bds_b3i: Adding BeiDou B3I PVT computation

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h

@@ -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
  */
 class beidou_b1i_telemetry_decoder_gs : public gr::block

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc

@@ -34,6 +34,7 @@
 #include "Beidou_DNAV.h"
 #include "beidou_dnav_almanac.h"
 #include "beidou_dnav_ephemeris.h"
+#include "beidou_dnav_iono.h"
 #include "beidou_dnav_utc_model.h"
 #include "gnss_synchro.h"
 #include <glog/logging.h>
@@ -137,7 +138,7 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
 
 beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
 {
-	volk_gnsssdr_free(d_preamble_samples);
+	  volk_gnsssdr_free(d_preamble_samples);
     volk_gnsssdr_free(d_secondary_code_symbols);
     volk_gnsssdr_free(d_subframe_symbols);
 
@@ -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];
         }
 
-    for (unsigned int i = 0; i < 15; i++)
+    for (uint32_t i = 0; i < 15; i++)
         {
             bit = reg[3];
             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(
 		int32_t word_counter,
-		double* enc_word_symbols,
+		const double* enc_word_symbols,
 		int32_t* dec_word_symbols)
 {
     int32_t bitsbch[30], first_branch[15], second_branch[15];
 
     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
         {
-	        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[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);
 		}
 
-
     // 3. Check operation executed correctly
     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;
     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 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
     //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)
         {
             //******* 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
                         {
@@ -461,7 +459,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
                     //******* SAMPLES TO SYMBOLS *******
                     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++)
                                 {
                             		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
                         {
-                            int k = 0;
+                            int32_t k = 0;
                             for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
                                 {
                             		d_subframe_symbols[i] = 0;
@@ -571,14 +569,16 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
             // MULTIPLEXED FILE RECORDING - Record results to file
             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)
                 {

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h

@@ -23,7 +23,7 @@
  * 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 <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 "gnss_satellite.h"
 #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 <cstdint>
 #include <fstream>
 #include <string>
-#include <boost/shared_ptr.hpp>  // for boost::shared_ptr
-#include <cstdint>
 
 
 class beidou_b3i_telemetry_decoder_gs;
@@ -55,7 +55,7 @@ beidou_b3i_telemetry_decoder_gs_sptr beidou_b3i_make_telemetry_decoder_gs(const
 class beidou_b3i_telemetry_decoder_gs : public gr::block
 {
 public:
-    ~beidou_b3i_telemetry_decoder_gs();                //!< Class destructor
+    ~beidou_b3i_telemetry_decoder_gs();                   //!< Class destructor
     void set_satellite(const Gnss_Satellite &satellite);  //!< Set satellite PRN
     void set_channel(int channel);                        //!< Set receiver's channel
 
@@ -67,12 +67,12 @@ public:
 
 private:
     friend beidou_b3i_telemetry_decoder_gs_sptr
-	beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
+	  beidou_b3i_make_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_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
@@ -97,15 +97,15 @@ private:
     int32_t d_CRC_error_counter;  // Number of failed CRC operations
     bool flag_SOW_set;            // Indicates when time of week is set
 
-    // Navigation Message variable
+    //!< Navigation Message variable
     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_current_symbol_ms;
     bool Flag_valid_word;
 
-    // Satellite Information and logging capacity
+    //!< Satellite Information and logging capacity
     Gnss_Satellite d_satellite;
     int32_t d_channel;
     bool d_dump;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

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

src/utils/matlab/gps_l1_ca_telemetry_plot_sample.m

@@ -29,34 +29,37 @@
 close all;clear;
 samplingFreq       = 25000000;     %[Hz]
 channels=[0:9];
-path='/home/dmiralles/Documents/gnss-sdr-bds_b1i_v2/';
+path='/home/dmiralles/Documents/gnss-sdr/';
 addpath('libs/');
 clear PRN_absolute_sample_start;
 for N=1:1:length(channels)
     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
 
 %% Plotting values
+%--- Configurations
+chn_num_a = 6;
+chn_num_b = 2;
 %--- Plot results
 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;
 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');
 ylabel('Current Symbol TOW');
-legend('BDS-1', 'BDS-6');
+legend(['CHN-',num2str(chn_num_a-1)], ['CHN-',num2str(chn_num_b-1)]);
 
 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;
 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');
 ylabel('Decoded Nav TOW');
-legend('BDS-1', 'BDS-6');
+legend(['CHN-',num2str(chn_num_a-1)], ['CHN-',num2str(chn_num_b-1)]);

src/utils/matlab/hybrid_observables_plot_sample.m

@@ -23,9 +23,7 @@
 % -------------------------------------------------------------------------
 %
 
-% Read observables dump
+%% Read Hibrid Observables Dump
-
-%clear all;
 clearvars;
 close all;
 addpath('./libs');
@@ -35,38 +33,38 @@ path='/home/dmiralles/Documents/gnss-sdr/';
 observables_log_path=[path 'observables.dat'];
 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
     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
 
-min_idx=min_idx;
+%--- plot observables from that index
-%plot observables from that index
 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]')
-ylabel('[m]');
+ylabel('Pseudorange [m]');
 
 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]')
-ylabel('[cycles]');
+ylabel('Accumulated Carrier Phase [cycles]');
+grid on;
 
 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)
 % GPS_STARTOFFSET_s = 68.802e-3;
 %