Merge branch 'glamountain-kf' into kf

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -222,6 +222,7 @@ void pcps_acquisition::init()
     d_gnss_synchro->Flag_valid_pseudorange = false;
     d_gnss_synchro->Flag_valid_word = false;
 
+    d_gnss_synchro->Acq_doppler_step = d_doppler_step;
     d_gnss_synchro->Acq_delay_samples = 0.0;
     d_gnss_synchro->Acq_doppler_hz = 0.0;
     d_gnss_synchro->Acq_samplestamp_samples = 0;
@@ -282,6 +283,7 @@ void pcps_acquisition::set_state(int state)
         {
             d_gnss_synchro->Acq_delay_samples = 0.0;
             d_gnss_synchro->Acq_doppler_hz = 0.0;
+            d_gnss_synchro->Acq_doppler_step = 0;
             d_gnss_synchro->Acq_samplestamp_samples = 0;
             d_well_count = 0;
             d_mag = 0.0;

src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.cc

@@ -53,6 +53,7 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
 {
     DLOG(INFO) << "role " << role;
     //################# CONFIGURATION PARAMETERS ########################
+    int order;
     int fs_in;
     int vector_length;
     int f_if;
@@ -63,7 +64,9 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
     float pll_bw_hz;
     float dll_bw_hz;
     float early_late_space_chips;
+
     item_type = configuration->property(role + ".item_type", default_item_type);
+    order = configuration->property(role + ".order", 2);
     int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     f_if = configuration->property(role + ".if", 0);
@@ -80,6 +83,7 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
         {
             item_size_ = sizeof(gr_complex);
             tracking_ = gps_l1_ca_kf_make_tracking_cc(
+                order,
                 f_if,
                 fs_in,
                 vector_length,

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc

@@ -59,6 +59,7 @@ using google::LogMessage;
 
 gps_l1_ca_kf_tracking_cc_sptr
 gps_l1_ca_kf_make_tracking_cc(
+    unsigned int order,
     long if_freq,
     long fs_in,
     unsigned int vector_length,
@@ -67,7 +68,7 @@ gps_l1_ca_kf_make_tracking_cc(
     float dll_bw_hz,
     float early_late_space_chips)
 {
-    return gps_l1_ca_kf_tracking_cc_sptr(new Gps_L1_Ca_Kf_Tracking_cc(if_freq,
+    return gps_l1_ca_kf_tracking_cc_sptr(new Gps_L1_Ca_Kf_Tracking_cc(order, if_freq,
         fs_in, vector_length, dump, dump_filename, dll_bw_hz, early_late_space_chips));
 }
 
@@ -83,6 +84,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::forecast(int noutput_items,
 
 
 Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
+    unsigned int order,
     long if_freq,
     long fs_in,
     unsigned int vector_length,
@@ -97,6 +99,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
     this->message_port_register_out(pmt::mp("events"));
 
     // initialize internal vars
+    d_order = order;
     d_dump = dump;
     d_if_freq = if_freq;
     d_fs_in = fs_in;
@@ -174,7 +177,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
 
     // Kalman filter initialization (receiver initialization)
 
-    double CN_dB_Hz = 40;
+    double CN_dB_Hz = 30;
     double CN_lin = pow(10, CN_dB_Hz / 10.0);
 
     double sigma2_phase_detector_cycles2;
@@ -182,7 +185,8 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
 
     //covariances (static)
     double sigma2_carrier_phase = GPS_TWO_PI / 4;
-    double sigma2_doppler = 250;  ///  !!
+    double sigma2_doppler       = 450;
+    double sigma2_doppler_rate  = 1.0 / 24.0;
 
     kf_P_x_ini = arma::zeros(2, 2);
     kf_P_x_ini(0, 0) = sigma2_carrier_phase;
@@ -192,8 +196,8 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
     kf_R(0, 0) = sigma2_phase_detector_cycles2;
 
     kf_Q = arma::zeros(2, 2);
-    kf_Q(0, 0) = 1e-14;
+    kf_Q(0, 0) = pow(4, GPS_L1_CA_CODE_PERIOD);
-    kf_Q(1, 1) = 1e-2;
+    kf_Q(1, 1) = GPS_L1_CA_CODE_PERIOD;
 
     kf_F = arma::zeros(2, 2);
     kf_F(0, 0) = 1.0;
@@ -206,6 +210,31 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
 
     kf_x = arma::zeros(2, 1);
     kf_y = arma::zeros(1, 1);
+
+    // order three
+    if (d_order == 3)
+        {
+            kf_P_x_ini = arma::resize(kf_P_x_ini, 3, 3);
+            kf_P_x_ini(2, 2) = sigma2_doppler_rate;
+
+            kf_Q = arma::zeros(3, 3);
+            kf_Q(0, 0) = pow(6, GPS_L1_CA_CODE_PERIOD);
+            kf_Q(1, 1) = pow(4, GPS_L1_CA_CODE_PERIOD);
+            kf_Q(2, 2) = pow(2, GPS_L1_CA_CODE_PERIOD);
+
+            kf_F = arma::resize(kf_F, 3, 3);
+            kf_F(0, 2) = 0.25 * GPS_TWO_PI * pow(2, GPS_L1_CA_CODE_PERIOD);
+            kf_F(1, 2) = GPS_L1_CA_CODE_PERIOD;
+            kf_F(2, 0) = 0.0;
+            kf_F(2, 1) = 0.0;
+            kf_F(2, 2) = 1.0;
+
+            kf_H = arma::resize(kf_H, 1, 3);
+            kf_H(0, 2) = 0.0;
+
+            kf_x = arma::resize(kf_x, 3, 1);
+            kf_x(2, 0) = -0.25;
+        }
 }
 
 
@@ -217,6 +246,13 @@ void Gps_L1_Ca_Kf_Tracking_cc::start_tracking()
     d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
     d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
     d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+    d_acq_carrier_doppler_step_hz = static_cast<double>(d_acquisition_gnss_synchro->Acq_doppler_step);
+
+    // Correct Kalman filter covariance according to acq doppler step size (3 sigma)
+    if (d_acquisition_gnss_synchro->Acq_doppler_step > 0)
+        {
+            kf_P_x_ini(1, 1) = pow(2, d_acq_carrier_doppler_step_hz / 3.0);
+        }
 
     long int acq_trk_diff_samples;
     double acq_trk_diff_seconds;
@@ -667,7 +703,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
             kf_y(0) = carr_phase_error_rad;  // measurement vector
             kf_x = kf_x_pre + kf_K * kf_y;   // updated state estimation
 
-            kf_P_x = (arma::eye(2, 2) - kf_K * kf_H) * kf_P_x_pre;  // update state estimation error covariance matrix
+            kf_P_x = (arma::eye(size(kf_P_x_pre)) - kf_K * kf_H) * kf_P_x_pre;  // update state estimation error covariance matrix
 
             d_rem_carr_phase_rad = kf_x(0);  // set a new carrier Phase estimation to the NCO
             d_carrier_doppler_hz = kf_x(1);  // set a new carrier Doppler estimation to the NCO

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h

@@ -56,7 +56,8 @@ typedef boost::shared_ptr<Gps_L1_Ca_Kf_Tracking_cc>
     gps_l1_ca_kf_tracking_cc_sptr;
 
 gps_l1_ca_kf_tracking_cc_sptr
-gps_l1_ca_kf_make_tracking_cc(long if_freq,
+gps_l1_ca_kf_make_tracking_cc(unsigned int order,
+    long if_freq,
     long fs_in, unsigned int vector_length,
     bool dump,
     std::string dump_filename,
@@ -83,14 +84,16 @@ public:
 
 private:
     friend gps_l1_ca_kf_tracking_cc_sptr
-    gps_l1_ca_kf_make_tracking_cc(long if_freq,
+    gps_l1_ca_kf_make_tracking_cc(unsigned int order,
+        long if_freq,
         long fs_in, unsigned int vector_length,
         bool dump,
         std::string dump_filename,
         float dll_bw_hz,
         float early_late_space_chips);
 
-    Gps_L1_Ca_Kf_Tracking_cc(long if_freq,
+    Gps_L1_Ca_Kf_Tracking_cc(unsigned int order,
+        long if_freq,
         long fs_in, unsigned int vector_length,
         bool dump,
         std::string dump_filename,
@@ -98,6 +101,7 @@ private:
         float early_late_space_chips);
 
     // tracking configuration vars
+    unsigned int d_order;
     unsigned int d_vector_length;
     bool d_dump;
 
@@ -135,6 +139,7 @@ private:
     //Tracking_2nd_PLL_filter d_carrier_loop_filter;
 
     // acquisition
+    double d_acq_carrier_doppler_step_hz;
     double d_acq_code_phase_samples;
     double d_acq_carrier_doppler_hz;
     // correlator

src/core/system_parameters/gnss_synchro.h

@@ -49,6 +49,7 @@ public:
     // Acquisition
     double Acq_delay_samples;                   //!< Set by Acquisition processing block
     double Acq_doppler_hz;                      //!< Set by Acquisition processing block
+    unsigned int Acq_doppler_step;              //!< Set by Acquisition processing block
     unsigned long int Acq_samplestamp_samples;  //!< Set by Acquisition processing block
     bool Flag_valid_acquisition;                //!< Set by Acquisition processing block
     //Tracking