 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
d_stat(0),
d_TOW_at_Preamble_ms(0),
d_TOW_at_current_symbol_ms(0),
d_last_decoded_tow_s(0),
d_last_decoded_tow_sample_counter(0),
d_flag_frame_sync(false),
d_flag_preamble(false),
d_sent_tlm_failed_msg(false),
@@ -104,7 +108,8 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
d_remove_dat(conf.remove_dat),
d_enable_navdata_monitor(conf.enable_navdata_monitor),
d_dump_crc_stats(conf.dump_crc_stats),
d_tow_to_trk(conf.tow_to_trk)
d_tow_to_trk(conf.tow_to_trk),
d_have_last_decoded_tow(false)
{
configure_basic_outputs();
@@ -358,6 +363,17 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
const int32_t subframe_ID = d_nav->subframe_decoder(subframe.data()); // decode the subframe
if (subframe_ID > 0 && subframe_ID < 6)
{
const auto decoded_tow_s = static_cast<uint32_t>(d_nav->get_TOW());
const bool is_tow_consistent_result = is_tow_consistent(decoded_tow_s);
bool received_subframe_ok = false;
if (!is_tow_consistent_result)
{
LOG(INFO) << "Rejected " << ((d_system == L1LnavSystem::GPS) ? "GPS" : "QZSS")
<< " L1 NAV subframe in channel " << d_channel
<< " due to inconsistent TOW. Decoded TOW=" << decoded_tow_s
<< " s at d_sample_counter=" << d_sample_counter;
return false;
}
switch (subframe_ID)
{
case 1:
@@ -366,8 +382,8 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
// get ephemeris object for this SV (mandatory)
const std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_nav->get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
break;
case 2:
if (d_nav->satellite_validation() == true)
@@ -375,8 +391,8 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
// get ephemeris object for this SV (mandatory)
const std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_nav->get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
break;
case 3: // we have a new set of ephemeris data for the current SV
if (d_nav->satellite_validation() == true)
@@ -384,6 +400,7 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
// get ephemeris object for this SV (mandatory)
const std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_nav->get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
@@ -391,16 +408,19 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
{
const std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(d_nav->get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
if (d_nav->get_flag_utc_model_valid() == true)
{
const std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_nav->get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
if (d_nav->almanac_validation() == true)
{
const std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(d_nav->get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
break;
case 5:
@@ -408,35 +428,74 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_inver
{
const std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(d_nav->get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
received_subframe_ok = true;
}
break;
default:
break;
}
if (received_subframe_ok)
{
#if __cplusplus == 201103L
const int default_precision = std::cout.precision();
const int default_precision = std::cout.precision();
#else
const auto default_precision{std::cout.precision()};
const auto default_precision{std::cout.precision()};
#endif
std::cout << "New " << ((d_system == L1LnavSystem::GPS) ? "GPS" : "QZSS") << " NAV message received in channel " << this->d_channel << ": "
<< "subframe "
<< subframe_ID << " from satellite "
<< Gnss_Satellite(std::string((d_system == L1LnavSystem::GPS) ? "GPS" : "QZSS"), d_nav->get_satellite_PRN())
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
return true;
std::cout << "New " << ((d_system == L1LnavSystem::GPS) ? "GPS" : "QZSS") << " NAV message received in channel " << this->d_channel << ": "
<< "subframe "
<< subframe_ID << " from satellite "
<< Gnss_Satellite(std::string((d_system == L1LnavSystem::GPS) ? "GPS" : "QZSS"), d_nav->get_satellite_PRN())
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
return true;
}
}
}
return false;
}
bool gps_l1_ca_telemetry_decoder_gs::is_tow_consistent(uint32_t decoded_tow_s)
{
const uint32_t GPS_WEEK_SECONDS = 604800U;
const uint32_t GPS_L1_CA_SYMBOL_RATE_HZ = 50U;
const uint32_t TOW_CONTINUITY_TOLERANCE_S = 2U;
if (!d_have_last_decoded_tow)
{
d_last_decoded_tow_s = decoded_tow_s;
d_last_decoded_tow_sample_counter = d_sample_counter;
d_have_last_decoded_tow = true;
return true;
}
const uint64_t elapsed_samples = d_sample_counter - d_last_decoded_tow_sample_counter;
const auto elapsed_time_s = static_cast<uint32_t>(std::llround(static_cast<double>(elapsed_samples) / static_cast<double>(GPS_L1_CA_SYMBOL_RATE_HZ)));
const uint32_t expected_tow_s = (d_last_decoded_tow_s + elapsed_time_s) % GPS_WEEK_SECONDS;
const uint32_t forward_error_s = (decoded_tow_s + GPS_WEEK_SECONDS - expected_tow_s) % GPS_WEEK_SECONDS;
const uint32_t reverse_error_s = (expected_tow_s + GPS_WEEK_SECONDS - decoded_tow_s) % GPS_WEEK_SECONDS;
const uint32_t tow_error_s = std::min(forward_error_s, reverse_error_s);
if (tow_error_s > TOW_CONTINUITY_TOLERANCE_S)
{
d_have_last_decoded_tow = false;
return false;
}
d_last_decoded_tow_s = decoded_tow_s;
d_last_decoded_tow_sample_counter = d_sample_counter;
return true;
}
void gps_l1_ca_telemetry_decoder_gs::reset()
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
d_flag_TOW_set = false;
d_have_last_decoded_tow = false;
d_last_decoded_tow_s = 0;
d_last_decoded_tow_sample_counter = 0;
d_symbol_history.clear();
d_stat = 0;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.h
+4
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@@ -82,6 +82,7 @@ private:
bool is_PLL_180_deg_phase_locked();
bool gps_word_parityCheck(uint32_t gpsword);
bool decode_subframe(double cn0, bool flag_invert);
bool is_tow_consistent(uint32_t decoded_tow_s);
L1LnavSystem d_system;
std::unique_ptr<Gps_Navigation_Message> d_nav;
@@ -112,6 +113,8 @@ private:
uint32_t d_stat;
uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms;
uint32_t d_last_decoded_tow_s;
uint64_t d_last_decoded_tow_sample_counter;
bool d_flag_frame_sync;
bool d_flag_preamble;
@@ -124,6 +127,7 @@ private:
bool d_enable_navdata_monitor;
bool d_dump_crc_stats;
bool d_tow_to_trk;
bool d_have_last_decoded_tow;
};