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Replacing PLL/DLL fixed order loop filters with DLL/PLL/FLL order-configurable filters. Adding PLL false lock protection by using telemetry validation flag

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This commit is contained in:
Javier Arribas 2019-03-18 16:28:49 +01:00
parent 5f8360b3f1
commit 28786d5393
33 changed files with 314 additions and 84 deletions
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3
src/algorithms/channel/adapters/channel.cc
View File

@ -106,6 +106,7 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
channel_fsm_->set_acquisition(acq_);
channel_fsm_->set_tracking(trk_);
channel_fsm_->set_telemetry(nav_);
channel_fsm_->set_channel(channel_);
channel_fsm_->set_queue(queue_);
@ -129,6 +130,8 @@ void Channel::connect(gr::top_block_sptr top_block)
//Synchronous ports
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
// Message ports
top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports

7
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -157,7 +157,11 @@ void ChannelFsm::set_tracking(std::shared_ptr<TrackingInterface> tracking)
trk_ = std::move(tracking);
}
void ChannelFsm::set_telemetry(std::shared_ptr<TelemetryDecoderInterface> telemetry)
{
std::lock_guard<std::mutex> lk(mx);
nav_ = std::move(telemetry);
}
void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
{
std::lock_guard<std::mutex> lk(mx);
@ -186,6 +190,7 @@ void ChannelFsm::stop_tracking()
void ChannelFsm::start_acquisition()
{
acq_->reset();
nav_->reset();
}

5
src/algorithms/channel/libs/channel_fsm.h
View File

@ -33,6 +33,7 @@
#define GNSS_SDR_CHANNEL_FSM_H
#include "acquisition_interface.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <gnuradio/msg_queue.h>
#include <cstdint>
@ -51,6 +52,7 @@ public:
void set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition);
void set_tracking(std::shared_ptr<TrackingInterface> tracking);
void set_telemetry(std::shared_ptr<TelemetryDecoderInterface> telemetry);
void set_queue(gr::msg_queue::sptr queue);
void set_channel(uint32_t channel);
@ -72,10 +74,11 @@ private:
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
std::shared_ptr<TelemetryDecoderInterface> nav_;
gr::msg_queue::sptr queue_;
uint32_t channel_;
uint32_t d_state;
std::mutex mx;
};
#endif // GNSS_SDR_CHANNEL_FSM_H
#endif // GNSS_SDR_CHANNEL_FSM_H

2
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h
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@ -74,9 +74,9 @@ public:
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}

1
src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h
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@ -80,6 +80,7 @@ public:
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}

1
src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h
View File

@ -81,6 +81,7 @@ public:
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}

3
src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
View File

@ -71,8 +71,9 @@ public:
gr::basic_block_sptr get_right_block() override;
void set_satellite(const Gnss_Satellite& satellite) override;
void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
void reset() override
inline void reset() override
{
telemetry_decoder_->reset();
return;
}
size_t item_size() override

5
src/algorithms/telemetry_decoder/adapters/glonass_l2_ca_telemetry_decoder.h
View File

@ -33,8 +33,8 @@
#ifndef GNSS_SDR_GLONASS_L2_CA_TELEMETRY_DECODER_H_
#define GNSS_SDR_GLONASS_L2_CA_TELEMETRY_DECODER_H_
#include "gnss_satellite.h" // for Gnss_Satellite
#include "glonass_l2_ca_telemetry_decoder_gs.h"
#include "gnss_satellite.h" // for Gnss_Satellite
#include "telemetry_decoder_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
@ -70,8 +70,9 @@ public:
gr::basic_block_sptr get_right_block() override;
void set_satellite(const Gnss_Satellite& satellite) override;
void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
void reset() override
inline void reset() override
{
telemetry_decoder_->reset();
return;
}
size_t item_size() override

2
src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.h
View File

@ -73,9 +73,9 @@ public:
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}

2
src/algorithms/telemetry_decoder/adapters/gps_l2c_telemetry_decoder.h
View File

@ -73,9 +73,9 @@ public:
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}
inline size_t item_size() override

2
src/algorithms/telemetry_decoder/adapters/gps_l5_telemetry_decoder.h
View File

@ -75,9 +75,9 @@ public:
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}
inline size_t item_size() override

2
src/algorithms/telemetry_decoder/adapters/sbas_l1_telemetry_decoder.h
View File

@ -77,9 +77,9 @@ public:
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
telemetry_decoder_->reset();
return;
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -65,6 +65,8 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_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());

5
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -62,7 +62,10 @@ public:
~beidou_b1i_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
*/

32
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -68,6 +68,12 @@ galileo_telemetry_decoder_gs::galileo_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"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -91,6 +97,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 10; //rise alarm 10 seconds without valid tlm
break;
}
case 2: // FNAV
@ -119,6 +127,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_secondary_code_samples[i] = -1;
}
}
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 10; //rise alarm 10 seconds without valid tlm
break;
}
default:
@ -133,6 +142,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = 0U;
CodeLength = 0;
DataLength = 0;
d_max_symbols_without_valid_frame = 0;
std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
}
@ -431,12 +441,21 @@ void galileo_telemetry_decoder_gs::decode_FNAV_word(double *page_symbols, int32_
void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
{
gr::thread::scoped_lock lock(d_setlock);
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void galileo_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
void galileo_telemetry_decoder_gs::set_channel(int32_t channel)
{
d_channel = channel;
@ -478,10 +497,20 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
current_symbol = in[0][0];
// add new symbol to the symbol queue
d_symbol_history.push_back(current_symbol.Prompt_I);
d_sample_counter++; // count for the processed samples
d_sample_counter++; // count for the processed symbols
consume_each(1);
d_flag_preamble = false;
// check if there is a problem with the telemetry of the current satellite
if (d_stat < 1 and d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}
}
if (d_symbol_history.size() > d_required_symbols)
{
// ******* preamble correlation ********
@ -604,6 +633,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
d_last_valid_preamble = d_sample_counter;
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;

5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -59,6 +59,7 @@ public:
~galileo_telemetry_decoder_gs();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
void reset();
int32_t flag_even_word_arrived;
/*!
@ -95,6 +96,10 @@ private:
uint64_t d_sample_counter;
uint64_t d_preamble_index;
uint64_t d_last_valid_preamble;
uint32_t d_max_symbols_without_valid_frame;
bool d_sent_tlm_failed_msg;
uint32_t d_stat;
bool d_flag_frame_sync;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@ -62,6 +62,8 @@ glonass_l1_ca_telemetry_decoder_gs::glonass_l1_ca_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());

5
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.h
View File

@ -64,7 +64,10 @@ public:
~glonass_l1_ca_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
inline void reset()
{
return;
}
/*!
* \brief This is where all signal processing takes place
*/

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -62,6 +62,8 @@ glonass_l2_ca_telemetry_decoder_gs::glonass_l2_ca_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());

5
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.h
View File

@ -62,7 +62,10 @@ public:
~glonass_l2_ca_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
inline void reset()
{
return;
}
/*!
* \brief This is where all signal processing takes place
*/

27
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -64,6 +64,12 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_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"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT * 5; //rise alarm if 5 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -103,6 +109,7 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
d_symbol_history.set_capacity(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
d_crc_error_synchronization_counter = 0;
d_current_subframe_symbol = 0;
d_sample_counter = 0;
}
@ -317,6 +324,12 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
return subframe_synchro_confirmation;
}
void gps_l1_ca_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
@ -342,6 +355,19 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
d_flag_preamble = false;
// check if there is a problem with the telemetry of the current satellite
d_sample_counter++; // count for the processed symbols
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}
}
// ******* preamble correlation ********
int32_t corr_value = 0;
if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS))
@ -442,6 +468,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.d_TOW * 1000.0);
flag_TOW_set = true;
d_flag_new_tow_available = false;
d_last_valid_preamble = d_sample_counter;
}
else
{

8
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.h
View File

@ -33,8 +33,8 @@
#include "GPS_L1_CA.h"
#include "gnss_satellite.h"
#include "gps_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_navigation_message.h"
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
@ -61,7 +61,7 @@ public:
~gps_l1_ca_telemetry_decoder_gs();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
void reset();
/*!
* \brief This is where all signal processing takes place
*/
@ -79,6 +79,10 @@ private:
bool decode_subframe();
bool new_decoder();
int d_crc_error_synchronization_counter;
uint64_t d_sample_counter;
bool d_sent_tlm_failed_msg;
uint64_t d_last_valid_preamble;
uint32_t d_max_symbols_without_valid_frame;
int *d_preambles_symbols;
uint32_t d_stat;

29
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_gs.cc
View File

@ -62,6 +62,13 @@ gps_l2c_telemetry_decoder_gs::gps_l2c_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"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L2_CNAV_DATA_PAGE_BITS * GPS_L2_SYMBOLS_PER_BIT * 5; //rise alarm if 5 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -76,6 +83,8 @@ gps_l2c_telemetry_decoder_gs::gps_l2c_telemetry_decoder_gs(
// initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder);
d_sample_counter = 0;
}
@ -130,6 +139,13 @@ void gps_l2c_telemetry_decoder_gs::set_channel(int channel)
}
void gps_l2c_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
int gps_l2c_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
@ -147,6 +163,18 @@ int gps_l2c_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
consume_each(1); // one by one
// check if there is a problem with the telemetry of the current satellite
d_sample_counter++; // count for the processed symbols
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}
}
// UPDATE GNSS SYNCHRO DATA
Gnss_Synchro current_synchro_data{}; // structure to save the synchronization information and send the output object to the next block
@ -190,6 +218,7 @@ int gps_l2c_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// update TOW at the preamble instant
d_TOW_at_Preamble = static_cast<double>(msg.tow);
d_last_valid_preamble = d_sample_counter;
// The time of the last input symbol can be computed from the message ToW and
// delay by the formulae:
// \code

9
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_gs.h
View File

@ -41,8 +41,7 @@
#include <fstream>
#include <string>
extern "C"
{
extern "C" {
#include "cnav_msg.h"
}
@ -64,7 +63,7 @@ public:
~gps_l2c_telemetry_decoder_gs();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
void reset();
/*!
* \brief This is where all signal processing takes place
*/
@ -87,6 +86,10 @@ private:
int32_t d_state;
int32_t d_crc_error_count;
uint64_t d_sample_counter;
bool d_sent_tlm_failed_msg;
uint64_t d_last_valid_preamble;
uint32_t d_max_symbols_without_valid_frame;
double d_TOW_at_current_symbol;
double d_TOW_at_Preamble;

28
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
View File

@ -60,6 +60,12 @@ gps_l5_telemetry_decoder_gs::gps_l5_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"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 5; //rise alarm if 5 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -85,6 +91,8 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
}
sync_NH = false;
new_sym = false;
d_sample_counter = 0;
}
@ -140,6 +148,13 @@ void gps_l5_telemetry_decoder_gs::set_channel(int32_t channel)
}
}
void gps_l5_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
@ -157,6 +172,18 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
int32_t corr_NH = 0;
int32_t symbol_value = 0;
// check if there is a problem with the telemetry of the current satellite
d_sample_counter++; // count for the processed symbols
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}
}
// Search correlation with Neuman-Hofman Code (see IS-GPS-705D)
if (sym_hist.size() == GPS_L5I_NH_CODE_LENGTH)
{
@ -240,6 +267,7 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
// update TOW at the preamble instant
d_TOW_at_Preamble_ms = msg.tow * 6000;
d_last_valid_preamble = d_sample_counter;
// The time of the last input symbol can be computed from the message ToW and
// delay by the formulae:
// \code

8
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.h
View File

@ -42,8 +42,7 @@
#include <fstream>
#include <string>
extern "C"
{
extern "C" {
#include "cnav_msg.h"
}
@ -65,6 +64,7 @@ public:
~gps_l5_telemetry_decoder_gs();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
void reset();
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
@ -85,6 +85,10 @@ private:
uint32_t d_TOW_at_current_symbol_ms;
uint32_t d_TOW_at_Preamble_ms;
bool d_flag_valid_word;
uint64_t d_sample_counter;
bool d_sent_tlm_failed_msg;
uint64_t d_last_valid_preamble;
uint32_t d_max_symbols_without_valid_frame;
Gps_CNAV_Navigation_Message d_CNAV_Message;
float bits_NH[GPS_L5I_NH_CODE_LENGTH]{};

2
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
View File

@ -60,6 +60,8 @@ sbas_l1_telemetry_decoder_gs::sbas_l1_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());

5
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.h
View File

@ -63,7 +63,10 @@ public:
~sbas_l1_telemetry_decoder_gs();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int32_t channel); //!< Set receiver's channel
inline void reset()
{
return;
}
/*!
* \brief This is where all signal processing takes place
*/

139
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -45,7 +45,6 @@
#include "beidou_b1i_signal_processing.h"
#include "galileo_e1_signal_processing.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_satellite.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
@ -62,11 +61,9 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for fill_n
#include <cmath> // for fmod, round, floor
#include <complex> // for complex
#include <cstdlib> // for abs, size_t
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <map> // for map
#include <map>
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_)
@ -84,7 +81,36 @@ void dll_pll_veml_tracking::forecast(int noutput_items,
}
}
void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
try
{
if (pmt::any_ref(msg).type() == typeid(int))
{
int tlm_event;
tlm_event = boost::any_cast<int>(pmt::any_ref(msg));
switch (tlm_event)
{
case 1: //tlm fault in current channel
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 10000; //force loss-of-lock condition
break;
}
default:
{
break;
}
}
}
}
catch (boost::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_telemetry_to_trk Bad any cast!";
}
}
dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
@ -93,12 +119,14 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
this->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0 / static_cast<double>(trk_parameters.vector_length));
// Telemetry bit synchronization message port input (mainly for GPS L1 CA)
this->message_port_register_in(pmt::mp("preamble_samplestamp"));
// Telemetry message port input
this->message_port_register_in(pmt::mp("telemetry_to_trk"));
this->set_msg_handler(pmt::mp("telemetry_to_trk"), boost::bind(&dll_pll_veml_tracking::msg_handler_telemetry_to_trk, this, _1));
// initialize internal vars
d_veml = false;
d_cloop = true;
d_pull_in_transitory = true;
d_code_chip_rate = 0.0;
d_secondary_code_length = 0U;
d_secondary_code_string = nullptr;
@ -332,10 +360,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
K_blk_samples = 0.0;
// Initialize tracking ==========================================
d_code_loop_filter = Tracking_2nd_DLL_filter(static_cast<float>(d_code_period));
d_carrier_loop_filter = Tracking_2nd_PLL_filter(static_cast<float>(d_code_period));
d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
d_code_loop_filter = Tracking_loop_filter(d_code_period, trk_parameters.dll_bw_hz, trk_parameters.dll_filter_order, false);
d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
// Initialization of local code replica
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
@ -446,7 +472,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_carrier_phase_step_rad = 0.0;
d_carrier_phase_rate_step_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby
clear_tracking_vars();
if (trk_parameters.smoother_length > 0)
@ -513,8 +538,8 @@ void dll_pll_veml_tracking::start_tracking()
d_carr_ph_history.clear();
d_code_ph_history.clear();
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code 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
if (systemName == "GPS" and signal_type == "1C")
{
@ -642,10 +667,10 @@ void dll_pll_veml_tracking::start_tracking()
d_local_code_shift_chips[2] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
}
d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
d_carrier_loop_filter.set_pdi(static_cast<float>(d_code_period));
d_code_loop_filter.set_pdi(static_cast<float>(d_code_period));
d_current_correlation_time_s = d_code_period;
d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_hz);
d_code_loop_filter.set_update_interval(d_code_period);
// DEBUG OUTPUT
std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
@ -654,8 +679,8 @@ void dll_pll_veml_tracking::start_tracking()
// enable tracking pull-in
d_state = 1;
d_cloop = true;
d_pull_in_transitory = true;
d_Prompt_circular_buffer.clear();
d_last_prompt = gr_complex(0.0, 0.0);
}
@ -764,15 +789,18 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
if (!d_pull_in_transitory)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
{
d_carrier_lock_fail_counter--;
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0)
{
d_carrier_lock_fail_counter--;
}
}
}
if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail)
@ -827,20 +855,43 @@ void dll_pll_veml_tracking::run_dll_pll()
if (d_cloop)
{
// Costas loop discriminator, insensitive to 180 deg phase transitions
d_carr_error_hz = pll_cloop_two_quadrant_atan(d_P_accu) / PI_2;
d_carr_phase_error_hz = pll_cloop_two_quadrant_atan(d_P_accu) / PI_2;
}
else
{
// Secondary code acquired. No symbols transition should be present in the signal
d_carr_error_hz = pll_four_quadrant_atan(d_P_accu) / PI_2;
d_carr_phase_error_hz = pll_four_quadrant_atan(d_P_accu) / PI_2;
}
if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true) or trk_parameters.enable_fll_steady_state)
{
// FLL discriminator
d_carr_freq_error_hz = fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / GPS_TWO_PI;
d_P_accu_old = d_P_accu;
//std::cout << "d_carr_freq_error_hz: " << d_carr_freq_error_hz << std::endl;
// Carrier discriminator filter
if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true))
{
//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);
}
else
{
//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);
}
}
else
{
// 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);
}
// Carrier discriminator filter
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(d_carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_carr_error_filt_hz;
d_carrier_doppler_hz = d_carr_error_filt_hz;
// std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << std::endl;
// std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << std::endl;
// ################## DLL ##########################################################
// DLL discriminator
if (d_veml)
@ -852,7 +903,7 @@ void dll_pll_veml_tracking::run_dll_pll()
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu); // [chips/Ti]
}
// Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips); // [chips/second]
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
// New code Doppler frequency estimation
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
@ -866,13 +917,14 @@ void dll_pll_veml_tracking::clear_tracking_vars()
{
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
}
d_carr_error_hz = 0.0;
d_P_accu_old = gr_complex(0.0, 0.0);
d_carr_phase_error_hz = 0.0;
d_carr_freq_error_hz = 0.0;
d_carr_error_filt_hz = 0.0;
d_code_error_chips = 0.0;
d_code_error_filt_chips = 0.0;
d_current_symbol = 0;
d_Prompt_circular_buffer.clear();
d_last_prompt = gr_complex(0.0, 0.0);
d_carrier_phase_rate_step_rad = 0.0;
d_code_phase_rate_step_chips = 0.0;
d_carr_ph_history.clear();
@ -1104,7 +1156,7 @@ void dll_pll_veml_tracking::log_data(bool integrating)
tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
tmp_float = d_carr_error_hz;
tmp_float = d_carr_phase_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carr_error_filt_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@ -1434,6 +1486,13 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
Gnss_Synchro current_synchro_data = Gnss_Synchro();
if (d_pull_in_transitory == true)
{
if (trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
d_pull_in_transitory = false;
}
}
switch (d_state)
{
case 0: // Standby - Consume samples at full throttle, do nothing
@ -1609,7 +1668,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_P_accu = gr_complex(0.0, 0.0);
d_L_accu = gr_complex(0.0, 0.0);
d_VL_accu = gr_complex(0.0, 0.0);
d_last_prompt = gr_complex(0.0, 0.0);
d_Prompt_circular_buffer.clear();
d_current_symbol = 0;
@ -1617,9 +1675,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
float new_correlation_time = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
d_carrier_loop_filter.set_pdi(new_correlation_time);
d_code_loop_filter.set_pdi(new_correlation_time);
d_current_correlation_time_s = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
@ -1628,8 +1684,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips]
d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_narrow_hz);
d_code_loop_filter.set_update_interval(d_current_correlation_time_s);
d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_narrow_hz, trk_parameters.pll_filter_order);
if (d_veml)
{
d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);

21
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -34,8 +34,8 @@
#include "cpu_multicorrelator_real_codes.h"
#include "dll_pll_conf.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
@ -44,10 +44,8 @@
#include <pmt/pmt.h> // for pmt_t
#include <cstdint> // for int32_t
#include <fstream> // for string, ofstream
#include <string> // for string
#include <utility> // for pair
class Gnss_Synchro;
class dll_pll_veml_tracking;
@ -75,9 +73,8 @@ public:
private:
friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_);
void msg_handler_telemetry_to_trk(const pmt::pmt_t &msg);
dll_pll_veml_tracking(const Dll_Pll_Conf &conf_);
void msg_handler_preamble_index(pmt::pmt_t msg);
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
bool acquire_secondary();
@ -147,9 +144,9 @@ private:
gr_complex d_VE_accu;
gr_complex d_E_accu;
gr_complex d_P_accu;
gr_complex d_P_accu_old;
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_last_prompt;
gr_complex *d_Prompt_Data;
@ -163,16 +160,18 @@ private:
double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
Tracking_loop_filter d_code_loop_filter;
Tracking_FLL_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// tracking vars
double d_carr_error_hz;
bool d_pull_in_transitory;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;
double d_carr_error_filt_hz;
double d_code_error_chips;
double d_code_error_filt_chips;

7
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -43,6 +43,13 @@ Dll_Pll_Conf::Dll_Pll_Conf()
dump = false;
dump_mat = true;
dump_filename = std::string("./dll_pll_dump.dat");
enable_fll_pull_in = false;
enable_fll_steady_state = false;
pull_in_time_s = 2;
fll_filter_order = 1;
pll_filter_order = 3;
dll_filter_order = 2;
fll_bw_hz = 35.0;
pll_pull_in_bw_hz = 50.0;
dll_pull_in_bw_hz = 3.0;
pll_bw_hz = 35.0;

9
src/algorithms/tracking/libs/dll_pll_conf.h
View File

@ -40,6 +40,14 @@ class Dll_Pll_Conf
{
public:
/* DLL/PLL tracking configuration */
int fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s;
int pll_filter_order;
int dll_filter_order;
double fs_in;
uint32_t vector_length;
bool dump;
@ -47,6 +55,7 @@ public:
std::string dump_filename;
float pll_pull_in_bw_hz;
float dll_pull_in_bw_hz;
float fll_bw_hz;
float pll_bw_hz;
float dll_bw_hz;
float pll_bw_narrow_hz;

13
src/core/receiver/gnss_flowgraph.cc
View File

@ -215,7 +215,7 @@ void GNSSFlowgraph::connect()
}
DLOG(INFO) << "blocks connected internally";
// Signal Source (i) > Signal conditioner (i) >
// Signal Source (i) > Signal conditioner (i) >
#ifndef ENABLE_FPGA
@ -469,9 +469,6 @@ void GNSSFlowgraph::connect()
top_block_->connect(acq_resamplers_.at(map_key), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
@ -482,8 +479,6 @@ void GNSSFlowgraph::connect()
//resampler not required!
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
}
else
@ -491,17 +486,15 @@ void GNSSFlowgraph::connect()
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
}
else
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
catch (const std::exception& e)
{