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Tracking Classes are now upper case. 

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@125 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez 2012-01-13 00:49:24 +00:00
parent 69f9d8f902
commit 32690a7d59
10 changed files with 230 additions and 178 deletions
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114
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
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@ -61,66 +61,80 @@ using google::LogMessage;
gps_l1_ca_dll_fll_pll_tracking_cc_sptr gps_l1_ca_dll_fll_pll_tracking_cc_sptr
gps_l1_ca_dll_fll_pll_make_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned gps_l1_ca_dll_fll_pll_make_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int order, float fll_bw_hz, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) { int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int order,
float fll_bw_hz, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips)
{
return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new gps_l1_ca_dll_fll_pll_tracking_cc(satellite, if_freq, return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(satellite, if_freq,
fs_in, vector_length, queue, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,early_late_space_chips)); fs_in, vector_length, queue, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,
early_late_space_chips));
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required){
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
ninput_items_required[0] =d_vector_length*2; //set the required available samples in each call ninput_items_required[0] =d_vector_length*2; //set the required available samples in each call
} }
gps_l1_ca_dll_fll_pll_tracking_cc::gps_l1_ca_dll_fll_pll_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int order, float fll_bw_hz, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) :
gr_block ("gps_l1_ca_dll_fll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(5, 5, sizeof(double))) { Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(unsigned int satellite,
//gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)), long if_freq, long fs_in, unsigned int vector_length, gr_msg_queue_sptr queue, bool dump,
// gr_make_io_signature(3, 3, sizeof(float)),vector_length) { std::string dump_filename, int order, float fll_bw_hz, float pll_bw_hz, float dll_bw_hz,
// initialize internal vars float early_late_space_chips) :
d_queue = queue; gr_block ("Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
d_dump = dump; gr_make_io_signature(5, 5, sizeof(double)))
d_satellite = satellite; {
d_if_freq = if_freq; //gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
d_fs_in = fs_in; // gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
d_vector_length = vector_length; // initialize internal vars
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) d_queue = queue;
d_dump = dump;
d_satellite = satellite;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
d_dump_filename=dump_filename; d_dump_filename=dump_filename;
// Initialize tracking variables ========================================== // Initialize tracking variables ==========================================
d_carrier_loop_filter.set_params(fll_bw_hz,pll_bw_hz,order); d_carrier_loop_filter.set_params(fll_bw_hz,pll_bw_hz,order);
// Get space for a vector with the C/A code replica sampled 1x/chip // Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code=new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+2]; d_ca_code = new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+2];
// Get space for the resampled early / prompt / late local replicas // Get space for the resampled early / prompt / late local replicas
d_early_code= new gr_complex[d_vector_length*2]; d_early_code = new gr_complex[d_vector_length*2];
d_prompt_code=new gr_complex[d_vector_length*2]; d_prompt_code =new gr_complex[d_vector_length*2];
d_late_code=new gr_complex[d_vector_length*2]; d_late_code =new gr_complex[d_vector_length*2];
// space for carrier wipeoff LO vector // space for carrier wipeoff LO vector
d_carr_sign=new gr_complex[d_vector_length*2]; d_carr_sign = new gr_complex[d_vector_length*2];
// sample synchronization // sample synchronization
d_sample_counter=0; d_sample_counter = 0;
d_sample_counter_seconds=0; d_sample_counter_seconds = 0;
d_acq_sample_stamp=0; d_acq_sample_stamp = 0;
d_last_seg=0;// this is for debug output only d_last_seg = 0;// this is for debug output only
d_enable_tracking=false; d_enable_tracking = false;
d_current_prn_length_samples=(int)d_vector_length; d_current_prn_length_samples = (int)d_vector_length;
// CN0 estimation and lock detector buffers // CN0 estimation and lock detector buffers
d_cn0_estimation_counter=0; d_cn0_estimation_counter = 0;
d_Prompt_buffer=new gr_complex[CN0_ESTIMATION_SAMPLES]; d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test=1; d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz=0; d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter=0; d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold=5; d_carrier_lock_threshold = 5;
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::start_tracking(){
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking(){
/* /*
* correct the code phase according to the delay between acq and trk * correct the code phase according to the delay between acq and trk
@ -193,7 +207,7 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::start_tracking(){
std::cout<<"PULL-IN Doppler [Hz]= "<<d_carrier_doppler_hz<<" Code Phase correction [samples]="<<delay_correction_samples<<" PULL-IN Code Phase [samples]= "<<d_acq_code_phase_samples<<"\r\n"; std::cout<<"PULL-IN Doppler [Hz]= "<<d_carrier_doppler_hz<<" Code Phase correction [samples]="<<delay_correction_samples<<" PULL-IN Code Phase [samples]= "<<d_acq_code_phase_samples<<"\r\n";
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_code() void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::update_local_code()
{ {
float tcode_chips; float tcode_chips;
float rem_code_phase_chips; float rem_code_phase_chips;
@ -217,7 +231,7 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_code()
//d_code_phase_samples=d_code_phase_samples+(float)d_fs_in*GPS_L1_CA_CODE_LENGTH_CHIPS*(1/d_code_freq_hz-1/GPS_L1_CA_CODE_RATE_HZ); //d_code_phase_samples=d_code_phase_samples+(float)d_fs_in*GPS_L1_CA_CODE_LENGTH_CHIPS*(1/d_code_freq_hz-1/GPS_L1_CA_CODE_RATE_HZ);
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_carrier() void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::update_local_carrier()
{ {
float phase, phase_step; float phase, phase_step;
phase_step = (float)TWO_PI*d_carrier_doppler_hz/(float)d_fs_in; phase_step = (float)TWO_PI*d_carrier_doppler_hz/(float)d_fs_in;
@ -230,7 +244,7 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_carrier()
d_acc_carrier_phase_rad=d_acc_carrier_phase_rad+d_rem_carr_phase; d_acc_carrier_phase_rad=d_acc_carrier_phase_rad+d_rem_carr_phase;
} }
gps_l1_ca_dll_fll_pll_tracking_cc::~gps_l1_ca_dll_fll_pll_tracking_cc() { Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc() {
d_dump_file.close(); d_dump_file.close();
delete[] d_ca_code; delete[] d_ca_code;
delete[] d_early_code; delete[] d_early_code;
@ -244,7 +258,7 @@ gps_l1_ca_dll_fll_pll_tracking_cc::~gps_l1_ca_dll_fll_pll_tracking_cc() {
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples * Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
*/ */
int gps_l1_ca_dll_fll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items, int Gps_L1_Ca_Dll_Fll_Pll_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) { gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
// if ((unsigned int)ninput_items[0]<(d_vector_length*2)) // if ((unsigned int)ninput_items[0]<(d_vector_length*2))
@ -527,22 +541,22 @@ int gps_l1_ca_dll_fll_pll_tracking_cc::general_work (int noutput_items, gr_vecto
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_code_phase(float code_phase) { void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_code_phase(float code_phase) {
d_acq_code_phase_samples=code_phase; d_acq_code_phase_samples=code_phase;
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples; LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_doppler(float doppler) { void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_doppler(float doppler) {
d_acq_carrier_doppler_hz = doppler; d_acq_carrier_doppler_hz = doppler;
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz; LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_satellite(unsigned int satellite) { void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_satellite(unsigned int satellite) {
d_satellite = satellite; d_satellite = satellite;
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite; LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_channel(unsigned int channel) { void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_channel(unsigned int channel) {
d_channel = channel; d_channel = channel;
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel; LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
@ -564,12 +578,12 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::set_channel(unsigned int channel) {
} }
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp) void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
{ {
d_acq_sample_stamp = sample_stamp; d_acq_sample_stamp = sample_stamp;
} }
void gps_l1_ca_dll_fll_pll_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue) void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{ {
d_channel_internal_queue = channel_internal_queue; d_channel_internal_queue = channel_internal_queue;
} }

12
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h
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@ -48,8 +48,8 @@
#include <boost/thread/thread.hpp> #include <boost/thread/thread.hpp>
#include "concurrent_queue.h" #include "concurrent_queue.h"
class gps_l1_ca_dll_fll_pll_tracking_cc; class Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc;
typedef boost::shared_ptr<gps_l1_ca_dll_fll_pll_tracking_cc> typedef boost::shared_ptr<Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc>
gps_l1_ca_dll_fll_pll_tracking_cc_sptr; gps_l1_ca_dll_fll_pll_tracking_cc_sptr;
gps_l1_ca_dll_fll_pll_tracking_cc_sptr gps_l1_ca_dll_fll_pll_tracking_cc_sptr
@ -71,7 +71,7 @@ gps_l1_ca_dll_fll_pll_make_tracking_cc(unsigned int satellite,
/*! /*!
* \brief This class implements a DLL and a FLL assisted PLL tracking loop block * \brief This class implements a DLL and a FLL assisted PLL tracking loop block
*/ */
class gps_l1_ca_dll_fll_pll_tracking_cc: public gr_block class Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc: public gr_block
{ {
private: private:
@ -90,7 +90,7 @@ private:
float dll_bw_hz, float dll_bw_hz,
float early_late_space_chips); float early_late_space_chips);
gps_l1_ca_dll_fll_pll_tracking_cc(unsigned int satellite, Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(unsigned int satellite,
long if_freq, long if_freq,
long fs_in, unsigned long fs_in, unsigned
int vector_length, int vector_length,
@ -149,7 +149,7 @@ private:
// FLL + PLL filter // FLL + PLL filter
float d_FLL_discriminator_hz; // This is a class variable because FLL needs to have memory float d_FLL_discriminator_hz; // This is a class variable because FLL needs to have memory
tracking_FLL_PLL_filter d_carrier_loop_filter; Tracking_FLL_PLL_filter d_carrier_loop_filter;
float d_acc_carrier_phase_rad; float d_acc_carrier_phase_rad;
unsigned long int d_sample_counter; unsigned long int d_sample_counter;
@ -174,7 +174,7 @@ private:
public: public:
~gps_l1_ca_dll_fll_pll_tracking_cc(); ~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc();
void set_satellite(unsigned int satellite); void set_satellite(unsigned int satellite);
void set_channel(unsigned int channel); void set_channel(unsigned int channel);

83
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
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@ -64,15 +64,16 @@ using google::LogMessage;
gps_l1_ca_dll_pll_tracking_cc_sptr gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned gps_l1_ca_dll_pll_make_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename,
float pll_bw_hz, float dll_bw_hz, float early_late_space_chips)
{ {
return gps_l1_ca_dll_pll_tracking_cc_sptr(new gps_l1_ca_dll_pll_tracking_cc(satellite, if_freq, return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(satellite, if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips)); fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
} }
void gps_l1_ca_dll_pll_tracking_cc::forecast (int noutput_items, void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
@ -80,13 +81,13 @@ void gps_l1_ca_dll_pll_tracking_cc::forecast (int noutput_items,
gps_l1_ca_dll_pll_tracking_cc::gps_l1_ca_dll_pll_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) : int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) :
gr_block ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)), gr_block ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(5, 5, sizeof(double))) gr_make_io_signature(5, 5, sizeof(double)))
{ {
//gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)), //gr_sync_decimator ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
// gr_make_io_signature(3, 3, sizeof(float)),vector_length) { // gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
// initialize internal vars // initialize internal vars
d_queue = queue; d_queue = queue;
@ -145,7 +146,7 @@ gps_l1_ca_dll_pll_tracking_cc::gps_l1_ca_dll_pll_tracking_cc(unsigned int satell
d_carrier_lock_threshold = 5; d_carrier_lock_threshold = 5;
} }
void gps_l1_ca_dll_pll_tracking_cc::start_tracking() void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
{ {
/* /*
* correct the code phase according to the delay between acq and trk * correct the code phase according to the delay between acq and trk
@ -224,7 +225,7 @@ void gps_l1_ca_dll_pll_tracking_cc::start_tracking()
void gps_l1_ca_dll_pll_tracking_cc::update_local_code() void Gps_L1_Ca_Dll_Pll_Tracking_cc::update_local_code()
{ {
float tcode_chips; float tcode_chips;
float rem_code_phase_chips; float rem_code_phase_chips;
@ -258,7 +259,7 @@ void gps_l1_ca_dll_pll_tracking_cc::update_local_code()
void gps_l1_ca_dll_pll_tracking_cc::update_local_carrier() void Gps_L1_Ca_Dll_Pll_Tracking_cc::update_local_carrier()
{ {
float phase_rad, phase_step_rad; float phase_rad, phase_step_rad;
@ -276,7 +277,7 @@ void gps_l1_ca_dll_pll_tracking_cc::update_local_carrier()
gps_l1_ca_dll_pll_tracking_cc::~gps_l1_ca_dll_pll_tracking_cc() Gps_L1_Ca_Dll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Tracking_cc()
{ {
d_dump_file.close(); d_dump_file.close();
delete[] d_ca_code; delete[] d_ca_code;
@ -296,7 +297,7 @@ gps_l1_ca_dll_pll_tracking_cc::~gps_l1_ca_dll_pll_tracking_cc()
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples * Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
*/ */
int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items, int Gps_L1_Ca_Dll_Pll_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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -317,11 +318,12 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
d_Prompt = gr_complex(0,0); d_Prompt = gr_complex(0,0);
d_Late = gr_complex(0,0); d_Late = gr_complex(0,0);
if (d_enable_tracking==true){ if (d_enable_tracking == true)
{
/* /*
* Receiver signal alignment * Receiver signal alignment
*/ */
if (d_pull_in==true) if (d_pull_in == true)
{ {
int samples_offset; int samples_offset;
@ -332,13 +334,13 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples); acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n"; //std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
#ifdef GNSS_SDR_USE_BOOST_ROUND #ifdef GNSS_SDR_USE_BOOST_ROUND
samples_offset=round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
#else #else
samples_offset=std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); samples_offset = std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
#endif #endif
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE // /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in); d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
d_sample_counter =d_sample_counter + samples_offset; //count for the processed samples d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false; d_pull_in = false;
//std::cout<<" samples_offset="<<samples_offset<<"\r\n"; //std::cout<<" samples_offset="<<samples_offset<<"\r\n";
consume_each(samples_offset); //shift input to perform alignement with local replica consume_each(samples_offset); //shift input to perform alignement with local replica
@ -349,16 +351,17 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
double **out = (double **) &output_items[0]; double **out = (double **) &output_items[0];
// check for samples consistency // check for samples consistency
for(int i=0; i<d_current_prn_length_samples; i++) { for(int i=0; i<d_current_prn_length_samples; i++)
{
if (std::isnan(in[i].real()) == true or std::isnan(in[i].imag()) == true)// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true) if (std::isnan(in[i].real()) == true or std::isnan(in[i].imag()) == true)// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
{ {
const int samples_available = ninput_items[0]; const int samples_available = ninput_items[0];
d_sample_counter = d_sample_counter + samples_available; d_sample_counter = d_sample_counter + samples_available;
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number "<< d_sample_counter << std::endl; LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number " << d_sample_counter << std::endl;
consume_each(samples_available); consume_each(samples_available);
return 0; return 0;
} }
} }
// Update the prn length based on code freq (variable) and // Update the prn length based on code freq (variable) and
// sampling frequency (fixed) // sampling frequency (fixed)
// variable code PRN sample block size // variable code PRN sample block size
@ -373,14 +376,15 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
/*! /*!
* \todo Use SIMD-enabled correlators * \todo Use SIMD-enabled correlators
*/ */
for(int i=0; i<d_current_prn_length_samples; i++) { for(int i=0; i<d_current_prn_length_samples; i++)
{
//Perform the carrier wipe-off //Perform the carrier wipe-off
bb_signal_sample = in[i] * d_carr_sign[i]; bb_signal_sample = in[i] * d_carr_sign[i];
// Now get early, late, and prompt values for each // Now get early, late, and prompt values for each
d_Early += bb_signal_sample * d_early_code[i]; d_Early += bb_signal_sample * d_early_code[i];
d_Prompt += bb_signal_sample * d_prompt_code[i]; d_Prompt += bb_signal_sample * d_prompt_code[i];
d_Late += bb_signal_sample * d_late_code[i]; d_Late += bb_signal_sample * d_late_code[i];
} }
// Compute PLL error and update carrier NCO - // Compute PLL error and update carrier NCO -
carr_error = pll_cloop_two_quadrant_atan(d_Prompt) / (float)TWO_PI; carr_error = pll_cloop_two_quadrant_atan(d_Prompt) / (float)TWO_PI;
@ -420,11 +424,11 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
} }
d_code_phase_samples = fmod(d_code_phase_samples, T_prn_true_samples); d_code_phase_samples = fmod(d_code_phase_samples, T_prn_true_samples);
#ifdef GNSS_SDR_USE_BOOST_ROUND #ifdef GNSS_SDR_USE_BOOST_ROUND
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
#else #else
d_next_prn_length_samples = std::round(K_blk_samples); //round to a discrete samples d_next_prn_length_samples = std::round(K_blk_samples); //round to a discrete samples
#endif #endif
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
/*! /*!
@ -504,7 +508,7 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl; //std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
} }
} }
} }
else else
{ {
double **out = (double **) &output_items[0]; //block output streams pointer double **out = (double **) &output_items[0]; //block output streams pointer
@ -515,7 +519,8 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
*out[4] = 0; *out[4] = 0;
} }
if(d_dump) { if(d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I; float prompt_I;
float prompt_Q; float prompt_Q;
@ -566,7 +571,7 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
{ {
std::cout << "Exception writing trk dump file " << e.what() << std::endl; std::cout << "Exception writing trk dump file " << e.what() << std::endl;
} }
} }
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in ); d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in );
@ -580,7 +585,7 @@ int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_in
void gps_l1_ca_dll_pll_tracking_cc::set_acq_code_phase(float code_phase) void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_code_phase(float code_phase)
{ {
d_acq_code_phase_samples = code_phase; d_acq_code_phase_samples = code_phase;
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples; LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
@ -589,7 +594,9 @@ void gps_l1_ca_dll_pll_tracking_cc::set_acq_code_phase(float code_phase)
void gps_l1_ca_dll_pll_tracking_cc::set_acq_doppler(float doppler)
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_doppler(float doppler)
{ {
d_acq_carrier_doppler_hz = doppler; d_acq_carrier_doppler_hz = doppler;
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz; LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
@ -597,20 +604,26 @@ void gps_l1_ca_dll_pll_tracking_cc::set_acq_doppler(float doppler)
void gps_l1_ca_dll_pll_tracking_cc::set_satellite(unsigned int satellite)
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_satellite(unsigned int satellite)
{ {
d_satellite = satellite; d_satellite = satellite;
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite; LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
} }
void gps_l1_ca_dll_pll_tracking_cc::set_channel(unsigned int channel)
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{ {
d_channel = channel; d_channel = channel;
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel; LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump==true) if (d_dump==true)
{ {
if (d_dump_file.is_open()==false) if (d_dump_file.is_open() == false)
{ {
try try
{ {
@ -622,7 +635,7 @@ void gps_l1_ca_dll_pll_tracking_cc::set_channel(unsigned int channel)
} }
catch (std::ifstream::failure e) catch (std::ifstream::failure e)
{ {
std::cout << "channel "<< d_channel << " Exception opening trk dump file " << e.what() << std::endl; std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
} }
} }
} }
@ -630,7 +643,7 @@ void gps_l1_ca_dll_pll_tracking_cc::set_channel(unsigned int channel)
void gps_l1_ca_dll_pll_tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp) void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
{ {
d_acq_sample_stamp = sample_stamp; d_acq_sample_stamp = sample_stamp;
} }
@ -638,7 +651,7 @@ void gps_l1_ca_dll_pll_tracking_cc::set_acq_sample_stamp(unsigned long int sampl
void gps_l1_ca_dll_pll_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue) void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{ {
d_channel_internal_queue = channel_internal_queue; d_channel_internal_queue = channel_internal_queue;
} }

14
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
View File

@ -48,8 +48,8 @@
#include <boost/thread/thread.hpp> #include <boost/thread/thread.hpp>
#include "concurrent_queue.h" #include "concurrent_queue.h"
class gps_l1_ca_dll_pll_tracking_cc; class Gps_L1_Ca_Dll_Pll_Tracking_cc;
typedef boost::shared_ptr<gps_l1_ca_dll_pll_tracking_cc> typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_cc>
gps_l1_ca_dll_pll_tracking_cc_sptr; gps_l1_ca_dll_pll_tracking_cc_sptr;
gps_l1_ca_dll_pll_tracking_cc_sptr gps_l1_ca_dll_pll_tracking_cc_sptr
@ -68,7 +68,7 @@ gps_l1_ca_dll_pll_make_tracking_cc(unsigned int satellite, long if_freq,
/*! /*!
* \brief This class implements a DLL + PLL tracking loop block * \brief This class implements a DLL + PLL tracking loop block
*/ */
class gps_l1_ca_dll_pll_tracking_cc: public gr_block class Gps_L1_Ca_Dll_Pll_Tracking_cc: public gr_block
{ {
private: private:
@ -84,7 +84,7 @@ private:
float dll_bw_hz, float dll_bw_hz,
float early_late_space_chips); float early_late_space_chips);
gps_l1_ca_dll_pll_tracking_cc(unsigned int satellite, long if_freq, Gps_L1_Ca_Dll_Pll_Tracking_cc(unsigned int satellite, long if_freq,
long fs_in, unsigned long fs_in, unsigned
int vector_length, int vector_length,
gr_msg_queue_sptr queue, gr_msg_queue_sptr queue,
@ -128,8 +128,8 @@ private:
float d_rem_carr_phase_rad; float d_rem_carr_phase_rad;
// PLL and DLL filter library // PLL and DLL filter library
tracking_2nd_DLL_filter d_code_loop_filter; Tracking_2nd_DLL_filter d_code_loop_filter;
tracking_2nd_PLL_filter d_carrier_loop_filter; Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition // acquisition
float d_acq_code_phase_samples; float d_acq_code_phase_samples;
@ -168,7 +168,7 @@ private:
public: public:
~gps_l1_ca_dll_pll_tracking_cc(); ~Gps_L1_Ca_Dll_Pll_Tracking_cc();
void set_satellite(unsigned int satellite); void set_satellite(unsigned int satellite);
void set_channel(unsigned int channel); void set_channel(unsigned int channel);

15
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc
View File

@ -38,7 +38,7 @@
#include "tracking_2nd_DLL_filter.h" #include "tracking_2nd_DLL_filter.h"
void tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k) void Tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k)
{ {
// Solve natural frequency // Solve natural frequency
float Wn; float Wn;
@ -50,16 +50,16 @@ void tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1,float* tau2, float
void tracking_2nd_DLL_filter::set_DLL_BW(float dll_bw_hz) void Tracking_2nd_DLL_filter::set_DLL_BW(float dll_bw_hz)
{ {
//Calculate filter coefficient values //Calculate filter coefficient values
d_dllnoisebandwidth =dll_bw_hz; d_dllnoisebandwidth = dll_bw_hz;
calculate_lopp_coef(&d_tau1_code, &d_tau2_code, d_dllnoisebandwidth, d_dlldampingratio, 1.0);// Calculate filter coefficient values calculate_lopp_coef(&d_tau1_code, &d_tau2_code, d_dllnoisebandwidth, d_dlldampingratio, 1.0);// Calculate filter coefficient values
} }
void tracking_2nd_DLL_filter::initialize(float d_acq_code_phase_samples) void Tracking_2nd_DLL_filter::initialize(float d_acq_code_phase_samples)
{ {
// code tracking loop parameters // code tracking loop parameters
d_old_code_nco = 0.0; d_old_code_nco = 0.0;
@ -68,7 +68,7 @@ void tracking_2nd_DLL_filter::initialize(float d_acq_code_phase_samples)
float tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator) float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
{ {
float code_nco; float code_nco;
code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code); code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code);
@ -79,12 +79,13 @@ float tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
tracking_2nd_DLL_filter::tracking_2nd_DLL_filter () Tracking_2nd_DLL_filter::Tracking_2nd_DLL_filter ()
{ {
d_pdi_code = 0.001;// Summation interval for code d_pdi_code = 0.001;// Summation interval for code
d_dlldampingratio = 0.7; d_dlldampingratio = 0.7;
} }
tracking_2nd_DLL_filter::~tracking_2nd_DLL_filter ()
Tracking_2nd_DLL_filter::~Tracking_2nd_DLL_filter ()
{} {}

7
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h
View File

@ -44,7 +44,7 @@
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S. H. Jensen, A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach, * 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, Applied and Numerical Harmonic Analysis. * Birkhauser, 2007, Applied and Numerical Harmonic Analysis.
*/ */
class tracking_2nd_DLL_filter class Tracking_2nd_DLL_filter
{ {
private: private:
// PLL filter parameters // PLL filter parameters
@ -58,12 +58,13 @@ private:
float d_old_code_nco; float d_old_code_nco;
void calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k); void calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k);
public: public:
void set_DLL_BW(float dll_bw_hz); //! Set DLL loop bandwidth [Hz] void set_DLL_BW(float dll_bw_hz); //! Set DLL loop bandwidth [Hz]
void initialize(float d_acq_code_phase_samples); void initialize(float d_acq_code_phase_samples);
float get_code_nco(float DLL_discriminator); float get_code_nco(float DLL_discriminator);
tracking_2nd_DLL_filter(); Tracking_2nd_DLL_filter();
~tracking_2nd_DLL_filter(); ~Tracking_2nd_DLL_filter();
}; };
#endif #endif

62
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc
View File

@ -37,45 +37,57 @@
#include "tracking_2nd_PLL_filter.h" #include "tracking_2nd_PLL_filter.h"
void tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k){ void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k)
// Solve natural frequency {
float Wn; // Solve natural frequency
Wn = lbw*8*zeta / (4*zeta*zeta + 1); float Wn;
// solve for t1 & t2 Wn = lbw*8*zeta / (4*zeta*zeta + 1);
*tau1 = k / (Wn * Wn); // solve for t1 & t2
*tau2 = (2.0 * zeta) / Wn; *tau1 = k / (Wn * Wn);
*tau2 = (2.0 * zeta) / Wn;
} }
void tracking_2nd_PLL_filter::set_PLL_BW(float pll_bw_hz)
void Tracking_2nd_PLL_filter::set_PLL_BW(float pll_bw_hz)
{ {
//Calculate filter coefficient values //Calculate filter coefficient values
d_pllnoisebandwidth=pll_bw_hz; d_pllnoisebandwidth = pll_bw_hz;
calculate_lopp_coef(&d_tau1_carr, &d_tau2_carr, d_pllnoisebandwidth, d_plldampingratio,0.25);// Calculate filter coefficient values calculate_lopp_coef(&d_tau1_carr, &d_tau2_carr, d_pllnoisebandwidth, d_plldampingratio, 0.25);// Calculate filter coefficient values
} }
void tracking_2nd_PLL_filter::initialize(float d_acq_carrier_doppler_hz)
void Tracking_2nd_PLL_filter::initialize(float d_acq_carrier_doppler_hz)
{ {
// carrier/Costas loop parameters // carrier/Costas loop parameters
d_old_carr_nco = 0.0; d_old_carr_nco = 0.0;
d_old_carr_error = 0.0; d_old_carr_error = 0.0;
} }
float tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
{ {
float carr_nco; float carr_nco;
carr_nco = d_old_carr_nco+(d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr); carr_nco = d_old_carr_nco+(d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr);
d_old_carr_nco = carr_nco; d_old_carr_nco = carr_nco;
d_old_carr_error = PLL_discriminator; d_old_carr_error = PLL_discriminator;
return carr_nco; return carr_nco;
} }
tracking_2nd_PLL_filter::tracking_2nd_PLL_filter ()
Tracking_2nd_PLL_filter::Tracking_2nd_PLL_filter ()
{ {
//--- PLL variables -------------------------------------------------------- //--- PLL variables --------------------------------------------------------
d_pdi_carr = 0.001;// Summation interval for carrier d_pdi_carr = 0.001;// Summation interval for carrier
d_plldampingratio=0.65; d_plldampingratio=0.65;
} }
tracking_2nd_PLL_filter::~tracking_2nd_PLL_filter ()
{
}
Tracking_2nd_PLL_filter::~Tracking_2nd_PLL_filter ()
{}

6
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h
View File

@ -44,7 +44,7 @@
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S. H. Jensen, A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach, * 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, Applied and Numerical Harmonic Analysis. * Birkhauser, 2007, Applied and Numerical Harmonic Analysis.
*/ */
class tracking_2nd_PLL_filter class Tracking_2nd_PLL_filter
{ {
private: private:
// PLL filter parameters // PLL filter parameters
@ -63,8 +63,8 @@ public:
void set_PLL_BW(float pll_bw_hz); //! Set PLL loop bandwidth [Hz] void set_PLL_BW(float pll_bw_hz); //! Set PLL loop bandwidth [Hz]
void initialize(float d_acq_carrier_doppler_hz); void initialize(float d_acq_carrier_doppler_hz);
float get_carrier_nco(float PLL_discriminator); float get_carrier_nco(float PLL_discriminator);
tracking_2nd_PLL_filter(); Tracking_2nd_PLL_filter();
~tracking_2nd_PLL_filter(); ~Tracking_2nd_PLL_filter();
}; };
#endif #endif

89
src/algorithms/tracking/libs/tracking_FLL_PLL_filter.cc
View File

@ -34,7 +34,7 @@
#include "tracking_FLL_PLL_filter.h" #include "tracking_FLL_PLL_filter.h"
#include <iostream> #include <iostream>
void tracking_FLL_PLL_filter::set_params(float fll_bw_hz,float pll_bw_hz, int order) void Tracking_FLL_PLL_filter::set_params(float fll_bw_hz,float pll_bw_hz, int order)
{ {
/* /*
* Filter design (Kaplan 2nd ed., Pag. 181 Fig. 181) * Filter design (Kaplan 2nd ed., Pag. 181 Fig. 181)
@ -54,31 +54,42 @@ void tracking_FLL_PLL_filter::set_params(float fll_bw_hz,float pll_bw_hz, int or
d_pll_w0f = fll_bw_hz/0.53; d_pll_w0f = fll_bw_hz/0.53;
d_pll_w0f2 = d_pll_w0f*d_pll_w0f; d_pll_w0f2 = d_pll_w0f*d_pll_w0f;
}else }
{ else
/*
* 2nd order PLL with 1st order FLL assist
*/
d_pll_a2 = 1.414;
d_pll_w0p = pll_bw_hz/0.53;
d_pll_w0p2 = d_pll_w0p*d_pll_w0p;
d_pll_w0f = fll_bw_hz/0.25;
}
}
void tracking_FLL_PLL_filter::initialize(float d_acq_carrier_doppler_hz)
{
if (d_order==3)
{ {
d_pll_x = 2.0*d_acq_carrier_doppler_hz; /*
d_pll_w = 0; * 2nd order PLL with 1st order FLL assist
}else{ */
d_pll_w = d_acq_carrier_doppler_hz; d_pll_a2 = 1.414;
d_pll_x = 0; d_pll_w0p = pll_bw_hz/0.53;
d_pll_w0p2 = d_pll_w0p*d_pll_w0p;
d_pll_w0f = fll_bw_hz/0.25;
} }
} }
float tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float PLL_discriminator, float correlation_time_s)
void Tracking_FLL_PLL_filter::initialize(float d_acq_carrier_doppler_hz)
{
if (d_order==3)
{
d_pll_x = 2.0 * d_acq_carrier_doppler_hz;
d_pll_w = 0;
}
else
{
d_pll_w = d_acq_carrier_doppler_hz;
d_pll_x = 0;
}
}
float Tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float PLL_discriminator, float correlation_time_s)
{ {
float carrier_error_hz; float carrier_error_hz;
if (d_order==3) if (d_order==3)
@ -89,32 +100,32 @@ float tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float
d_pll_w = d_pll_w + correlation_time_s * (d_pll_w0p3 * PLL_discriminator + d_pll_w0f2 * FLL_discriminator); d_pll_w = d_pll_w + correlation_time_s * (d_pll_w0p3 * PLL_discriminator + d_pll_w0f2 * FLL_discriminator);
d_pll_x = d_pll_x + correlation_time_s * (0.5*d_pll_w + d_pll_a2 * d_pll_w0f * FLL_discriminator + d_pll_a3 * d_pll_w0p2 * PLL_discriminator); d_pll_x = d_pll_x + correlation_time_s * (0.5*d_pll_w + d_pll_a2 * d_pll_w0f * FLL_discriminator + d_pll_a3 * d_pll_w0p2 * PLL_discriminator);
carrier_error_hz = 0.5*d_pll_x + d_pll_b3 * d_pll_w0p * PLL_discriminator; carrier_error_hz = 0.5*d_pll_x + d_pll_b3 * d_pll_w0p * PLL_discriminator;
}else }
{ else
/* {
* 2nd order PLL with 1st order FLL assist /*
*/ * 2nd order PLL with 1st order FLL assist
float pll_w_new; */
pll_w_new = d_pll_w + PLL_discriminator*d_pll_w0p2*correlation_time_s + FLL_discriminator*d_pll_w0f*correlation_time_s ; float pll_w_new;
carrier_error_hz = 0.5*(pll_w_new + d_pll_w)+d_pll_a2 * d_pll_w0p*PLL_discriminator; pll_w_new = d_pll_w + PLL_discriminator * d_pll_w0p2 * correlation_time_s + FLL_discriminator * d_pll_w0f * correlation_time_s ;
d_pll_w =pll_w_new; carrier_error_hz = 0.5 * (pll_w_new + d_pll_w) + d_pll_a2 * d_pll_w0p * PLL_discriminator;
/*std::cout<<" d_pll_w = "<<carrier_error_hz<< d_pll_w =pll_w_new;
/*std::cout<<" d_pll_w = "<<carrier_error_hz<<
", pll_w_new = "<<pll_w_new ", pll_w_new = "<<pll_w_new
<<", PLL_discriminator=" <<PLL_discriminator <<", PLL_discriminator=" <<PLL_discriminator
<<" FLL_discriminator ="<<FLL_discriminator <<" FLL_discriminator ="<<FLL_discriminator
<<" correlation_time_s = "<<correlation_time_s<<"\r\n";*/ <<" correlation_time_s = "<<correlation_time_s<<"\r\n";*/
} }
return carrier_error_hz; return carrier_error_hz;
} }
tracking_FLL_PLL_filter::tracking_FLL_PLL_filter ()
{
}
tracking_FLL_PLL_filter::~tracking_FLL_PLL_filter ()
{
} Tracking_FLL_PLL_filter::Tracking_FLL_PLL_filter ()
{}
Tracking_FLL_PLL_filter::~Tracking_FLL_PLL_filter ()
{}

6
src/algorithms/tracking/libs/tracking_FLL_PLL_filter.h
View File

@ -34,7 +34,7 @@
/*! /*!
* \brief This class implements a hybrid FLL and PLL filter for tracking carrier loop * \brief This class implements a hybrid FLL and PLL filter for tracking carrier loop
*/ */
class tracking_FLL_PLL_filter class Tracking_FLL_PLL_filter
{ {
private: private:
// FLL + PLL filter parameters // FLL + PLL filter parameters
@ -53,8 +53,8 @@ public:
void set_params(float fll_bw_hz,float pll_bw_hz, int order); void set_params(float fll_bw_hz,float pll_bw_hz, int order);
void initialize(float d_acq_carrier_doppler_hz); void initialize(float d_acq_carrier_doppler_hz);
float get_carrier_error(float FLL_discriminator, float PLL_discriminator, float correlation_time_s); float get_carrier_error(float FLL_discriminator, float PLL_discriminator, float correlation_time_s);
tracking_FLL_PLL_filter(); Tracking_FLL_PLL_filter();
~tracking_FLL_PLL_filter(); ~Tracking_FLL_PLL_filter();
}; };
#endif #endif