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Created individual gnurdio tracking block for volk 

Created individual gnuradio tracking block for volk:
galileo_volk_e1_dll_pll_veml_tracking_cc

the galileo_volk_e1_dll_pll_veml_tracking_cc gnuradio block is now the
original one.
This commit is contained in:
andres 2014-10-17 02:24:54 +02:00
parent 8badd81dbe
commit 2fefe9f21c
11 changed files with 1223 additions and 118 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/algorithms/tracking/adapters/CMakeLists.txt
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@ -19,6 +19,7 @@
set(TRACKING_ADAPTER_SOURCES
galileo_e1_dll_pll_veml_tracking.cc
galileo_volk_e1_dll_pll_veml_tracking.cc
galileo_e1_tcp_connector_tracking.cc
gps_l1_ca_dll_fll_pll_tracking.cc
gps_l1_ca_dll_pll_optim_tracking.cc

0
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc Normal file → Executable file
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0
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h Normal file → Executable file
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158
src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc Normal file
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@ -0,0 +1,158 @@
/*!
* \file galileo_volk_e1_dll_pll_veml_tracking.cc
* \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
* to a TrackingInterface for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_volk_e1_dll_pll_veml_tracking.h"
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
using google::LogMessage;
GalileoVolkE1DllPllVemlTracking::GalileoVolkE1DllPllVemlTracking(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
float very_early_late_space_chips;
item_type = configuration->property(role + ".item_type",default_item_type);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = galileo_volk_e1_dll_pll_veml_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips,
very_early_late_space_chips);
}
else
{
LOG(WARNING) << item_type << " unknown tracking item type.";
}
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}
GalileoVolkE1DllPllVemlTracking::~GalileoVolkE1DllPllVemlTracking()
{}
void GalileoVolkE1DllPllVemlTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GalileoVolkE1DllPllVemlTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
/*
* Set tracking channel internal queue
*/
void GalileoVolkE1DllPllVemlTracking::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
tracking_->set_channel_queue(channel_internal_queue_);
}
void GalileoVolkE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GalileoVolkE1DllPllVemlTracking::connect(gr::top_block_sptr top_block)
{
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GalileoVolkE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block)
{
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GalileoVolkE1DllPllVemlTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GalileoVolkE1DllPllVemlTracking::get_right_block()
{
return tracking_;
}

119
src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h Normal file
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@ -0,0 +1,119 @@
/*!
* \file galileo_volk_e1_dll_pll_veml_tracking.h
* \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
* to a TrackingInterface for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_
#define GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "tracking_interface.h"
#include "galileo_volk_e1_dll_pll_veml_tracking_cc.h"
class ConfigurationInterface;
/*!
* \brief This class Adapts a DLL+PLL VEML (Very Early Minus Late) tracking
* loop block to a TrackingInterface for Galileo E1 signals
*/
class GalileoVolkE1DllPllVemlTracking : public TrackingInterface
{
public:
GalileoVolkE1DllPllVemlTracking(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoVolkE1DllPllVemlTracking();
std::string role()
{
return role_;
}
//! Returns "galileo_volk_e1_dll_pll_veml_tracking"
std::string implementation()
{
return "galileo_volk_e1_dll_pll_veml_tracking";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void start_tracking();
private:
galileo_volk_e1_dll_pll_veml_tracking_cc_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
};
#endif // GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_

1
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
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@ -18,6 +18,7 @@
set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_dll_pll_veml_tracking_cc.cc
galileo_volk_e1_dll_pll_veml_tracking_cc.cc
galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_fll_pll_tracking_cc.cc
gps_l1_ca_dll_pll_optim_tracking_cc.cc

125
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc Normal file → Executable file
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@ -48,7 +48,6 @@
#include "lock_detectors.h"
#include "Galileo_E1.h"
#include "control_message_factory.h"
#include "volk_gnsssdr/volk_gnsssdr.h"
@ -140,22 +139,6 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_very_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_prompt_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_very_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_carr_sign16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
in16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_very_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_prompt_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_very_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_carr_sign8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
in8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
// correlator outputs (scalar)
@ -272,18 +255,12 @@ void galileo_e1_dll_pll_veml_tracking_cc::update_local_code()
epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2;
//volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic");
volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1");
// float d_very_early_late_spc_chips_multiplied_by_2 = 2*d_very_early_late_spc_chips;
// for (int i = 0; i < epl_loop_length_samples; i++)
// {
// associated_chip_index = 2 + round(fmod(tcode_half_chips - d_very_early_late_spc_chips_multiplied_by_2, code_length_half_chips));
// d_very_early_code[i] = d_ca_code[associated_chip_index];
// tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
// }
for (int i = 0; i < epl_loop_length_samples; i++)
{
associated_chip_index = 2 + round(fmod(tcode_half_chips - 2*d_very_early_late_spc_chips, code_length_half_chips));
d_very_early_code[i] = d_ca_code[associated_chip_index];
tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
}
memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
@ -297,18 +274,11 @@ void galileo_e1_dll_pll_veml_tracking_cc::update_local_carrier()
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
// Initialize the carrier phase with the remanent carrier phase of the K-2 loop
phase_rad = d_rem_carr_phase_rad;
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "generic");
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_sse2");
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_avx");
// for(int i = 0; i < d_current_prn_length_samples; i++)
// {
// d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
// phase_rad += phase_step_rad;
// }
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
}
galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
@ -326,22 +296,6 @@ galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
volk_free(d_Prompt);
volk_free(d_Late);
volk_free(d_Very_Late);
volk_free(d_very_early_code16);
volk_free(d_early_code16);
volk_free(d_prompt_code16);
volk_free(d_late_code16);
volk_free(d_very_late_code16);
volk_free(d_carr_sign16);
volk_free(in16);
volk_free(d_very_early_code8);
volk_free(d_early_code8);
volk_free(d_prompt_code8);
volk_free(d_late_code8);
volk_free(d_very_late_code8);
volk_free(d_carr_sign8);
volk_free(in8);
delete[] d_ca_code;
delete[] d_Prompt_buffer;
@ -389,49 +343,22 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
update_local_code();
update_local_carrier();
//perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
// d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
// in,
// d_carr_sign,
// d_very_early_code,
// d_early_code,
// d_prompt_code,
// d_late_code,
// d_very_late_code,
// d_Very_Early,
// d_Early,
// d_Prompt,
// d_Late,
// d_Very_Late,
// is_unaligned());
//
// volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples);
//
// volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples);
//
// volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_very_early_code8, d_very_early_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_early_code8, d_early_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_prompt_code8, d_prompt_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_late_code8, d_late_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_very_late_code8, d_very_late_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_carr_sign8, d_carr_sign, d_current_prn_length_samples);
volk_gnsssdr_32fc_s32f_convert_8ic(in8, in, 4, d_current_prn_length_samples);
//volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
// perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
in,
d_carr_sign,
d_very_early_code,
d_early_code,
d_prompt_code,
d_late_code,
d_very_late_code,
d_Very_Early,
d_Early,
d_Prompt,
d_Late,
d_Very_Late,
is_unaligned());
//volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
// ################## PLL ##########################################################
// PLL discriminator
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;

22
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h Normal file → Executable file
View File

@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -137,22 +137,6 @@ private:
gr_complex* d_late_code;
gr_complex* d_very_late_code;
gr_complex* d_carr_sign;
lv_16sc_t* d_very_early_code16;
lv_16sc_t* d_early_code16;
lv_16sc_t* d_prompt_code16;
lv_16sc_t* d_late_code16;
lv_16sc_t* d_very_late_code16;
lv_16sc_t* d_carr_sign16;
lv_16sc_t* in16;
lv_8sc_t* d_very_early_code8;
lv_8sc_t* d_early_code8;
lv_8sc_t* d_prompt_code8;
lv_8sc_t* d_late_code8;
lv_8sc_t* d_very_late_code8;
lv_8sc_t* d_carr_sign8;
lv_8sc_t* in8;
gr_complex *d_Very_Early;
gr_complex *d_Early;
@ -161,7 +145,7 @@ private:
gr_complex *d_Very_Late;
// remaining code phase and carrier phase between tracking loops
float d_rem_code_phase_samples;
double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
@ -176,7 +160,7 @@ private:
Correlator d_correlator;
// tracking vars
float d_code_freq_chips;
double d_code_freq_chips;
float d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_acc_code_phase_secs;

691
src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc Normal file
View File

@ -0,0 +1,691 @@
/*!
* \file galileo_volk_e1_dll_pll_veml_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_volk_e1_dll_pll_veml_tracking_cc.h"
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "gnss_synchro.h"
#include "galileo_e1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Galileo_E1.h"
#include "control_message_factory.h"
#include "volk_gnsssdr/volk_gnsssdr.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
galileo_volk_e1_dll_pll_veml_tracking_cc_sptr
galileo_volk_e1_dll_pll_veml_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
float very_early_late_space_chips)
{
return galileo_volk_e1_dll_pll_veml_tracking_cc_sptr(new galileo_volk_e1_dll_pll_veml_tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips));
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
}
galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
float very_early_late_space_chips):
gr::block("galileo_volk_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD);
// Initialize tracking ==========================================
// Set bandwidth of code and carrier loop filters
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
// Correlator spacing
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)];
/* If an array is partitioned for more than one thread to operate on,
* having the sub-array boundaries unaligned to cache lines could lead
* to performance degradation. Here we allocate memory
* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
*/
d_very_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_prompt_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_very_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_prompt_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_very_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_carr_sign16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
in16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
d_very_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_prompt_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_very_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
d_carr_sign8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
in8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
// correlator outputs (scalar)
d_Very_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
d_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
d_Prompt=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
d_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
d_Very_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
//--- Initializations ------------------------------
// Initial code frequency basis of NCO
d_code_freq_chips = (double)Galileo_E1_CODE_CHIP_RATE_HZ;
// Residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// Residual carrier phase
d_rem_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
d_last_seg = 0;
d_current_prn_length_samples = (int)d_vector_length;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
systemName["E"] = std::string("Galileo");
*d_Very_Early=gr_complex(0,0);
*d_Early=gr_complex(0,0);
*d_Prompt=gr_complex(0,0);
*d_Late=gr_complex(0,0);
*d_Very_Late=gr_complex(0,0);
}
void galileo_volk_e1_dll_pll_veml_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;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
galileo_e1_code_gen_complex_sampled(&d_ca_code[2],
d_acquisition_gnss_synchro->Signal,
false,
d_acquisition_gnss_synchro->PRN,
2*Galileo_E1_CODE_CHIP_RATE_HZ,
0);
// Fill head and tail
d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)];
d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 1)];
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2];
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3];
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_carr_phase_rad = 0;
d_acc_carrier_phase_rad = 0;
d_acc_code_phase_secs = 0;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_current_prn_length_samples = d_vector_length;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
// DEBUG OUTPUT
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_code()
{
double tcode_half_chips;
float rem_code_phase_half_chips;
int associated_chip_index;
int code_length_half_chips = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS);
double code_phase_step_chips;
double code_phase_step_half_chips;
int early_late_spc_samples;
int very_early_late_spc_samples;
int epl_loop_length_samples;
// unified loop for VE, E, P, L, VL code vectors
code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in);
code_phase_step_half_chips = (2.0*(double)d_code_freq_chips) / ((double)d_fs_in);
rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
tcode_half_chips = -(double)rem_code_phase_half_chips;
early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips);
epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2;
//volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic");
volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1");
// float d_very_early_late_spc_chips_multiplied_by_2 = 2*d_very_early_late_spc_chips;
// for (int i = 0; i < epl_loop_length_samples; i++)
// {
// associated_chip_index = 2 + round(fmod(tcode_half_chips - d_very_early_late_spc_chips_multiplied_by_2, code_length_half_chips));
// d_very_early_code[i] = d_ca_code[associated_chip_index];
// tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
// }
memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_very_late_code, &d_very_early_code[2*very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_carrier()
{
float phase_rad, phase_step_rad;
// Compute the carrier phase step for the K-1 carrier doppler estimation
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
// Initialize the carrier phase with the remanent carrier phase of the K-2 loop
phase_rad = d_rem_carr_phase_rad;
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "generic");
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_sse2");
volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_avx");
// for(int i = 0; i < d_current_prn_length_samples; i++)
// {
// d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
// phase_rad += phase_step_rad;
// }
}
galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking_cc()
{
d_dump_file.close();
volk_free(d_very_early_code);
volk_free(d_early_code);
volk_free(d_prompt_code);
volk_free(d_late_code);
volk_free(d_very_late_code);
volk_free(d_carr_sign);
volk_free(d_Very_Early);
volk_free(d_Early);
volk_free(d_Prompt);
volk_free(d_Late);
volk_free(d_Very_Late);
volk_free(d_very_early_code16);
volk_free(d_early_code16);
volk_free(d_prompt_code16);
volk_free(d_late_code16);
volk_free(d_very_late_code16);
volk_free(d_carr_sign16);
volk_free(in16);
volk_free(d_very_early_code8);
volk_free(d_early_code8);
volk_free(d_prompt_code8);
volk_free(d_late_code8);
volk_free(d_very_late_code8);
volk_free(d_carr_sign8);
volk_free(in8);
delete[] d_ca_code;
delete[] d_Prompt_buffer;
}
int galileo_volk_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
float carr_error_hz;
float carr_error_filt_hz;
float code_error_chips;
float code_error_filt_chips;
if (d_enable_tracking == true)
{
if (d_pull_in == true)
{
/*
* Signal alignment (skip samples until the incoming signal is aligned with local replica)
*/
int samples_offset;
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0];
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
update_local_code();
update_local_carrier();
//perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
// d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
// in,
// d_carr_sign,
// d_very_early_code,
// d_early_code,
// d_prompt_code,
// d_late_code,
// d_very_late_code,
// d_Very_Early,
// d_Early,
// d_Prompt,
// d_Late,
// d_Very_Late,
// is_unaligned());
//
// volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples);
//
// volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples);
// volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples);
//
// volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_very_early_code8, d_very_early_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_early_code8, d_early_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_prompt_code8, d_prompt_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_late_code8, d_late_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_very_late_code8, d_very_late_code, d_current_prn_length_samples);
volk_gnsssdr_32fc_convert_8ic(d_carr_sign8, d_carr_sign, d_current_prn_length_samples);
volk_gnsssdr_32fc_s32f_convert_8ic(in8, in, 4, d_current_prn_length_samples);
//volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
//volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
// ################## PLL ##########################################################
// PLL discriminator
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
//carrier phase accumulator for (K) Doppler estimation
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
//remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_vemlp_normalized(*d_Very_Early, *d_Early, *d_Late, *d_Very_Late); //[chips/Ti]
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
//Code phase accumulator
float code_error_filt_secs;
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
//code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*(float)d_fs_in; //[seconds]
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / (double)d_code_freq_chips;
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * (double)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * (double)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
// ########### Output the tracking results to Telemetry block ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
//compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
// (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in;
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples) / (double)d_fs_in;
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
LOG(INFO) << tmp_str_stream.rdbuf() << std::flush;
//if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
}
else
{
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
}
*d_Early = gr_complex(0,0);
*d_Prompt = gr_complex(0,0);
*d_Late = gr_complex(0,0);
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
*out[0] = *d_acquisition_gnss_synchro;
}
if(d_dump)
{
// Dump results to file
float prompt_I;
float prompt_Q;
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_VE = std::abs<float>(*d_Very_Early);
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);
tmp_VL = std::abs<float>(*d_Very_Late);
try
{
// Dump correlators output
d_dump_file.write((char*)&tmp_VE, sizeof(float));
d_dump_file.write((char*)&tmp_E, sizeof(float));
d_dump_file.write((char*)&tmp_P, sizeof(float));
d_dump_file.write((char*)&tmp_L, sizeof(float));
d_dump_file.write((char*)&tmp_VL, sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write((char*)&prompt_I, sizeof(float));
d_dump_file.write((char*)&prompt_Q, sizeof(float));
// PRN start sample stamp
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
// carrier and code frequency
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
d_dump_file.write((char*)&d_code_freq_chips, sizeof(float));
//PLL commands
d_dump_file.write((char*)&carr_error_hz, sizeof(float));
d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float));
//DLL commands
d_dump_file.write((char*)&code_error_chips, sizeof(float));
d_dump_file.write((char*)&code_error_filt_chips, sizeof(float));
// CN0 and carrier lock test
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
// AUX vars (for debug purposes)
tmp_float = d_rem_code_phase_samples;
d_dump_file.write((char*)&tmp_float, sizeof(float));
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl;
}
}
consume_each(d_current_prn_length_samples); // this is required for gr_block derivates
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
//std::cout<<"Galileo tracking output at sample "<<d_sample_counter<<std::endl;
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}

211
src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h Normal file
View File

@ -0,0 +1,211 @@
/*!
* \file galileo_volk_e1_dll_pll_veml_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H
#define GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H
#include <fstream>
#include <queue>
#include <string>
#include <map>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
class galileo_volk_e1_dll_pll_veml_tracking_cc;
typedef boost::shared_ptr<galileo_volk_e1_dll_pll_veml_tracking_cc> galileo_volk_e1_dll_pll_veml_tracking_cc_sptr;
galileo_volk_e1_dll_pll_veml_tracking_cc_sptr
galileo_volk_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
float very_early_late_space_chips);
/*!
* \brief This class implements a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
*/
class galileo_volk_e1_dll_pll_veml_tracking_cc: public gr::block
{
public:
~galileo_volk_e1_dll_pll_veml_tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*!
* \brief Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*/
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_volk_e1_dll_pll_veml_tracking_cc_sptr
galileo_volk_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
float very_early_late_space_chips);
galileo_volk_e1_dll_pll_veml_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
float very_early_late_space_chips);
void update_local_code();
void update_local_carrier();
// tracking configuration vars
boost::shared_ptr<gr::msg_queue> d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;
long d_fs_in;
float d_early_late_spc_chips;
float d_very_early_late_spc_chips;
gr_complex* d_ca_code;
gr_complex* d_very_early_code;
gr_complex* d_early_code;
gr_complex* d_prompt_code;
gr_complex* d_late_code;
gr_complex* d_very_late_code;
gr_complex* d_carr_sign;
lv_16sc_t* d_very_early_code16;
lv_16sc_t* d_early_code16;
lv_16sc_t* d_prompt_code16;
lv_16sc_t* d_late_code16;
lv_16sc_t* d_very_late_code16;
lv_16sc_t* d_carr_sign16;
lv_16sc_t* in16;
lv_8sc_t* d_very_early_code8;
lv_8sc_t* d_early_code8;
lv_8sc_t* d_prompt_code8;
lv_8sc_t* d_late_code8;
lv_8sc_t* d_very_late_code8;
lv_8sc_t* d_carr_sign8;
lv_8sc_t* in8;
gr_complex *d_Very_Early;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
gr_complex *d_Very_Late;
// remaining code phase and carrier phase between tracking loops
float 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;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
Correlator d_correlator;
// tracking vars
float d_code_freq_chips;
float d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_acc_code_phase_secs;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
gr_complex* d_Prompt_buffer;
float d_carrier_lock_test;
float d_CN0_SNV_dB_Hz;
float d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
bool d_enable_tracking;
bool d_pull_in;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif //GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H

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

@ -70,6 +70,7 @@
#include "gps_l1_ca_dll_fll_pll_tracking.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_volk_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_tcp_connector_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "galileo_e1b_telemetry_decoder.h"
@ -485,6 +486,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_volk_E1_DLL_PLL_VEML_Tracking") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoVolkE1DllPllVemlTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_TCP_CONNECTOR_Tracking") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams,
@ -690,6 +697,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_Volk_E1_DLL_PLL_VEML_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GalileoVolkE1DllPllVemlTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_TCP_CONNECTOR_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams,