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Merge branch 'next' into speed_up_observables

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This commit is contained in:
Antonio Ramos 2018-04-11 13:32:51 +02:00
commit 2bc59ec15e
6 changed files with 67 additions and 86 deletions
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1
src/algorithms/observables/adapters/CMakeLists.txt
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@ -26,7 +26,6 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

6
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
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@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS)
add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
if(MATIO_FOUND)
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
else(MATIO_FOUND)
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(MATIO_FOUND)
target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})

124
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -67,7 +67,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
d_latency = 0.08; // 80 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels);
for (unsigned int i = 0; i < d_nchannels; i++)
{
d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
}
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@ -300,29 +304,40 @@ int hybrid_observables_cc::save_matfile()
}
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
{
if ((ti < d_gnss_synchro_history->front(ch).RX_time) or (ti > d_gnss_synchro_history->back(ch).RX_time))
if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
{
return false;
}
std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
std::deque<Gnss_Synchro>::iterator it;
//Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
arma::vec t = arma::vec(data.size());
arma::vec dop = t;
arma::vec cph = t;
arma::vec tow = t;
arma::vec tiv = arma::vec(1);
arma::vec result;
tiv(0) = ti;
// CARRIER PHASE INTERPOLATION
unsigned int aux = 0;
for (it = data.begin(); it != data.end(); it++)
{
t(aux) = it->RX_time;
dop(aux) = it->Carrier_Doppler_hz;
cph(aux) = it->Carrier_phase_rads;
tow(aux) = it->TOW_at_current_symbol_s;
out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
aux++;
}
arma::interp1(t, dop, tiv, result);
out.Carrier_Doppler_hz = result(0);
arma::interp1(t, cph, tiv, result);
out.Carrier_phase_rads = result(0);
arma::interp1(t, tow, tiv, result);
out.TOW_at_current_symbol_s = result(0);
// CARRIER DOPPLER INTERPOLATION
out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
// TOW INTERPOLATION
out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
return true;
return result.is_finite();
}
@ -338,40 +353,6 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
}
}
std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
{
unsigned int closest = 0;
double dif = std::numeric_limits<double>::max();
double dt = 0.0;
for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++)
{
dt = ti - d_gnss_synchro_history->at(ch, i).RX_time;
if (dt < dif and dt > 0.0)
{
dif = dt;
closest = i;
}
}
unsigned int index1;
unsigned int index2;
if (closest == 0)
{
index1 = 0;
index2 = 1;
}
else if (closest == (d_gnss_synchro_history->size(ch) - 1))
{
index1 = d_gnss_synchro_history->size(ch) - 2;
index2 = d_gnss_synchro_history->size(ch) - 1;
}
else
{
index1 = closest;
index2 = closest + 1;
}
return std::pair<unsigned int, unsigned int>(index1, index2);
}
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items_required)
@ -384,13 +365,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
}
void hybrid_observables_cc::clean_history(unsigned int pos)
void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
{
while (d_gnss_synchro_history->size(pos) > 0)
while (data.size() > 0)
{
if ((T_rx_s - d_gnss_synchro_history->front(pos).RX_time) > max_delta)
if ((T_rx_s - data.front().RX_time) > max_delta)
{
d_gnss_synchro_history->pop_front(pos);
data.pop_front();
}
else
{
@ -475,9 +456,11 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
//////////////////////////////////////////////////////////////////////////
std::vector<std::deque<Gnss_Synchro>>::iterator it;
if (total_input_items > 0)
{
for (i = 0; i < d_nchannels; i++)
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (ninput_items[i] > 0)
{
@ -486,25 +469,26 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (in[i][aux].Flag_valid_word)
{
d_gnss_synchro_history->push_back(i, in[i][aux]);
d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]);
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (d_gnss_synchro_history->size(i) > 1)
if (it->size() > 1)
{
if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN)
if (it->front().PRN != it->back().PRN)
{
d_gnss_synchro_history->clear(i);
it->clear();
}
}
}
}
consume(i, ninput_items[i]);
}
i++;
}
}
for (i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history->size(i) > 2)
if (d_gnss_synchro_history.at(i).size() > 2)
{
valid_channels[i] = true;
}
@ -524,8 +508,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (valid_channels[i])
{
clean_history(i);
if (d_gnss_synchro_history->size(i) < 2)
clean_history(d_gnss_synchro_history.at(i));
if (d_gnss_synchro_history.at(i).size() < 2)
{
valid_channels[i] = false;
}
@ -541,12 +525,13 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
std::vector<Gnss_Synchro> epoch_data;
for (i = 0; i < d_nchannels; i++)
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (valid_channels[i])
{
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i);
if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
Gnss_Synchro interpolated_gnss_synchro = it->back();
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
{
epoch_data.push_back(interpolated_gnss_synchro);
}
@ -555,6 +540,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
valid_channels[i] = false;
}
}
i++;
}
d_num_valid_channels = valid_channels.count();
if (d_num_valid_channels == 0)
@ -562,14 +548,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
return 0;
}
correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
for (i = 0; i < d_nchannels; i++)
{
if (valid_channels[i])
{
out[i][0] = (*it);
out[i][0] = (*it2);
out[i][0].Flag_valid_pseudorange = true;
it++;
it2++;
}
else
{

11
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
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@ -35,12 +35,12 @@
#define GNSS_SDR_HYBRID_OBSERVABLES_CC_H
#include "gnss_synchro.h"
#include "gnss_circular_deque.h"
#include <gnuradio/block.h>
#include <boost/dynamic_bitset.hpp>
#include <fstream>
#include <string>
#include <utility>
#include <vector>
#include <deque>
class hybrid_observables_cc;
@ -65,15 +65,14 @@ private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(unsigned int pos);
void clean_history(std::deque<Gnss_Synchro>& data);
double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();
//Tracking observable history
Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history;
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
boost::dynamic_bitset<> valid_channels;
double T_rx_s;
double T_rx_step_s;

7
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@ -105,6 +105,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
flag_PLL_180_deg_phase_locked = false;
d_preamble_time_samples = 0;
d_TOW_at_current_symbol_ms = 0;
d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
}
@ -395,11 +397,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
}
}
// remove used symbols from history
if (d_symbol_history.size() > required_symbols)
{
d_symbol_history.pop_front();
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;

4
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
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@ -36,9 +36,9 @@
#include "gnss_satellite.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <deque>
#include <fstream>
#include <string>
#include <boost/circular_buffer.hpp>
class gps_l1_ca_telemetry_decoder_cc;
@ -79,7 +79,7 @@ private:
bool d_flag_frame_sync;
// symbols
std::deque<Gnss_Synchro> d_symbol_history;
boost::circular_buffer<Gnss_Synchro> d_symbol_history;
double d_symbol_accumulator;
short int d_symbol_accumulator_counter;