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

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This commit is contained in:
Carles Fernandez 2019-09-19 18:30:56 +02:00
commit 28c984e0a4
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GPG Key ID: 4C583C52B0C3877D
6 changed files with 73 additions and 15 deletions
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1
cmake/Modules/FindLOG4CPP.cmake
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@ -69,6 +69,7 @@ find_library(LOG4CPP_LIBRARY
${PC_LOG4CPP_LIBDIR}
${CMAKE_INSTALL_PREFIX}/lib/
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf

1
docs/changelog
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@ -14,6 +14,7 @@
- New Tracking parameters allow the configuration of the C/N0 and lock detector smoothers, as well as the activation of the FLL in pull-in and steady state stages.
- New PVT parameter enable_rx_clock_correction parameter allows to enable or disable the application of the Time solution correction to the computation of Observables.
- Fixed L5 and E5a receiver chains when tracking the data component.
### Improvements in Interoperability:

19
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -114,6 +114,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_data_secondary_code_length = 0U;
d_data_secondary_code_string = nullptr;
d_preamble_length_symbols = 0;
interchange_iq = false;
signal_type = std::string(trk_parameters.signal);
std::map<std::string, std::string> map_signal_pretty_name;
@ -192,6 +193,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = true;
}
}
else
@ -260,6 +262,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = true;
}
}
else
@ -1767,8 +1770,16 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@ -1808,8 +1819,16 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;

1
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@ -178,6 +178,7 @@ private:
// tracking vars
bool d_pull_in_transitory;
bool d_corrected_doppler;
bool interchange_iq;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;

41
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
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@ -54,7 +54,7 @@
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for fill_n
#include <cmath> // for fmod, round, floor, fabs
#include <cmath> // for fmod, round, floor
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <map>
@ -106,6 +106,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_data_secondary_code_length = 0U;
d_data_secondary_code_string = nullptr;
signal_type = std::string(trk_parameters.signal);
interchange_iq = false;
std::map<std::string, std::string> map_signal_pretty_name;
map_signal_pretty_name["1C"] = "L1 C/A";
@ -191,6 +192,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = true;
}
}
else
@ -262,6 +264,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = true;
}
}
else
@ -607,7 +610,7 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
d_Prompt_buffer[d_cn0_estimation_counter % trk_parameters.cn0_samples] = d_P_accu;
d_cn0_estimation_counter++;
// Code lock indicator
float d_CN0_SNV_dB_Hz_raw = cn0_mm_estimator(d_Prompt_buffer.data(), trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer.data(), trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer.data(), 1));
@ -746,7 +749,7 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
if (d_dll_filt_history.full())
{
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0) / static_cast<float>(d_dll_filt_history.capacity());
if (std::fabs(avg_code_error_chips_s) > 1.0)
if (fabs(avg_code_error_chips_s) > 1.0)
{
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
@ -1760,8 +1763,16 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@ -1809,8 +1820,16 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@ -1858,8 +1877,16 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@ -1916,8 +1943,16 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
if (interchange_iq)
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;

1
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -199,6 +199,7 @@ private:
// tracking vars
bool d_pull_in_transitory;
bool d_corrected_doppler;
bool interchange_iq;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;