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bds_b3i: Adding BeiDou B3I PVT computation

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Damian Miralles 2019-03-17 18:49:06 -05:00
parent 3f274e40d1
commit 3136817737
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GPG Key ID: 8A92BA854ED245E1
6 changed files with 91 additions and 90 deletions
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2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
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@ -53,7 +53,7 @@ beidou_b1i_telemetry_decoder_gs_sptr beidou_b1i_make_telemetry_decoder_gs(const
/*! /*!
* \brief This class implements a block that decodes the GNAV data defined in BEIDOU ICD v5.1 * \brief This class implements a block that decodes the BeiDou DNAV data.
* \note Code added as part of GSoC 2018 program * \note Code added as part of GSoC 2018 program
*/ */
class beidou_b1i_telemetry_decoder_gs : public gr::block class beidou_b1i_telemetry_decoder_gs : public gr::block

52
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
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@ -34,6 +34,7 @@
#include "Beidou_DNAV.h" #include "Beidou_DNAV.h"
#include "beidou_dnav_almanac.h" #include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h" #include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h" #include "beidou_dnav_utc_model.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -155,17 +156,17 @@ beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
} }
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(int32_t *bits, int32_t *decbits) void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
{ {
int bit, err, reg[4] = {1, 1, 1, 1}; int32_t bit, err, reg[4] = {1, 1, 1, 1};
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2}; int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (unsigned int i = 0; i < 15; i++) for (uint32_t i = 0; i < 15; i++)
{ {
decbits[i] = bits[i]; decbits[i] = bits[i];
} }
for (unsigned int i = 0; i < 15; i++) for (uint32_t i = 0; i < 15; i++)
{ {
bit = reg[3]; bit = reg[3];
reg[3] = reg[2]; reg[3] = reg[2];
@ -186,45 +187,43 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(int32_t *bits, int32_t
void beidou_b3i_telemetry_decoder_gs::decode_word( void beidou_b3i_telemetry_decoder_gs::decode_word(
int32_t word_counter, int32_t word_counter,
double* enc_word_symbols, const double* enc_word_symbols,
int32_t* dec_word_symbols) int32_t* dec_word_symbols)
{ {
int32_t bitsbch[30], first_branch[15], second_branch[15]; int32_t bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1) if (word_counter == 1)
{ {
for (unsigned int j = 0; j < 30; j++) for (uint32_t j = 0; j < 30; j++)
{ {
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1); dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
} }
} }
else else
{ {
for (unsigned int r = 0; r < 2; r++) for (uint32_t r = 0; r < 2; r++)
{ {
for (unsigned int c = 0; c < 15; c++) for (uint32_t c = 0; c < 15; c++)
{ {
bitsbch[r*15 + c] = (int32_t)(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1); bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
} }
} }
decode_bch15_11_01(&bitsbch[0], first_branch); decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch); decode_bch15_11_01(&bitsbch[15], second_branch);
for (unsigned int j = 0; j < 11; j++) for (uint32_t j = 0; j < 11; j++)
{ {
dec_word_symbols[j] = first_branch[j]; dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j]; dec_word_symbols[j + 11] = second_branch[j];
} }
for (unsigned int j = 0; j < 4; j++) for (uint32_t j = 0; j < 4; j++)
{ {
dec_word_symbols[j + 22] = first_branch[11 + j]; dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j]; dec_word_symbols[j + 26] = second_branch[11 + j];
} }
} }
} }
@ -256,7 +255,6 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
d_nav.d1_subframe_decoder(data_bits); d_nav.d1_subframe_decoder(data_bits);
} }
// 3. Check operation executed correctly // 3. Check operation executed correctly
if (d_nav.flag_crc_test == true) if (d_nav.flag_crc_test == true)
{ {
@ -358,7 +356,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
} }
void beidou_b3i_telemetry_decoder_gs::set_channel(int channel) void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
{ {
d_channel = channel; d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel; LOG(INFO) << "Navigation channel set to " << channel;
@ -391,8 +389,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
int32_t corr_value = 0; int32_t corr_value = 0;
int32_t preamble_diff = 0; int32_t preamble_diff = 0;
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output //1. Copy the current tracking output
@ -406,7 +404,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
if (d_symbol_history.size() > d_required_symbols) if (d_symbol_history.size() > d_required_symbols)
{ {
//******* preamble correlation ******** //******* preamble correlation ********
for (int i = 0; i < d_samples_per_preamble; i++) for (int32_t i = 0; i < d_samples_per_preamble; i++)
{ {
if (d_symbol_history[i] < 0) // symbols clipping if (d_symbol_history[i] < 0) // symbols clipping
{ {
@ -461,7 +459,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
//******* SAMPLES TO SYMBOLS ******* //******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
{ {
int k = 0; int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = 0;
@ -485,7 +483,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
} }
else //180 deg. inverted carrier phase PLL lock else //180 deg. inverted carrier phase PLL lock
{ {
int k = 0; int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = 0;
@ -572,13 +570,15 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
try try
{ {
double tmp_double; double tmp_double;
unsigned long int tmp_ulong_int; uint64_t tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol_ms; tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter; tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int)); d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = 0; tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {

18
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
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@ -23,7 +23,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
@ -34,12 +34,12 @@
#include "beidou_dnav_navigation_message.h" #include "beidou_dnav_navigation_message.h"
#include "gnss_satellite.h" #include "gnss_satellite.h"
#include <boost/circular_buffer.hpp> #include <boost/circular_buffer.hpp>
#include <gnuradio/block.h> #include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star #include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <fstream> #include <fstream>
#include <string> #include <string>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <cstdint>
class beidou_b3i_telemetry_decoder_gs; class beidou_b3i_telemetry_decoder_gs;
@ -71,8 +71,8 @@ private:
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump); beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols); void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, double* enc_word_symbols, int32_t* dec_word_symbols); void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t* dec_word_symbols);
void decode_bch15_11_01(int32_t *bits, int32_t *decbits); void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding // Preamble decoding
@ -97,15 +97,15 @@ private:
int32_t d_CRC_error_counter; // Number of failed CRC operations int32_t d_CRC_error_counter; // Number of failed CRC operations
bool flag_SOW_set; // Indicates when time of week is set bool flag_SOW_set; // Indicates when time of week is set
// Navigation Message variable //!< Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav; Beidou_Dnav_Navigation_Message d_nav;
// Values to populate gnss synchronization structure //!< Values to populate gnss synchronization structure
uint32_t d_TOW_at_Preamble_ms; uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms; uint32_t d_TOW_at_current_symbol_ms;
bool Flag_valid_word; bool Flag_valid_word;
// Satellite Information and logging capacity //!< Satellite Information and logging capacity
Gnss_Satellite d_satellite; Gnss_Satellite d_satellite;
int32_t d_channel; int32_t d_channel;
bool d_dump; bool d_dump;

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -672,7 +672,7 @@ void dll_pll_veml_tracking::start_tracking()
n++; n++;
} }
} }
d_symbol_history.set_capacity(22); // Change fixed buffer size d_symbol_history.resize(22); // Change fixed buffer size
d_symbol_history.clear(); d_symbol_history.clear();
} }
} }

27
src/utils/matlab/gps_l1_ca_telemetry_plot_sample.m
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@ -29,34 +29,37 @@
close all;clear; close all;clear;
samplingFreq = 25000000; %[Hz] samplingFreq = 25000000; %[Hz]
channels=[0:9]; channels=[0:9];
path='/home/dmiralles/Documents/gnss-sdr-bds_b1i_v2/'; path='/home/dmiralles/Documents/gnss-sdr/';
addpath('libs/'); addpath('libs/');
clear PRN_absolute_sample_start; clear PRN_absolute_sample_start;
for N=1:1:length(channels) for N=1:1:length(channels)
telemetry_log_path=[path 'telemetry' num2str(channels(N)) '.dat']; telemetry_log_path=[path 'telemetry' num2str(channels(N)) '.dat'];
GNSS_telemetry_v2(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path); GNSS_telemetry(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path);
end end
%% Plotting values %% Plotting values
%--- Configurations
chn_num_a = 6;
chn_num_b = 2;
%--- Plot results %--- Plot results
figure; figure;
plot(GNSS_telemetry_v2(6).tracking_sample_counter, ... plot(GNSS_telemetry(chn_num_a).tracking_sample_counter, ...
GNSS_telemetry_v2(6).tow_current_symbol_ms, 'b+'); GNSS_telemetry(chn_num_a).tow_current_symbol_ms, 'b+');
hold on; hold on;
grid on; grid on;
plot(GNSS_telemetry_v2(1).tracking_sample_counter, ... plot(GNSS_telemetry(chn_num_b).tracking_sample_counter, ...
GNSS_telemetry_v2(1).tow_current_symbol_ms, 'ro'); GNSS_telemetry(chn_num_b).tow_current_symbol_ms, 'ro');
xlabel('TRK Sampling Counter'); xlabel('TRK Sampling Counter');
ylabel('Current Symbol TOW'); ylabel('Current Symbol TOW');
legend('BDS-1', 'BDS-6'); legend(['CHN-',num2str(chn_num_a-1)], ['CHN-',num2str(chn_num_b-1)]);
figure; figure;
plot(GNSS_telemetry_v2(6).tracking_sample_counter, ... plot(GNSS_telemetry(chn_num_a).tracking_sample_counter, ...
GNSS_telemetry_v2(6).tow, 'b+'); GNSS_telemetry(chn_num_a).tow, 'b+');
hold on; hold on;
grid on; grid on;
plot(GNSS_telemetry_v2(1).tracking_sample_counter, ... plot(GNSS_telemetry(chn_num_b).tracking_sample_counter, ...
GNSS_telemetry_v2(1).tow, 'ro'); GNSS_telemetry(chn_num_b).tow, 'ro');
xlabel('TRK Sampling Counter'); xlabel('TRK Sampling Counter');
ylabel('Decoded Nav TOW'); ylabel('Decoded Nav TOW');
legend('BDS-1', 'BDS-6'); legend(['CHN-',num2str(chn_num_a-1)], ['CHN-',num2str(chn_num_b-1)]);

42
src/utils/matlab/hybrid_observables_plot_sample.m
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@ -23,9 +23,7 @@
% ------------------------------------------------------------------------- % -------------------------------------------------------------------------
% %
% Read observables dump %% Read Hibrid Observables Dump
%clear all;
clearvars; clearvars;
close all; close all;
addpath('./libs'); addpath('./libs');
@ -35,38 +33,38 @@ path='/home/dmiralles/Documents/gnss-sdr/';
observables_log_path=[path 'observables.dat']; observables_log_path=[path 'observables.dat'];
GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path); GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
%% %% Plo data
%optional: %--- optional: search all channels having good satellite simultaneously
%search all channels having good satellite simultaneously min_tow_idx=1;
min_idx=1; obs_idx=1;
for n=1:1:channels for n=1:1:channels
idx=find(GNSS_observables.valid(n,:)>0,1,'first'); idx=find(GNSS_observables.valid(n,:)>0,1,'first');
if min_idx<idx if min_tow_idx<idx
min_idx=idx min_tow_idx=idx;
obs_idx = n;
end end
end end
min_idx=min_idx; %--- plot observables from that index
%plot observables from that index
figure; figure;
plot(GNSS_observables.RX_time(1,min_idx+1:end),GNSS_observables.Pseudorange_m(:,min_idx+1:end)'); plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Pseudorange_m(:,min_tow_idx+1:end)');
title('Pseudoranges [m]') grid on;
xlabel('TOW [s]') xlabel('TOW [s]')
ylabel('[m]'); ylabel('Pseudorange [m]');
figure; figure;
plot(GNSS_observables.RX_time(1,min_idx+1:end),GNSS_observables.Carrier_phase_hz(:,min_idx+1:end)'); plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Carrier_phase_hz(:,min_tow_idx+1:end)');
title('Accumulated carrier phase')
xlabel('TOW [s]') xlabel('TOW [s]')
ylabel('[cycles]'); ylabel('Accumulated Carrier Phase [cycles]');
grid on;
figure; figure;
plot(GNSS_observables.RX_time(1,min_idx+1:end),GNSS_observables.Carrier_Doppler_hz(:,min_idx+1:end)'); plot(GNSS_observables.RX_time(obs_idx,min_tow_idx+1:end),GNSS_observables.Carrier_Doppler_hz(:,min_tow_idx+1:end)');
title('Doppler frequency') xlabel('TOW [s]');
xlabel('TOW [s]') ylabel('Doppler Frequency [Hz]');
ylabel('[Hz]'); grid on;
% %% Deprecated Code
% %read true obs from simulator (optional) % %read true obs from simulator (optional)
% GPS_STARTOFFSET_s = 68.802e-3; % GPS_STARTOFFSET_s = 68.802e-3;
% %